TY - GEN
T1 - Micro-grasping forceps manipulator for mr-guided neurosurgery
AU - Miyata, Nobuhiko
AU - Kobayashi, Etsuko
AU - Kim, Daeyoung
AU - Masamune, Ken
AU - Sakuma, Ichiro
AU - Yahagi, Naoki
AU - Tsuji, Takayuki
AU - Inada, Hiroshi
AU - Dohi, Takeyoshi
AU - Iseki, Hiroshi
AU - Takakura, Kintomo
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2002.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2002
Y1 - 2002
N2 - Mechanical support system is needed for minimally invasive surgery, since it enables precise manipulation of surgical instruments beyond human ability in a small operation space. Furthermore, a robot available for intraoperative MRI guided neurosurgical procedures could allow less invasive and more accurate image guided surgery. By combination of precise positioning to the target by intra-operative MRI guided surgery and dexterity by the multi function micromanipulator, safe and smooth operation is expected to be performed. In this approach, we have developed MR-compatible micro-forceps manipulator of the multi-function micromanipulator system for neurosurgery. By a new cam mechanism for two degrees of bending freedom, we achieved these excellent characteristics for the micro forceps. 1) Simple mechanism suitable for a micromanipulator, 2) Precise positioning, 3) Suitable mechanism for MR compatible manipulator. By evaluation experiments, we confirmed precise positioning of the manipulator and MR compatibility of the manipulator.
AB - Mechanical support system is needed for minimally invasive surgery, since it enables precise manipulation of surgical instruments beyond human ability in a small operation space. Furthermore, a robot available for intraoperative MRI guided neurosurgical procedures could allow less invasive and more accurate image guided surgery. By combination of precise positioning to the target by intra-operative MRI guided surgery and dexterity by the multi function micromanipulator, safe and smooth operation is expected to be performed. In this approach, we have developed MR-compatible micro-forceps manipulator of the multi-function micromanipulator system for neurosurgery. By a new cam mechanism for two degrees of bending freedom, we achieved these excellent characteristics for the micro forceps. 1) Simple mechanism suitable for a micromanipulator, 2) Precise positioning, 3) Suitable mechanism for MR compatible manipulator. By evaluation experiments, we confirmed precise positioning of the manipulator and MR compatibility of the manipulator.
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U2 - 10.1007/3-540-45786-0_14
DO - 10.1007/3-540-45786-0_14
M3 - Conference contribution
AN - SCOPUS:84974712277
SN - 9783540457862
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 107
EP - 113
BT - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002 - 5th International Conference, Proceedings
A2 - Dohi, Takeyoshi
A2 - Kikinis, Ron
PB - Springer Verlag
T2 - 5th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2002
Y2 - 25 September 2002 through 28 September 2002
ER -