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Preliminary clinical experiences of a motorized manipulator for magnetic resonance image–guided microwave coagulation therapy of liver tumors
Authors:Shigehiro Morikawa M.D.   Ph.D.   Shigeyuki Naka M.D.   Ph.D.   Koichiro Murakami M.D.   Yoshimasa Kurumi M.D.   Ph.D.   Hisanori Shiomi M.D.   Ph.D.   Tohru Tani M.D.   Ph.D.   Hasnine A. Haque Ph.D.   Junichi Tokuda Ph.D.   Nobuhiko Hata Ph.D.  Toshiro Inubushi Ph.D.
Affiliation:aBiomedical MR Science Center, Shiga University of Medical Science, Seta Tsukinowa-cho, Ohtsu, Shiga 520–2192, Japan;bDepartment of Surgery, Shiga University of Medical Science, Shiga, Japan;cGe-Yokogawa Medical Systems, Tokyo, Japan;dDepartment of Radiology, Brigham and Women's Hospital and Harvard Medical School, Boston, MA
Abstract:

Background

In magnetic resonance (MR) image-guided microwave thermocoagulation of liver tumors, the choice of the optimal puncture route is an important and time-consuming process. To assist this process, we have developed a motorized MR-compatible manipulator.

Methods

The manipulator consists of a passive end effecter with 2 degrees-of-freedom (DOF) rotation and active base stages with 3 ultrasonic motors. It automatically chases the preset target point with synergetic remote-center-of-motion (RCM) control. A mechanical torque limiter and an electrical shutdown switch were added for patient safety.

Results

The manipulator was used for this procedure in 15 cases and successfully utilized to treat liver tumors in various locations. Thoracoscopic assistance was combined with the manipulator in 6 cases. No complications were experienced.

Conclusions

The manipulator was found to be very effective for assisting MR-guided microwave coagulation of liver tumors.
Keywords:MR image guided therapy   Liver tumors   Microwave coagulation   Surgical manipulator
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