Journal of Computer Aided Surgery Vol.3 No.4

術中オープンM�oのためのヒツチコツク定位脳手術装置の開発
Development of Hitchcock Stereotactic Device for Intraoperative Open MRI

谷口拡樹弘ac*,伊関洋ab,平孝臣b,白川洋c,岩野英明d,村垣善浩ab,杉浦円ae,苗村潔a,堀智勝b,高倉公朋a
a東京女子医科大学大学院先端生命医科学研究所先端工学外科.
b東京女子医科大学脳神経センター脳神経外科.
c日立メディコ.
d瑞穂医科工業.
e日立製作所
Hrroki Tamguchi ac *, Hrroshi Iseki a b, Takanon Taira b, Hiroshi Shirakawa c, Hideaki Iwano d,Yoshihrro Muragaki ab, Madoka Sugrura ae, Kryoshi Naemura a, Tomokatsu Hori b, Kintomo Takakura a
a Faculty of Advanced techno-surgery (FATS), Institute of Advanced Biomedical Engineering and Science,
b Department of Neurosurgery, Neurological Institute, Tokyo Women's Medical University.
c Hitachi Medical Corporation.
d Mizuho Co Ltd.
e Hitachi Ltd.

Abstract
We have introduced an open MRI into the operating room. When taking intraoperative open MR (iMR) images conventionally, since it was impossible to have used a conventional head coil for diagnosis because of need of space, we used to wrap the body coil around the patient' head to get signals. However, the body coil was less sensitive, and wrapping the body coil was very rough. Then we have developed Hitchcock Coil for intraoperative open MRI (iMRI). Hitchcock Coil works not only as more sensitive receiving coil than conventional one, but also as iMRI-guided Hitchcock stereotactic device (Hitchcock device), that is to say Navigation System using markers for iMRI. This time we confirmed that Hitchcock Coil was more excellent than the conventional receiving coil in respect of contrast and space resolution, and Navigation System was acceptable to iMRI-guided stereotactic surgery.
Key words
Intraoperative open MRI (iMRI), iMRI-guided Hitchcock stereotactic device, Hitchcock Coil.

MRI環境下手術支援用穿刺マニピュレータの開発および画像歪み計測
MRI Compatible Needle Insetion Manipulator and Image Distorition Measurement for the Evalution

正宗賢(正会員)a*,稲垣貴文a,高井信治a,鈴木真b
a東京電機大学理工学部
b東京電機大学情報環境学部
a*Ken Masamune, a Takafumi Inagaki, a Nobuharu Takai, b Makoto Suzuki
a School of Science and Engineering, Tokyo Denki University.
b School of Information Enviroument, Tokyo Denki University.

Abstract
Recently, MRI compatible robots for assisting surgery are focused with the advancement of image guided stereotactic surgical procedure under the MRI environment. To develop the surgical robot which is MR compatible, we should consider not only the severe clinical condition of the design for safety or sterilizations, but also the specific requirements to use under the strong magnetic field in MRI. Because of the existence of the strong magnetic fields, conventional materials, actuators are not allowed to use. In this paper, we developed the newly design of MRI compatible needle insertion manipulator with 6 degrees of freedom movement. To evaluate the validity to install in the MRI environment, we proposed to use the three dimensional marker system, by which we can measure the three dimensional space distortion caused by the manipulator. Phantom testing and the measurement result of the distortion are described.
Key words
Medical robot, MRI compatible, Image distortion evaluation.

ナビゲーション機能を備えたロボット手術システム(da Vinci)の開発

Development of Data Fusion System for Robotics Surgeru (da Vinci)

服部麻木a*,鈴木直樹a,橋爪誠b,赤星朋比古b,小西晃造b,山口将平b,島田光生c,林部充宏a
a東京慈恵会医科大学高次元医用画像工学研究所
b九州大学大学院災害救急医学
c九州大学大学院消化器・総合外科(第二外科)
Asaki Hattoria*, Naoki Suzukia, Makoto Hashizume b, Tomohiko Akahoshi b, Kozo Konishi b, Shohei Yamaguchi b, Mitsuo Shimadac, Mitsuhiro Hayashibea
a Institute for High Dimensional Medical Imaging, Jikei University School of Medicine
b Department of Disaster and Emergency Medicine, Graduate School of Medical Sciences, Kyushu University
c Department of Surgery and Science, Graduate School of Medical Sciences, Kyushu University

Abstract
We have been developing data fusion system for open surgery and laparoscopic surgery. The system projects 3D reconstructed image of patient's organs in the surgical field and enable to observe the intemal structure of the organs. We applied the system to robotics surgery system "da Vinci". In order to superimpose 3D reconstructed images of the organs to laparoscope's view in real-time, we used optical location sensor and digital video processing system. Using this system, the surgeon is able to observe inner conditions of organs with stereoscopic view.
Key words
Data Fusion, Robotics Surgery, Navigation System.