2007 Fiscal Year Final Research Report Summary
Clinical use of a robot with an automatic chasing capability of the target for MR image guided surgery
Project/Area Number |
17300171
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Research Category |
Grant-in-Aid for Scientific Research (B)
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Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Medical systems
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Research Institution | Shiga University of Medical Science |
Principal Investigator |
MORIKAWA Shigehiro Shiga University of Medical Science, Biomedical MR Science Center Associate, Professor (60220042)
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Co-Investigator(Kenkyū-buntansha) |
INUBUSHI Toshiro Shiga University of Medical Science, Biomedical MR Science Center, Professor (20213142)
KURUMI Yoshimasa Shiga University of Medical Science, Department of Medicine, Associate Professor (70205219)
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Project Period (FY) |
2005 – 2007
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Keywords | surgical robot / open MR system / liver tumor / minimally invasive therapy / microwave ablation / MR-guided surgery |
Research Abstract |
The objective of this research project is the utilization of a portable robot for MR-image-guided microwave ablation of liver tumors in clinical cages. We have developed an MR-compatible robot having 2 optical angle sensors and 3 ultrasonic motors, which automatically chases the predefined target point using remote-center-of-motion constraint. This robot properly worked in the strong magnetic field and did not interfere with MR imaging even during the movement of the ultrasonic motors. The error of the image center position controlled by the robot was less than 2 nun with a virtual needle length of 15 cm. For clinical use, connecters were prepared on the optic fiber of the angle sensors of the hand-piece. Accordingly, the end effecter could be separated from the main parts for the sterilization. For the safety of patients, a mechanical fuse, consisting of a hinge and wedge, was prepared on the vertical pole of the robot. The joint was released and the arm went up when the force to the arm exceeded the preset threshold. A ratchet mechanism was also added to keep the robot arm at the lifted position. In this situation, robot arm could not physically touch the patient. An electrical shut-down switch was also prepared for additional safety mechanism. The Ethics Committee of our university approved the clinical use of this robot. After the clearance of safety issue, simulation studies were repeatedly conducted with volunteers. and navigation software was optimized for the clinical use. Finally this robot was used in 2 clinical cases for MR guided microwave ablation of liver tumors. The procedures were successfully and safely accomplished, and the robot assistance in this procedure was found to be useful.
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Research Products
(63 results)
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[Journal Article] Parzen-window based normalized mutual information for medical image registration2008
Author(s)
Xu,R., Chen, Y-W, Tang, S-Y, Morikawa, S., Kurumi, Y
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Journal Title
Institute of Electronics, Information and Communication Engineers, Trans Information & Systems 91-(1)
Pages: 32-144
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Application of Open Source Image Guided Therapy Software in MR-guided Therapies2007
Author(s)
Hata, N., Pieper, S., Jolesz, F., Temp, any, C., Black, P., Morikawa, S., Iseki, H., Hashizume, M., Kikinis, R
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Journal Title
Lecture Notes in Computer Science Splinger 4791
Pages: 491-498
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] AM-guided microwave ablation for malignancies2007
Author(s)
Kurumi, Y., Tani, T., Naka, S., Shiomi, H., Shimizu, T., Abe, H., Endo, Y., Morikawa, S
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Journal Title
Int J Clin Oncol 12
Pages: 85-93
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Fluorine-19 Fast Recovery Fast Spin Echo Imaging for Mapping of 5-Fluorouracil2007
Author(s)
Morikawa, S., Inubushi, T., Morita, M., Muralcami, K., Masuda, C., Maki, J., Tooyama, I
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Journal Title
Magn Reson Med Sci 6
Pages: 235-240
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] 3D Non-rigid Image Registration Assisted for AIR-Guided Microwave Thermocoagulation of Liver Tumors2007
Author(s)
