診断情報誘導下脳腫瘍精密レーザ手術ロボットシステムにおける座標系統合法の開発と評価

摘要

To establish safe, precise, and minimally invasive surgery, Computer Aided Surgery (CAS) systems, such as intra-operative imaging and navigation system to detect the location of the target of therapy, and surgical robot system, are very powerful tools. There is strong need to combine these CAS systems for fusion of advanced diagnosis and treatment technologies. In this paper, we introduce our new method to register the intraoperative imaging information, robotic surgery system, and patient using surgical navigation system. Using our Open-MRI navigation system and laser surgery system for neurosurgery, we can make registration between these system and patient precisely. The experimental result shows that the error on the registration between image data and the laser surgery system is low enough to fulfill the requirement of laser surgery system in the use of high-resolution image data. This system realizes the safe, precise and minimally invasive neurosurgery by the combination of intra-operative diagnosis and advanced therapeutic device.%悪性脳腫瘍の外科的治療においては，腫瘍の摘出率が直rn接患者予後に影響することから腫瘍を正確に全摘出するrnことが重要である。一方で，術中の腫瘍と正常脳の境界判rn別が難しいこと，重要な機能領域に近接した腫瘍は機能温rn存のために近傍での作業を避けなければいけないことなどrnから，摘出を不十分にせざるをえないことが多い。これらrnの問題をふまえ，腫瘍を最大限摘出し，かつ術後の後遺症rnを防ぐための工学的手術支援技術の研究が行われている。