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An ultrasound-directed robotic system for microwave ablation of liver cancer

Published online by Cambridge University Press:  07 December 2009

Qiang Huang ,
Gui-bin Bian ,
Xing-guang Duan ,
Hong-hua Zhao  and
Ping Liang
Qiang Huang
Affiliation:
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China
Gui-bin Bian*
Affiliation:
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China
Xing-guang Duan
Affiliation:
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China
Hong-hua Zhao
Affiliation:
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China
Ping Liang
Affiliation:
Department of Ultrasound, General Hospital of PLA, Beijing, China
*
*Corresponding author. E-mail: [email protected]
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Summary

Hepatocellular carcinoma (HCC), which leads to more than one million deaths every year in the world, is the second most common malignancy in China. As microwave ablation (MWA) is an effective method for the treatment of liver cancer, an ultrasound-directed (US-directed) robotic system was designed to assist surgeons on positioning the needle. This interventional robotic system includes a 5-DOF needle-guiding robot, a conventional 2D ultrasound device, a workstation for path planning and image processing and an electromagnetic tracking device. In clinical environments, we first use real-time freehand 3D ultrasound reconstruction and image analysis methods to attain tumour position, and then manipulate the guiding hole of the robot to position the needle affirmed by the surgeon. Finally, the feasibility of the interventional robotic system are validated by experimental results.

Keywords

Needle insertionInterventional robot3D model reconstructionMicrowave ablation
Type
Article
Information
Robotica , Volume 28 , Special Issue 2: Surgical Robotics: System Development, Application Study and Performance Analysis , March 2010 , pp. 209 - 214
Copyright
Copyright © Cambridge University Press 2009

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