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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2010, Vol. 11 Issue (4): 263-269    DOI: 10.1631/jzus.A1000040
Special Part-issue: 2009 International Symposium on Robotics and Mechatronics     
A medical robot for needle placement therapy in liver cancer
Xing-guang Duan, Gui-bin Bian, Hong-hua Zhao, Xing-tao Wang, Qiang Huang
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 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.

Key words： Surgical robot      Needle insertion      Inverse kinematics      Numerical solution     
Received: 19 January 2010      Published: 29 March 2010
CLC:  TH6  
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Xing-guang Duan
Gui-bin Bian
Hong-hua Zhao
Xing-tao Wang
Qiang Huang
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Xing-guang Duan, Gui-bin Bian, Hong-hua Zhao, Xing-tao Wang, Qiang Huang. A medical robot for needle placement therapy in liver cancer. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2010, 11(4): 263-269.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.A1000040     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2010/V11/I4/263

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