A medical robot for needle placement therapy in liver cancer |
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| Authors: | Xing-guang Duan Gui-bin Bian Hong-hua Zhao Xing-tao Wang Qiang Huang |
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| Institution: | 1. Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, 100081, China
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| Abstract: | 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 op... |
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| Keywords: | Surgical robot Needle insertion Inverse kinematics Numerical solution |
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