Clinical use of a robot with an automatic chasing capability of the target for MR image guided surgery

具有自动追踪目标能力的机器人在磁共振图像引导手术中的临床应用

• 批准号: 17300171
• 负责人: MORIKAWA Shigehiro
• 金额: $ 9.77万
• 依托单位: Shiga University of Medical Science
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2005
• 资助国家: 日本
• 起止时间: 2005 至 2007
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17300171/
• 关键词: surgical robot; open MR system; liver tumor; minimally invasive therapy; microwave ablation; MR-guided surgery; 手術ロボツト; 穿刺ロボット

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.

本研究项目的目的是利用便携式机器人在临床笼中进行MR图像引导的微波消融肝肿瘤。我们已经开发了一个MR兼容的机器人有2个光学角度传感器和3个超声波电机，自动追逐预定义的目标点，使用远程中心的运动约束。该机器人在强磁场中正常工作，即使在超声电机运动期间也不会干扰MR成像。机器人控制的图像中心位置误差小于2 mm，虚拟针长为15 cm。对于临床使用，在手机角度传感器的光纤上制备连接器。因此，末端执行器可以与主要部件分离以进行消毒。为了患者的安全，机器人的垂直杆上准备了一个由铰链和楔形件组成的机械保险丝。当施加到臂上的力超过预设阈值时，释放关节并抬起臂。还增加了一个棘轮机构，以保持机器人手臂在抬起的位置。在这种情况下，机器人手臂无法物理接触患者。还为额外的安全机制准备了一个电气关闭开关。我们大学的伦理委员会批准了这个机器人的临床使用。在安全性问题得到解决后，对志愿者反复进行模拟研究。并针对临床应用优化了导航软件。最后将该机器人应用于2例MR引导下微波消融肝肿瘤的临床应用。该程序成功和安全地完成，并在此过程中的机器人援助被认为是有用的。

项目成果

Disruption of erythrocytes distinguishes fixed cells/tissues from viable cells/tissues following microwave coagulation therapy

微波凝固治疗后红细胞的破坏可区分固定细胞/组织与活细胞/组织

• 发表时间: 2005
• 期刊: Digest Dis Sci 50(7)
• 作者: Yamaguchi;Mulcaisho;K.;Yamamoto;H.;Shiomi;H.;Kurumi;V.;Sugihara;H.;Tani;T
• 通讯作者: T

MRI-Compatible Manipulator for Ablation Therapy for Liver Tumors Using Synergistic Virtual Remote-Center-of-Motion Control

使用协同虚拟远程运动中心控制的 MRI 兼容机械臂用于肝脏肿瘤消融治疗

• 期刊: J Magn Reson Imaging(掲載確定)
• 作者: Hata N;Tokuda J;Huxwitz S;Morikawa S
• 通讯作者: Morikawa S

MRI-guided surgical treatments. Tutorials on CAS(invited talk)

MRI 引导的手术治疗。

• 发表时间: 2006
• 作者: Morikawa S;Murakami K. Naka S;Iiurumi Y;Moritan Z;Inubushi T;Nakakubo T;LTmihuari;Haque HA;Hata N.;Morikawa S.
• 通讯作者: Morikawa S.

MR guided microwave surgery for liver tumor with MR gradient-basedtracking system.

使用基于 MR 梯度的跟踪系统进行 MR 引导的肝脏肿瘤微波手术。

• 发表时间: 2006
• 作者: Naka S;Kurumi Y;Morikawa S;Shiomi H;Tani T.
• 通讯作者: Tani T.

Intraluminal image navigation with a micro-sensor of MR gradient based tracking system.

使用基于 MR 梯度的跟踪系统的微传感器进行腔内图像导航。

• 发表时间: 2006
• 作者: Murakami K;Naka S;Demura K;Sato K;Haque HA;Shiomi H;Morikawa S;Inubushi T;Kurumi Y;Tani T.
• 通讯作者: Tani T.