A medical robot for needle placement therapy in liver cancer
Hepatocellular carcinoma （HCC） is the second most common malignancy in China. As microwave ablation （MWA） is an effective method for liver cancer, a robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the needles. This robotic system includes a surgical ro...
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| Veröffentlicht in: | Journal of Zhejiang University. A. Science 2010-04, Vol.11 (4), p.263-269 |
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| container_end_page | 269 |
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| container_issue | 4 |
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| container_title | Journal of Zhejiang University. A. Science |
| container_volume | 11 |
| creator | Duan, Xing-guang Bian, Gui-bin Zhao, Hong-hua Wang, Xing-tao Huang, Qiang |
| description | Hepatocellular carcinoma （HCC） is the second most common malignancy in China. As microwave ablation （MWA） is an effective method for liver cancer, a robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the needles. This robotic system includes a surgical robot with 5 degrees of freedom, a workstation for path-planning and image processing, a conventional 2D ultrasound device, and an electromagnetic （EM） tracking system. Surgery space, clinical operation requirements and optimal mechanical structure are the key factors to be considered in designing a medical robot suitable for use by surgeons. Based on the mechanics of the needle placement robot, we have conducted detailed kinematic analysis, including a combined numerical algorithm and coordinate mapping. Finally, the feasibility of the needle placement robot has been validated by experiment. |
| doi_str_mv | 10.1631/jzus.a1000040 |
| format | Article |
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| subjects | Civil Engineering Classical and Continuum Physics Engineering Industrial Chemistry/Chemical Engineering Mechanical Engineering |
| title | A medical robot for needle placement therapy in liver cancer |
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