An ultrasonic imaging guided medical robot system for microwave ablation therapy

This article proposes one kind of ultrasonic imaging guided medical robot system with a six-joint arm. This system can detect the real-time space position of the ultrasonic probe by sensors in six joints of the arm. In the microwave ablation liver neoplasm treatment, when the six-joint arm holds the ultrasonic probe to scan on the body surface of a patient, the system's microcomputer can determinate the space position of the ultrasonic probe by the data from various joints' sensors, and make a three dimensional restructuring of the tumor ultrasonic image so as to guide the medical surgical operation. The arm's six joints are assembled in an intersection combination way, which simplifies the calculating and controlling algorithm. The simulation results indicate that this ultrasonic imaging guided medical robot system has a high measuring accuracy and can satisfy the request of ultrasonic image guiding.