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 proceedingConference article published in proceeding or bookAcademic researchpeer-review

10 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 languageEnglish
Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PublisherIEEE
Pages284-289
Number of pages6
ISBN (Electronic)9781467379700
DOIs
Publication statusPublished - 16 Dec 2015
Externally publishedYes
Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Kintex, Goyang City, Korea, Republic of
Duration: 28 Oct 201530 Oct 2015

Conference

Conference12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Country/TerritoryKorea, Republic of
CityGoyang City
Period28/10/1530/10/15

Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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