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MRI-compatible manipulator with remote-center-of-motion control
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Institution: |
Department of Radiology, Brigham and Women's Hospital, and Harvard Medical School, Boston, Massachusetts. |
Publisher: |
J Magn Reson Imaging |
Publication Date: |
May-2008 |
Volume Number: |
27 |
Issue Number: |
5 |
Pages: |
1130-1138 |
Citation: |
J Magn Reson Imaging. 2008 May;27(5):1130-8. |
PubMed ID: |
18407542 |
Keywords: |
liver ablation therapy, surgical robot, MRI-guided therapy |
Appears in Collections: |
NCIGT, SNR |
Sponsors: |
NIH P01 CA067165 NIH U41 RR019703 NIH R01 CA109246 NIH R01 CA124377 NSF 9731748 CIMIT of Boston, Massachusetts Intelligent Surgical Instruments Project of METI (Japan) |
Generated Citation: |
Hata N, Tokuda J, Hurwitz S, Morikawa S. MRI-compatible manipulator with remote-center-of-motion control. J Magn Reson Imaging. 2008 May;27(5):1130-8. PMID: 18407542. |
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| Paper: | Download, View online |
| Export citation: |
To develop and assess a needle-guiding manipulator for MRI-guided therapy that allows a physician to freely select the needle insertion path while maintaining remote center of motion (RCM) at the tumor site. MATERIALS AND METHODS: The manipulator consists of a three-degrees-of-freedom (DOF) base stage and passive needle holder with unconstrained two-DOF rotation. The synergistic control keeps the Virtual RCM at the preplanned target using encoder outputs from the needle holder as input to motorize the base stage. RESULTS: The manipulator assists in searching for an optimal needle insertion path which is a complex and time-consuming task in MRI-guided ablation therapy for liver tumors. The assessment study showed that accuracy of keeping the virtual RCM to predefined position is 3.0 mm. In a phantom test, the physicians found the needle insertion path faster with than without the manipulator (number of physicians = 3, P = 0.001). However, the alignment time with the virtual RCM was not shorter when imaging time for planning were considered. CONCLUSION: The study indicated that the robot holds promise as a tool for accurately and interactively selecting the optimal needle insertion path in liver ablation therapy guided by open-configuration MRI.
Additional Material
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Hata-JMRI2008-fig3.jpg (68.077kB)