Abstract
Mechanical support system is needed for minimally invasive surgery, since it enables precise manipulation of surgical instruments beyond human ability in a small operation space. Furthermore, a robot available for intraoperative MRI guided neurosurgical procedures could allow less invasive and more accurate image guided surgery. By combination of precise positioning to the target by intra-operative MRI guided surgery and dexterity by the multi function micromanipulator, safe and smooth operation is expected to be performed. In this approach, we have developed MR-compatible micro-forceps manipulator of the multi-function micromanipulator system for neurosurgery. By a new cam mechanism for two degrees of bending freedom, we achieved these excellent characteristics for the micro forceps. 1) Simple mechanism suitable for a micromanipulator, 2) Precise positioning, 3) Suitable mechanism for MR compatible manipulator. By evaluation experiments, we confirmed precise positioning of the manipulator and MR compatibility of the manipulator.
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© 2002 Springer-Verlag Berlin Heidelberg
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Miyata, N. et al. (2002). Micro-grasping Forceps Manipulator for MR-Guided Neurosurgery. In: Dohi, T., Kikinis, R. (eds) Medical Image Computing and Computer-Assisted Intervention — MICCAI 2002. MICCAI 2002. Lecture Notes in Computer Science, vol 2488. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45786-0_14
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DOI: https://doi.org/10.1007/3-540-45786-0_14
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