抄録
In this research, we developed an MRI compatible 2DOFs manipulator for needle/device guidance controlled by intra-operative fluoro MR images. This system consists of a customized 0.2T open-type MRI, 3D position measurement system, PC for control and the 2DOF manipulator. This system operates as follows: 1) The target position is chosen from preoperative MRI. 2) The surgeon set-up the manipulator close to the entry position on the patient. 3) The position and orientation of the manipulator is calculated by using the 3D position measurement system. 4) The manipulator's arm is moved automatically towards needle insertion point based on the calculation result. 5) The surgeon inserts the needle/device through the manipulator's arm. 6) Navigation system will correct the needle insertion angle by intraoperative fluoro MRI (images are obtained 0.5Hz). The phantom experiments are conducted to evaluate the needle insertion accuracy, and the accuracy of 0.8 mm±0.29 mm was obtained. As conclusion, our system is sufficiently accurate and therefore feasible for performing the device guidance inside MRI environment.
