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Hepatocellular carcinoma (HCC) is the second most common malignancy in China.As microwave ablation (MWA) is an effective method for liver cancer,a robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the needles.This robotic system includes a surgical robot with 5 degrees of freedom,a workstation for path-planning and image processing,a conventional 2D ultrasound device,and an electromagnetic (EM) tracking system.Surgery space,clinical operation requirements and optimal mechanical structure are the key factors to be considered in designing a medical robot suitable for use by surgeons.Based on the mechanics of the needle placement robot,we have conducted detailed kinematic analysis,including a combined numerical algorithm and coordinate mapping.Finally,the feasibility of the needle placement robot has been validated by experiment.
As microwave ablation (MWA) is an effective method for liver cancer, a robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the needles. This robotic system includes a surgical robot with 5 degrees of freedom, a workstation for path-planning and image processing, a conventional 2D ultrasound device, and an electromagnetic (EM) tracking system. spatial space, clinical operation requirements and optimal mechanical structure are the key factors to be considered in designing a medical robot suitable for use by surgeons. based on the mechanics of the needle placement robot, we have taken detailed kinematic analysis, including a combined numerical algorithm and coordinate mapping. Finally, the feasibility of the needle placement robot has been validated by experiment.