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Computer-assisted neurosurgery enhanced by mechano-informatics Nobuhiko Hata 1 1Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo Keyword: 画像誘導手術 , 手術ロボット , MRI , ナビゲーション pp.883-888
Published Date 2004/12/10
DOI https://doi.org/10.11477/mf.1431100249
  • Abstract
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 Image-guided interventions based on intra-operative medical images are promising method of cure to achieve minimal invasiveness. Furthermore the image-guidance integrated with robotic system has provided great assistance for surgeons to execute the planned surgical maneuver in precise manner. However, the preoperative images often used in image-guided robotic surgery are not suitable in certain applications where inevitable internal movements due to the respiration, heartbeat, or insertion pain occur. In such cases, the mis-alignment between the preoperatively prepared plan on the image and the patient in robotic surgery could cause unexpected complications.

 The objective of the paper is to report state-of-art and future perspective on real-time image-guided medical robot. The proposed method can compensate for the motion and guide the surgery in real-time by using intra-operative images as a guiding tool, which is otherwise impossible by related surgical robot guided by pre-operative images.

 First robot to be presented is designed for use in ultrasound-image guided needle insertion surgery. A novel ultrasonic image segmentation technique was also proposed and applied to support real-time operation. A visual servo control was employed to involve the extracted image features in the robot operation. The robot has the one-unit structure composed of an ultrasound probe and a needle delivery unit to maintain the constant relationship in position between the probe and needle, thus ensuring the needle observed in ultrasonic images.

 The second robot is MRI-compatible robot where more detailed anatomical and/or physiological image observation are possible compared to ultrasound imager. The challenge in achieving in MRI compatibility includes but not limited to material selection and over all design. We also fast motion detection technique integrated in MR imaging, using MR image projection profile as detection target.

 In summary, the intra-operative image-driven robot will have potential impact on surgery, in which more accurate and less-invasive surgery is possible by motion compensation combined with robotic surgery.


Copyright © 2004, Igaku-Shoin Ltd. All rights reserved.

基本情報

電子版ISSN 1882-1243 印刷版ISSN 0001-8724 医学書院

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