An Efficient Needle Insertion Robotics System for Ultrasound-guided Hepatic Microwave Coagulation Therapy
The goal of this paper is to develop a needle insertion robotic system for ultrasound-guided minimally invasive surgery, which is composed of a robot, a surgical planning subsystem and a pose tracking device. The system plays roles of assisting surgeon for inserting needle to the centre of target tumor leading to efficient tumor destruction. Compared to the conventional 2D ultrasound guided therapy, it is able to achieve better accuracy. Furthermore, the robot can position and guide needles. The monitor method based on mutual information is effective. At last, a prime experiment is performed to validate accuracy of the system. The result shows that the error is acceptable, and them proves efficiency of hepatic microwave coagulation therapy.
passive robot calibration 3D ultrasound
Jing Xu Xiangdong Yang Dan Wu Ken Chen He Ren Ping Liang
Department of Precision Instruments and Mechanology Tsinghua University Beijing, 100084, China Department of Ultrasound General Hospital of PLA Beijing 100853, China
国际会议
2007 IEEE International Conference on Automation and Lofistics
山东济南
英文
2007-08-18（万方平台首次上网日期，不代表论文的发表时间）