TY - GEN
T1 - Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision
AU - Duan, Bin
AU - Wen, Rong
AU - Chng, Chin Boon
AU - Wang, Weiming
AU - Liu, Ping
AU - Qin, Jing
AU - Peneyra, Jonnathan Libao
AU - Chang, Stephen Kin Yong
AU - Heng, Pheng Ann
AU - Chui, Chee Kong
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/16
Y1 - 2015/12/16
N2 - Radiofrequency (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.
AB - Radiofrequency (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.
KW - Surgical robot
KW - image guidance
KW - minimally invasive surgery
KW - path planning
KW - remote center of motion
UR - https://www.scopus.com/pages/publications/84962743952
U2 - 10.1109/URAI.2015.7358954
DO - 10.1109/URAI.2015.7358954
M3 - Conference contribution
AN - SCOPUS:84962743952
T3 - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
SP - 284
EP - 289
BT - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
T2 - 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Y2 - 28 October 2015 through 30 October 2015
ER -