New real-time MR image-guided surgical robotic system for minimally invasive precision surgery

Hashizume, Makoto; Yasunaga, Tomohide; Tanoue, Kazuo; Ieiri, Satoshi; Konishi, Kozo; Kishi, Kousuke; Nakamoto, Hidekazu; Ikeda, D.; Sakuma, Ichiro; Fujie, Masakatsu G.; Dohi, Takeyoshi

doi:10.1007/s11548-007-0146-9

Cited by 41 publications

(19 citation statements)

References 19 publications

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“…Masamune et al developed a small robotic system in which a magnetic resonance imaging (MRI) machine controls needle orientation in a narrow gantry space [5]. Hashizume et al developed an MRI-guided surgical robotic system for minimally invasive laparoscopic surgery using a needle insertion manipulator [6]. Krieger et al developed a remotely actuated manipulator for access to prostate tissue under MRI guidance [7].…”

Section: Related Researchmentioning

confidence: 99%

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

et al. 2014

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Central venous catheterization is associated with potential complications secondary to accidental puncture, including venous bleeding and pneumothorax. We developed a system that avoids these complications and simplifies the procedure using a robot to provide puncture assistance. We herein report a puncture experiment conducted in vivo in a porcine to evaluate the manipulator. The right and left jugular veins of a pig were punctured five times each through both opened and unopened skin at a puncture angle and speed. A venous placement rate of 80% was obtained with opened skin. A much lower rate of 40% was obtained with unopened skin. One of five attempts in opened skin was unsuccessful, likely because of the stick-slip phenomenon. This system was effective for jugular venous puncture of opened skin. Future studies should focus on puncture conditions that facilitate needle placement, inhibit the stick-slip phenomenon, and minimize needle bending due to the presence of skin.

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Section: Related Researchmentioning

confidence: 99%

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

et al. 2014

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“…Current research and development of robots and navigation systems for minimally invasive surgery is focused on improving needle insertion and placement [3][4][5]. For example, Bassan et al reported a novel five-degrees-offreedom manipulator for percutaneous needle insertion [6].…”

Section: Related Researchmentioning

confidence: 99%

Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

et al. 2014

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Target displacement cased by tissue deformation is a major technical challenge in ultrasound-guided needle insertion for breast tumor treatment or biopsy. We previously developed a preloading-based needle insertion method, which consists of a preloading phase and an insertion phase, and validated its placement accuracy. The present study furthered this research by focusing on a new concave preloading probe to enhance needle insertion targeting. With this probe, we evaluated the several probe size for different tumor diameters and locations to investigate the geometry effect on insertion accuracy. In this in vitro study, preloading-based needle insertion with concave probe of the same diameter as that of the tumor showed the highest placement accuracy for shallow tumors, while concave probe of a larger diameter than that of the tumor showed the highest placement accuracy for deep tumors. Overall, the concave preloading probe described in this study decreased needle placement error. Future research focused on its evaluation by structural analysis based on soft tissue modelling and deformation simulation.

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“…2, a circle in Cartesian coordinates of a gray-level ultrasonic volume can be parameterized with six variables, p = [x 0 , y 0 , z 0 , θ, ϕ, R], where X 0 = (x 0 , y 0 , z 0 ) defines the center of the circle, (θ, ϕ) are the angular parameters describing the unit normal to the circular plane, and R is the radius of the circle. A model for a circle c that employs parameters p can be written as the set of points X = (x, y, z) that lie on the intersection of a sphere and a plane as given by, (1) where…”

Section: Detection Algorithmmentioning

confidence: 99%

“…While there has been recent progress in the realtime use of MRI [1], [2] to guide robotic surgical procedures, such systems are currently not widely available. Concurrently, however, realtime three-dimensional (3D) ultrasonography has become available for clinical use and its availability is increasing owing to its advantages for interventional tasks [3], [4].…”

Section: Introductionmentioning

confidence: 99%

Detection of curved robots using 3D ultrasound

Ren¹,

Vasilyev²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Three-dimensional ultrasound can be an effective imaging modality for image-guided interventions since it enables visualization of both the instruments and the tissue. For robotic applications, its realtime frame rates create the potential for image-based instrument tracking and servoing. These capabilities can enable improved instrument visualization, compensation for tissue motion as well as surgical task automation. Continuum robots, whose shape comprises a smooth curve along their length, are well suited for minimally invasive procedures. Existing techniques for ultrasound tracking, however, are limited to straight, laparoscopic-type instruments and thus are not applicable to continuum robot tracking. Toward the goal of developing tracking algorithms for continuum robots, this paper presents a method for detecting a robot comprised of a single constant curvature in a 3D ultrasound volume. Computational efficiency is achieved by decomposing the six-dimensional circle estimation problem into two sequential three-dimensional estimation problems. Simulation and experiment are used to evaluate the proposed method.

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New real-time MR image-guided surgical robotic system for minimally invasive precision surgery

Cited by 41 publications

References 19 publications

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

Detection of curved robots using 3D ultrasound

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