Design of the needle-driven robot for radio frequency ablation therapy based on ultrasound navigation

Authors:
Qinjun Du;Xueyi Zhang;Hui Chen
Affiliations:
School of Electrical & Electronic Engineering, Shandong University of Technology, 12 Zhangzhou road, Shandong Zibo, 255091 China.;School of Electrical & Electronic Engineering, Shandong University of Technology, 12 Zhangzhou road, Shandong Zibo, 255091 China.;School of Electrical & Electronic Engineering, Shandong University of Technology, 12 Zhangzhou road, Shandong Zibo, 255091 China
Venue:
International Journal of Computer Applications in Technology
Year:
2011

Citing 2
Cited 0

Surgical Motion Adaptive Robotic Technology (S.M.A.R.T): Taking the Motion out of Physiological Motion

MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
Ultrasound Image-Based Visual Servoing of a Surgical Instrument Through Nonlinear Model Predictive Control

International Journal of Robotics Research

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Abstract

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"ï戮聯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 tumour 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's 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 tumour with microwave coagulation. A small and compact medical robot is proposed based on workspace optimisation in this paper. Experimental results show that the needle-driven robot location errors are less than 0.2 mm, whereas the robot ultrasound navigation system errors are less than 2.5 mm.