Overlapping radiofrequency ablation planning and robot-assisted needle insertion for large liver tumors

Ping Liu, Jing Qin, Bin Duan, Qiong Wang, Xiaoyu Tan, Baoliang Zhao, Peneyra Libao Jonnathan, Chee Kong Chui, Pheng Ann Heng

Research output: Journal article publicationJournal articleAcademic researchpeer-review

15 Citations (Scopus)


Background: We aimed at facilitating percutaneous radiofrequency ablation (RFA) for large tumors with accurate overlapping ablation planning and robot-assisted needle insertion from a single incision port (SIP). Methods: We developed a personalized and quantitative RFA planning method to obtain multiple needle overlapping ablation planning through a single incision. A robot with a remote center of motion mechanism was designed to perform needle insertions through a SIP according to the planning. Results: Numerical and visual evaluation showed that the planning could yield nearly full coverage over large tumors and greatly reduce both ablation times and the ablations of normal tissues. Ex vivo and in vivo experiments showed that our robot-assisted needle insertion system was capable of conducting the RFA procedure in large liver tumors from a SIP. Conclusions: Robot-assisted RFA needle insertions from a SIP makes RFA treatment for large tumors more minimally invasive, predictable, and repeatable.

Original languageEnglish
Article numbere1952
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Issue number1
Publication statusPublished - Feb 2019


  • ablation planning
  • large tumor
  • robot-assisted needle insertion
  • single incision

ASJC Scopus subject areas

  • Surgery
  • Biophysics
  • Computer Science Applications


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