Increased applicability of a manipulator to assist MR guided microwave ablation of liver tumors and clinical experiences of 14 cases

INTRODUCTION We have developed a motorized MR-compatible manipulator with a remote-center-of-motion (RCM) control to assist MR guided microwave ablation of liver tumors and started clinical studies using it. Our preliminary experiences of the initial two cases have been reported at the previous ISMRM meeting in Toronto. The manipulator was designed to puncture liver tumors from the anterior abdominal wall and liver tumors in the lateral segment were selected as the initial two cases. In such a situation, however, the manipulator could be applied only to some limited cases. In order to increase the applicability of this manipulator, we have developed several types of adaptors for the hand piece. The improvements of the manipulator and our experiences of 14 clinical cases are presented in this study.