Xu,R., Chen, Y-W, Tang, S., Morikawa, S., Haque, HA., Kurumi, Y
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Journal Title
Med Imaging Tech 25
Pages: 261-276
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] New 4-D imaging for real-time intraoperative MRI : Adaptive 4-D scan2006
Author(s)
Tokuda, J., Morikawa, S., Haque, AFL, Tsukamoto, T., Matsumiya, K., Liao, H., Masamune, K., Dohi, T
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Journal Title
Lecture Notes in Computer Science, Splinger 4190
Pages: 454-461
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] MR-CT Image Registration in Liver Cancer Treatment with an Open Configuration MR Scanner2006
Author(s)
Tang, S., Chen, Y-W, Xu, R., Wang, Y., Morikawa, S., Kurumi, Y
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Journal Title
Lecture Notes in Computer Science, Sanger 4057
Pages: 289-296
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] A semiautomatic nonrigid registration in liver cancer treatment with an open MR system2006
Author(s)
Tang,S., Chen, Y-W, Xu, R., Wang, Y., Morikawa, S., Kurumi, Y
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Journal Title
Lecture Notes in Computer Science. Splinger 4282
Pages: 802-810
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Alternate biplanar MR navigation for microwave ablation of liver tumors2005
Author(s)
Sato, K., Morikawa, S., Inubushi, T., Kurumi, Y., Naka, S., Haque, HA, Demura, K., Tani, T
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Journal Title
Magn Reson Med Sci 4
Pages: 89-94
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Use of real-time magnetic resonance image guidance in endoscopic sinus surgery2005
Author(s)
Suzuki, M., Sakurai, H., Seno, S., Kitanisi,T., Shimizu, T., Nishida, T., Morikawa, S., Inubushi, T., Kitano, H
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Journal Title
Minum Invasiv Thar 14
Pages: 376-384
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Open-configuration MR-guided microwave thermocoagulation therapy for metastatic liver tumors from breast cancer2005
Author(s)
Abe, H., Kurumi, Y., Naka, S., Shiomi, H., Umeda, T., Naitoh, H., Endo, Y., Hanasawa, K., Morikawa, S., Tani, T
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Journal Title
Breast Cancer 12
Pages: 26-31
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Magnetic resonance-guided percutaneous microwave coagulation therapy for liver metastases of breast cancer in a case2005
Author(s)
Umeda, T., Abe, H., Kurumi, Y., Naka, S., Shiomi, H., Hanasawa, K., Morikawa, S.,Tani, T
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Journal Title
Breast Cancer 12
Pages: 317-321
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Disruption of erythrocytes distinguishes fixed cells/tissues from viable cells/tissues following microwave coagulation therapy2005
Author(s)
Yamaguchi, Mulcaisho, K., Yamamoto, H., Shiomi, H., Kurumi, V., Sugihara, H., Tani, T
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Journal Title
Digest Dis Sci 50(7)
Pages: 1347-1355
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Adaptive 4D MR Imaging for MRI-guided Therapy Using Navigator-Based Respiratory Si gna I
Author(s)
Tokuda, J., Morikawa, S., Haque, HA, Tsukamoto, T., Matsmniya, K., Liao, H., Masamune, K., Dohi, T
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Journal Title
Magn Reson Med (in press)
Description
「研究成果報告書概要(欧文)」より
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[Presentation] New Devices for Safety and Usability to Introduce Robot Assistance into Clinical MR Guided Microwave Ablation of Liver Tumors.2007
Author(s)
Morikawa S, Murakami K, Naka S, Kurumi Y, Morita M, Inubushi T, Nakakubo T, Umihira K, Haque HA, Hata N.
Organizer
ISMRM 15th Scientific Meeting and Exhibition
Place of Presentation
Berlin, Germany.
Year and Date
20070519-25
Description
「研究成果報告書概要(和文)」より
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[Presentation] New Devices for Safety and Usability to Introduce Robot Assistance into Clinical MR Guided Microwave Ablation of Liver Tumors2007
Author(s)
Morikawa, S., Murakami, K., Naka, S., Kurumi, Y., Morita, Al., Inubushi, T., Nakakubo, T., Umihira, K., Haque, HA, Hata, N
Organizer
ISMRA1 15th Scientific Meeting and Exhibition
Place of Presentation
Berlin, Germany
Year and Date
20070519-25
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Microwave ablation therapy for hepatic tumors using MR navigation system.2006
Author(s)
Kurumi Y, Morikawa S, Naka S, Shiomi H, Sato K, Demura K, Yamaguchi T, Endo Y, Hanasawa K, Inubushi T, Haque HA.
Organizer
6th Interventional MRI Symposium
Place of Presentation
Leipzig. Germany.
