Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision

Bin Duan; Rong Wen; Chin Boon Chng; Weiming Wang; Ping Liu; Jing Qin; Jonnathan Libao Peneyra; Stephen Kin Yong Chang; Pheng Ann Heng; Chee Kong Chui

doi:10.1109/URAI.2015.7358954

Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision

Bin Duan, Rong Wen, Chin Boon Chng, Weiming Wang, Ping Liu, Jing Qin, Jonnathan Libao Peneyra, Stephen Kin Yong Chang, Pheng Ann Heng, Chee Kong Chui

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

13 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Publisher	IEEE
Pages	284-289
Number of pages	6
ISBN (Electronic)	9781467379700
DOIs	https://doi.org/10.1109/URAI.2015.7358954
Publication status	Published - 16 Dec 2015
Externally published	Yes
Event	12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Kintex, Goyang City, Korea, Republic of Duration: 28 Oct 2015 → 30 Oct 2015

Conference

Conference	12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Country/Territory	Korea, Republic of
City	Goyang City
Period	28/10/15 → 30/10/15

Keywords

image guidance
minimally invasive surgery
path planning
remote center of motion
Surgical robot

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction

More information

10.1109/URAI.2015.7358954

Cite this

Duan, B., Wen, R., Chng, C. B., Wang, W., Liu, P., Qin, J., Peneyra, J. L., Chang, S. K. Y., Heng, P. A., & Chui, C. K. (2015). Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 (pp. 284-289). Article 7358954 IEEE. https://doi.org/10.1109/URAI.2015.7358954

@inproceedings{8669f0de8899494cab3bd03f8b33ad9b,

title = "Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision",

abstract = "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.",

keywords = "image guidance, minimally invasive surgery, path planning, remote center of motion, Surgical robot",

author = "Bin Duan and Rong Wen and Chng, {Chin Boon} and Weiming Wang and Ping Liu and Jing Qin and Peneyra, {Jonnathan Libao} and Chang, {Stephen Kin Yong} and Heng, {Pheng Ann} and Chui, {Chee Kong}",

year = "2015",

month = dec,

day = "16",

doi = "10.1109/URAI.2015.7358954",

language = "English",

pages = "284--289",

booktitle = "2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015",

publisher = "IEEE",

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note = "12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 ; Conference date: 28-10-2015 Through 30-10-2015",

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Duan, B, Wen, R, Chng, CB, Wang, W, Liu, P, Qin, J, Peneyra, JL, Chang, SKY, Heng, PA & Chui, CK 2015, Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision. in 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015., 7358954, IEEE, pp. 284-289, 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, Goyang City, Korea, Republic of, 28/10/15. https://doi.org/10.1109/URAI.2015.7358954

Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision. / Duan, Bin; Wen, Rong; Chng, Chin Boon et al.
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. IEEE, 2015. p. 284-289 7358954.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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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

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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.

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Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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