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Proceedings Paper

Intra-operative guidance with real-time information of open MRI and manipulators using coordinate-integration module
Author(s): Michio Oikawa; Masami Yamasaki; Haruo Takeda; Hiroyuki Itagaki; Fujio Tajima; Kenichi Sudo; Michitaka Hirose
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Paper Abstract

Assuming the surgery under open magnetic resonance imaging (MRI) equipment with manipulators, we developed the coordinate-integration module and the real-time functions that could display the manipulator's position on the volume data of MRI and could obtain the cross-section images of MRI at the manipulator's position. The small field of view from an endoscope is the problem in most of the minimally invasive surgeries with manipulators. Therefore, we propose an endoscopic surgery with manipulators under open MRI equipment. The coordinate-conversion parameters were calculated in the coordinate-integration module by calibration with an optical tracking system and markers. The delay of the manipulator-position display on the volume data was approximately within 0.5 second though it depended on the amount of the volume data. We could also obtain the cross-section images of MRI at the manipulator's position using the information from the coordinate-integration module. With these functions, we can cope with the change of the organ shape during surgery with the guidance based on the individual information. Furthermore, we can use the manipulator as an MRI probe to define cross-section position like an ultrasonic probe.

Paper Details

Date Published: 30 May 2003
PDF: 8 pages
Proc. SPIE 5029, Medical Imaging 2003: Visualization, Image-Guided Procedures, and Display, (30 May 2003); doi: 10.1117/12.479808
Show Author Affiliations
Michio Oikawa, Hitachi, Ltd. (Japan)
Univ. of Tokyo (Japan)
Masami Yamasaki, Hitachi, Ltd. (Japan)
Haruo Takeda, Hitachi, Ltd. (Japan)
Hiroyuki Itagaki, Hitachi, Ltd. (Japan)
Fujio Tajima, Hitachi, Ltd. (Japan)
Kenichi Sudo, Kyorin Univ. School of Medicine (Japan)
Michitaka Hirose, Univ. of Tokyo (Japan)


Published in SPIE Proceedings Vol. 5029:
Medical Imaging 2003: Visualization, Image-Guided Procedures, and Display
Robert L. Galloway, Editor(s)

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