Year and Date
20060915-16
Description
「研究成果報告書概要(和文)」より
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[Presentation] Navigation of curved electrode for MR-guided endometrial ablation2006
Author(s)
Morikawa, S., Inubushi, T., Murakami, K., Haque, HA, Demura, K., Sato, K., Naka, S., Shiomi, H., Kurumi, Y., Tani, T
Organizer
Gth Interventional AIRI Symposium
Place of Presentation
Leipzig. Germany
Year and Date
20060915-16
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Microwave ablation therapy for hepatic tumors using MR navigation system2006
Author(s)
Kurumi, Y., Morikawa, S., Naka, S., Shiomi, H., Sato, K., Demura, K., Yamaguchi, T., Endo, Y., Hanasawa, K., Inubushi, T., Haque, HA
Organizer
Gth Interventional AMI Symposium
Place of Presentation
Leipzig, Germany
Year and Date
20060915-16
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Intra-operative MR image guided surgery with MR gradient-based tracking system in the open laparotomy2006
Author(s)
Naka, S., Kurumi, Y., Shiomi, H., Murakami, K., Sato, K., Demura, K., Endo, Y., Morikawa, S., Haque, HA., Tani, T
Organizer
Gth Interventional MRI Symposium
Place of Presentation
Leipzig, Germany
Year and Date
20060915-16
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Intraluminal image navigation with a micro-sensor of MR gradient based tracking system2006
Author(s)
Murakami, K., Naka, S., Demura, Sato, K., Haque, HA., Shiomi, H., Morikawa, S., Inubushi, T., Kurumi, Y., Tani, T
Organizer
Gth Interventional MAI Symposium
Place of Presentation
Leipzig, Germany
Year and Date
20060915-16
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Interactive real-time MR image navigation system for microwave ablation therapy of liver tumors using alternate bi-planar AM-image2006
Author(s)
Sato, K., Morikawa, S., Inubushi, T., Kurumi, Y., Naka, S., Shiomi, H., Demura, K., Tani, T., Haque, HA
Organizer
Gth Interventional MIRI Symposium
Place of Presentation
Leipzig, Germany
Year and Date
20060915-16
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Adaptive 4-D scan for real-time intraoperative2006
Author(s)
Tokuda, J., Morikawa, S., Hague, HA, Tsukamoto, T., Matsumiya, K., Liao, H., Masamune, K., Dohi, T
Organizer
CARS 20th International Congress and Exhibition
Place of Presentation
Osaka
Year and Date
20060628-0701
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Motorized remote-center-oPmotion constraint robot to assist MR-guided microwave thermocoagulation of liver tumors2006
Author(s)
Morikawa, S., Hata, N., Inubushi, T., Demura, Murakami, K., Morita, M., Naka, S., Kurumi, Y., Haque, HA
Organizer
ISMRM 14th Scientific Meeting and Exhibition
Place of Presentation
Seattle WA
Year and Date
20060506-12
Description
「研究成果報告書概要(欧文)」より
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[Presentation] MR-guided surgery for advanced colorectal cancer2006
Author(s)
Endo, Y., Mekata, E., Shiomi, H., Naka, S., Kurumi, Y., Morikawa, S., Inubushi, T
Organizer
Association of Surgeons of Great Britain and Ireland, 2006 Annual Scientific Meeting
Place of Presentation
Edinburgh, UK
Year and Date
20060503-05
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Advantages of AIRNavi : A Clinically Used Surgical Navigation and Monitoring Tool for MR-guided Intervention2005
Author(s)
H., A.,Haque, S., Morikawa, If, Sato, K., Demura, Y., Kurumi, S., Naka, et. al.
Organizer
RSNA
Place of Presentation
Chicago, IL
Year and Date
20051126-1202
Description
「研究成果報告書概要(欧文)」より
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[Presentation] Features Presentation of Clinically used Surgical Navigation & Monitoring Tool for MR-guided Intervention2005
Author(s)
Hague, HA, Morikawa, S., Sato, K., Demura, K., Kurumi, Y., Naka, S., Shiomi, H., Tani, T
Organizer
MICCAI
Place of Presentation
Palm Springs, CA
Year and Date
20051026-30
Description
「研究成果報告書概要(欧文)」より