Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision
Refereed conference paper presented and published in conference proceedings


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AbstractRadiofrequency (RF) ablation surgery is effective in liver tumor treatment with non-collateral damage and reduced blood loss. However, the surgery is challenging for large tumor ablation in a minimally invasive procedure. In this paper, we developed a surgical robot system incorporating medical image information and surgeon's planning knowledge to realize a minimally invasive procedure for large liver tumor treatment through a single incision. The system includes a surgical robot designed with spherical arc structures, medical image processing and planning, and trajectory generation modules. With planning strategies applied to medical images, multiple trajectories are automatically generated. ex-vivo and in-vivo tests were conducted and the experimental results demonstrated that the multiple RF needle insertion could accurately reach the target area and the required needle incision ports were significantly reduced.
All Author(s) ListDuan B., Wen R., Chng C.-B., Wang W., Liu P., Qin J., Peneyra J.L., Chang S.K.-Y., Heng P.-A., Chui C.-K.
Name of Conference12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Start Date of Conference28/10/2015
End Date of Conference30/10/2015
Place of ConferenceGoyang City
Country/Region of ConferenceSouth Korea
Year2015
Month12
Day16
Pages284 - 289
ISBN9781467379700
LanguagesEnglish-United Kingdom
Keywordsimage guidance, minimally invasive surgery, path planning, remote center of motion, Surgical robot

Last updated on 2020-27-05 at 02:16