title: Preliminary clinical experiences of a motorized manipulator for magnetic resonance image-guided microwave coagulation therapy of liver tumors.
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.
authors: Biomedical MR Science Center, Shiga University of Medical Science, Ohtsu, Shiga, Japan. morikawa@belle.shiga-med.ac.jp
authors: Shigehiro
authors: S
authors: Morikawa
authors: Shigeyuki
authors: S
authors: Naka
authors: Koichiro
authors: K
authors: Murakami
authors: Yoshimasa
authors: Y
authors: Kurumi
authors: Hisanori
authors: H
authors: Shiomi
authors: Tohru
authors: T
authors: Tani
authors: Hasnine A
authors: HA
authors: Haque
authors: Junichi
authors: J
authors: Tokuda
authors: Nobuhiko
authors: N
authors: Hata
authors: Toshiro
authors: T
authors: Inubushi
mesh_terms: D000368:Aged; D004564:Electrocoagulation / Q000295:instrumentation; D005260:Female; D006801:Humans; D008113:Liver Neoplasms / Q000601:surgery*; D053783:Magnetic Resonance Imaging, Interventional; D008297:Male; D008872:Microwaves / Q000627:therapeutic use*; D008875:Middle Aged; D012984:Software; D013906:Thoracoscopy; D016896:Treatment Outcome