Development of a target-chasing robot system integrating MR and ultrasound image navigation to assist needle insertion

2017 Fiscal Year Final Research Report

• Project/Area Number: 26282145
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Medical systems
• Research Institution: Shiga University of Medical Science
• Principal Investigator: Morikawa Shigehiro 滋賀医科大学, 神経難病研究センター, 客員教授 (60220042)
• 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)
• Research Collaborator: TOKUDA Junichi
• Project Period (FY): 2014-04-01 – 2018-03-31
• Keywords: 手術ロボット / 画像ナビゲーション / MR画像 / 超音波画像

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.

Free Research Field

外科学、医用工学、磁気共鳴医学