The Robot System of Radio Frequency Ablation Based on Ultrasound Navigation
The ultrasonic image guided radio frequency ablation surgery is an effective technique in liver tumour treatment. However, the traditional surgery imposes a constraint for surgeons to have high precision in their hand-eye coordination. This paper discusses the design of an assisted medical robot system to reduce these requirements, the needle driven robot system consists of needle-driven robot, 3D model navigation and a magnetic tracker. In the pre-operative phase, 3D model of the liver tumor is reconstructed and the needle insertion path is planed. In the intra-operative phase, the surgeon matches the pre-operative 3D model of the liver with real patient liver. Then, the needle-driven robot moves accurately at the target point where the surgeon inserts the needle into the liver tumour to destroy the tumor with microwave coagulation. A small and compact medical robot is proposed based on workspace optimization in this paper. Experimental results show that the robot location errors are less than 0.2mm, the robot ultrasound navigation system errorsare less than 2.5 mm.
needle-driven robot workspace optimization ultrasound navigation radio frequency ablation
Qinjun Du
School of Electrical and Electronic Engineering Shandong University of Technology Shandong Zibo China
国际会议
The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)
沈阳
英文
542-546
2010-03-27（万方平台首次上网日期，不代表论文的发表时间）