Development of a Needle-Insertion Robot for MRI-Guided Stereotactic Surgery
Yuji Wakasa*, Masato Oka**, Kanya Tanaka*, Masami Fujii***,
Syuichi Yamauchi***, and Kazuyuki Minami****
*Graduate School of Science and Engineering, Yamaguchi University, 2-16-1 Tokiwadai, Ube, Yamaguchi 755-8611, Japan
**Ube National College of Technology, 2-14-1 Tokiwadai, Ube, Yamaguchi 755-8555, Japan
***Yamaguchi University Hospital, 1-1-1 Minami-kogushi, Ube, Yamaguchi 755-8505, Japan
****Graduate School of Medicine, Yamaguchi University, 2-16-1 Tokiwadai, Ube, Yamaguchi 755-8611, Japan
Needle insertion in stereotactic brain surgery, such as electrode implantation for Parkinson’s disease, requires highly precise positioning control. MRI-guided robots are practical and promising in realizing safe, precise stereotactic brain surgery, but such robots must meet numerous constraints on component materials due to the strong magnetic field that MRI generates. We developed a needle-insertion robot for MRI-guided surgery taking into account such constraints.
-  http://www.elekta.com
-  K. Masamune, “Development of an MRI-Compatible Needle Insertion Manipulator for Stereotactic Neurosurgery,” J. Image Guided Surgery, Vol.1, pp. 242-248, 1995.
-  H. Iseki and K. Nambu, “Application of Digital Images for Surgical Assistant System: Visualization of Medical Information,” Japanese J. Radiological Technology, Vol.57, No.8, pp. 891-895, 2001 (in Japanese).
-  K. Chinzei, “Open MRI and Robotics,” J. Robotics Society of Japan, Vol.18, No.1, pp. 37-40, 2000 (in Japanese).
-  H. Liu, W. A. Hall, A. J. Martin, and C. L. Truwit, “Biopsy Needle Tip Artifact in MR-Guided Neurosurgery,” J. Magnetic Resonance Imaging, Vol.13, pp. 16-22, 2001.
-  A. Naganawa, T. Yamao, M. Fujieda, K. Tanaka, and M. Oka, “Position Control of Ultrasonic Motor Based on 2DF MRACS with Adaptive Technique,” Proc. SICE Annual Conference 2005, pp. 1795-1780, 2005.
-  K. Tanaka, Y. Wakasa, Y. Mizukami, and J. Li, “An Approximate Design Method of Pneumatic Servo Systems Based on MRAC and Neural Network Techniques,” in D. Cheng, Y. Sun, and H. Ohmori (Eds.), “Advanced Robust and Adaptive Control Theory and Applications,” Springer-Tsinghua University Press, pp. 271-283, 2005.
-  M. Oka, K. Tanaka, A. Uchibori, A. Naganawa, H. Morioka, and Y. Wakasa, “Precise Position Control of Ultrasonic Motors Using a Speed Compensation Type NN Controller,” Trans. Japan Society of Mechanical Engineers, C-70-694, pp. 1715-1721, 2004 (in Japanese).
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2006 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.