Preliminary clinical experiences of a motorized manipulator for magnetic resonance image–guided microwave coagulation therapy of liver tumors

Morikawa, Shigehiro; Naka, Shigeyuki; Murakami, Koichiro; Kurumi, Yoshimasa; Shiomi, Hisanori; Tani, Tohru; Haque, Hasnine A.; Tokuda, Junichi; Hata, Nobuhiko; Inubushi, Toshiro

doi:10.1016/j.amjsurg.2009.02.006

« Previous Next »The American Journal of Surgery
Volume 198, Issue 3 , Pages 340-347, September 2009

Preliminary clinical experiences of a motorized manipulator for magnetic resonance image–guided microwave coagulation therapy of liver tumors

Shigehiro Morikawa, M.D., Ph.D.
- Biomedical MR Science Center, Shiga University of Medical Science, Seta Tsukinowa-cho, Ohtsu, Shiga 520–2192, Japan
- Corresponding author. Tel.: +81 77 548 2453; fax: +81 77 548 2453
Shigeyuki Naka, M.D., Ph.D.
- Department of Surgery, Shiga University of Medical Science, Shiga, Japan
Koichiro Murakami, M.D.
- Department of Surgery, Shiga University of Medical Science, Shiga, Japan
Yoshimasa Kurumi, M.D., Ph.D.
- Department of Surgery, Shiga University of Medical Science, Shiga, Japan
Hisanori Shiomi, M.D., Ph.D.
- Department of Surgery, Shiga University of Medical Science, Shiga, Japan
Tohru Tani, M.D., Ph.D.
- Department of Surgery, Shiga University of Medical Science, Shiga, Japan
Hasnine A. Haque, Ph.D.
- Ge-Yokogawa Medical Systems, Tokyo, Japan
Junichi Tokuda, Ph.D.
- Department of Radiology, Brigham and Women's Hospital and Harvard Medical School, Boston, MA
Nobuhiko Hata, Ph.D.
- Department of Radiology, Brigham and Women's Hospital and Harvard Medical School, Boston, MA
Toshiro Inubushi, Ph.D.
- Biomedical MR Science Center, Shiga University of Medical Science, Seta Tsukinowa-cho, Ohtsu, Shiga 520–2192, Japan

Received 13 December 2008; received in revised form 13 February 2009 published online 14 July 2009.

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.