Shigehiro Morikawa1, Toshiro Inubushi1, Shigeyuki Naka2, Koichiro Murakami2, Yoshimasa Kurumi2, Tohru Tani2, Hasnine Akter Haque3, Junichi Tokuda4, Nobuhiko Hata4
1Biomedical MR Science Center, Shiga University of Medical Science, Ohtsu, Shiga, Japan; 2Department of Surgery, Shiga University of Medical Science, Ohtsu, Shiga, Japan; 3GE Yokogawa Medical System, Hino, Tokyo, Japan; 4Brigham and Women's Hospital, Boston, MA, USA
We developed a motorized MR-compatible manipulator with synergetic remote-center-of-motion control to assist MR guided microwave ablation of liver tumors and started clinical studies using it. To increase the applicability of this manipulator, several types of adaptors of the handpiece were developed. As a result, lateral approach to tumors was enabled and liver tumors in various locations could be punctured under the assistance of this manipulator. We have already experienced 14 clinical cases with liver tumors. All cases were successfully treated without any complications. Nowadays, this manipulator is routinely used in this procedure.