A robotic system for overlapping radiofrequency ablation in large tumor treatment

Liangjing Yang, Rong Wen, Jing Qin, Chee Kong Chui, Kah Bin Lim, Stephen Kin Yong Chang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

46 Citations (Scopus)


Overlapping radiofrequency ablation (RFA) in large tumor treatment requires multiple insertions of electrodes, which often compromise its efficacy and predictability. Surgical robot is a promising candidate for the execution of multiple RFA in large tumor treatment in terms of accuracy and speed. In this paper, we share our experience of design and implementation of a novel robotic system specialized for overlapping RFA. It consists of two components: a robotic manipulator and an automatic ablation planning module. The manipulator architecture is designed to facilitate the kinematic requirement for the multiple overlapping ablation technique within the constraints of minimally invasive surgery. An efficient Voxel Growing algorithm is adopted to automatically produce the ablation points according to the tumor's profile. The feasibility of the proposed robotic system is demonstrated by extensive simulation- and experiment-based evaluation conducted on ex vivo porcine liver.
Original languageEnglish
Article number5613186
Pages (from-to)887-897
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Issue number6
Publication statusPublished - 1 Dec 2010
Externally publishedYes


  • Automatic ablation planning
  • medical device
  • radiofrequency ablation
  • surgical robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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