Development of a target-chasing robot system integrating MR and ultrasound image navigation to assist needle insertion
| Project/Area Number |
26282145
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Medical systems
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| Research Institution | Shiga University of Medical Science |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
仲 成幸 滋賀医科大学, 医学部, 非常勤講師 (10359771)
村上 耕一郎 滋賀医科大学, 医学部, 非常勤講師 (30572763)
山田 篤史 滋賀医科大学, 医学部, 特任助教 (40534334)
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| Research Collaborator |
TOKUDA Junichi
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| Project Period (FY) |
2014-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥16,380,000 (Direct Cost: ¥12,600,000、Indirect Cost: ¥3,780,000)
Fiscal Year 2016: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2015: ¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000)
Fiscal Year 2014: ¥5,980,000 (Direct Cost: ¥4,600,000、Indirect Cost: ¥1,380,000)
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| Keywords | 手術ロボット / 画像ナビゲーション / MR画像 / 超音波画像 / 低侵襲治療 / 低侵襲手術 |
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| Outline of Final Research Achievements |
An integrated surgical navigation system using image guidance by both MR images with a closed bore scanner and real-time ultrasound images, and a motorized manipulator for targeting was developed to assist image-guided needle insertion. A GE 1.5 T scanner and a Siemens 3T scanner were used. After 3D MR image acquisition, patient table was pulled out. A motorized manipulator with an optical tracking system automatically chased the target point without a time-consuming registration process using surface markers. A surgeon could insert a needle while monitoring both real-time ultrasound images and reformatted MR images in the corresponding image plane. This system was applied to the animal experiment using rabbits.
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Report
(5 results)
Research Products
(79 results)
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[Presentation] Development of a Steerable Transjugular Intrahepatic Portosystemic Shunt (TIPS) Needle Based on a Loop-Shaped Flexible Mechanism.2018
Author(s)
N. Nitta, A. Yamada, S. Watanabe, A. Sonoda, A. Inoue, K. Taki, S. Otha, S. Naka, S. Morikawa, T. Tani, K. Murata
Organizer
第77回日本医学会総会
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[Presentation] Efficacy of Robot-assisted Liver Surgery Using Intraoperative Magnetic Resonace Imaging2015
Author(s)
S. Naka, S. Tani, H. Higashiguchi, H. Maehira, H. Akabori, H. Shiomi, M. Tani, K. Murakami, A. Yamada, T. Tani, S. Morikawa, J. Tokuda, N. Hata
Organizer
第27回日本肝胆膵外科学会学術集会
Place of Presentation
東京都
Year and Date
2015-06-11
Related Report
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[Presentation] 大腸癌肝転移に対するMR画像誘導下マイクロ波凝固療法の検討2015
Author(s)
仲成幸, 村上 耕一郎, 前平 博充, 赤堀 浩也, 谷 総一郎, 東口 貴之, 山田 篤史, 太田 裕之, 園田 寛道, 清水 智治, 塩見 尚礼, 目片 英治, 遠藤 善裕, 来見 良誠, 森川 茂廣, 谷 徹, 谷 眞至
Organizer
第115回日本外科学会定期学術集会
Place of Presentation
名古屋
Year and Date
2015-04-16
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