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.
CITATION STYLE
Miyata, N., Kobayashi, E., Kim, D., Masamune, K., Sakuma, I., Yahagi, N., … Takakura, K. (2002). Micro-grasping forceps manipulator for mr-guided neurosurgery. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2488, pp. 107–113). Springer Verlag. https://doi.org/10.1007/3-540-45786-0_14
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