The Publication Database hosted by SPL
|
All Publications
Upload
Advanced Search
Gallery View
Download Statistics
Help
Import
Log in
Preliminary clinical experiences of a motorized manipulator for magnetic resonance image-guided microwave coagulation therapy of liver tumors
|
|
Shigehiro Morikawa, Shigeyuki Naka, Koichiro Murakami, Yoshimasa Kurumi, Hisanori Shiomi, Tohru Tani, Hasnine A Haque, Junichi Tokuda, Nobuhiko Hata, Toshiro Inubushi
Institution: |
Biomedical MR Science Center, Shiga University of Medical Science, Ohtsu, Shiga, Japan. morikawa@belle.shiga-med.ac.jp |
Publisher: |
Am J Surg |
Publication Date: |
Sep-2009 |
Citation: |
Am J Surg. 2009 Sep;198(3):340-7. |
PubMed ID: |
19596118 |
Keywords: |
MR image guided therapy, Liver tumors, Microwave coagulation, Surgical manipulator |
Appears in Collections: |
SNR |
Generated Citation: |
Morikawa S, Naka S, Murakami K, Kurumi Y, Shiomi H, Tani T, Haque H, Tokuda J, Hata N, Inubushi T. Preliminary clinical experiences of a motorized manipulator for magnetic resonance image-guided microwave coagulation therapy of liver tumors. Am J Surg. 2009 Sep;198(3):340-7. PMID: 19596118. |
| Downloaded: | 31 times. [view map] |
| Paper: | Download, View online |
| Export citation: |
In magnetic resonance (MR) image-guided microwave thermocoagulation of liver tumors, the choice of the optimal puncture route is an important and time-consuming process. To assist this process, we have developed a motorized MR-compatible manipulator. METHODS: The manipulator consists of a passive end effecter with 2 degrees-of-freedom (DOF) rotation and active base stages with 3 ultrasonic motors. It automatically chases the preset target point with synergetic remote-center-of-motion (RCM) control. A mechanical torque limiter and an electrical shutdown switch were added for patient safety. RESULTS: The manipulator was used for this procedure in 15 cases and successfully utilized to treat liver tumors in various locations. Thoracoscopic assistance was combined with the manipulator in 6 cases. No complications were experienced. CONCLUSIONS: The manipulator was found to be very effective for assisting MR-guided microwave coagulation of liver tumors.
Additional Material
1 File (147.042kB)
Morikawa-AmJSurg2009-fig4.jpg (147.042kB)