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.
Syuichi Yamauchi, and Kazuyuki Minami, “Development of a Needle-Insertion Robot for MRI-Guided Stereotactic Surgery,” J. Robot. Mechatron., Vol.18, No.5, pp. 643-649, 2006.
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