Three-dimensional ultrasound image-guided robotic system for accurate microwave coagulation of malignant liver tumours

	Three-dimensional ultrasound image-guided robotic system for accurate microwave coagulation of malignant liver tumours
	Jing Xu; Zhenzhong Jia; Zhangjun Song; Xiangdong Yang; Ken Chen; Ping Liang
刊名	INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
	2010
卷号	6 期号:3 页码:256-268
英文摘要	Background The further application of conventional ultrasound (US) image-guided microwave (MW) ablation of liver cancer is often limited by two-dimensional (2D) imaging, inaccurate needle placement and the resulting skill requirement. The three-dimensional (3D) image-guided robotic-assistedsystem provides an appealing alternative option, enabling the physician to perform consistent, accurate therapy with improved treatment effectiveness. Methods Our robotic system is constructed by integrating an imaging module, a needle-driven robot, a MW thermal field simulation module, and surgical navigation software in a practical and user-friendly manner. The robot executes precise needle placement based on the 3D model reconstructed from freehand-tracked 2D B-scans. A qualitative slice guidance method for fine registration is introduced to reduce the placement error caused by target motion. By incorporating the 3D MW specific absorption rate (SAR) model into the heat transfer equation, the MW thermal field simulation module determines the MW power level and the coagulation time for improved ablation therapy. Two types of wrists are developed for the robot: a 'remote centre of motion' (RCM) wrist and a non-RCM wrist, which is preferred in real applications. Results The needle placement accuracies were <3 mm for both wrists in the mechanical phantom experiment. The target accuracy for the robot with the RCM wrist was improved to 1.6 +/- 1.0 mm when real-time 2D US feedback was used in the artificial-tissue phantom experiment. By using the slice guidance method, the robot with the non-RCM wrist achieved accuracy of 1.8 +/- 0.9 mm in the ex vivo experiment; even target motion was introduced. In the thermal field experiment, a 5.6% relative mean error was observed between the experimental coagulated neurosis volume and the simulation result.
收录类别	SCI
原文出处	http://www.ncbi.nlm.nih.gov/pubmed/20564429
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/2729]
专题	深圳先进技术研究院_集成所
作者单位	INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
推荐引用方式 GB/T 7714	Jing Xu,Zhenzhong Jia,Zhangjun Song,et al. Three-dimensional ultrasound image-guided robotic system for accurate microwave coagulation of malignant liver tumours[J]. INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,2010,6(3):256-268.
APA	Jing Xu,Zhenzhong Jia,Zhangjun Song,Xiangdong Yang,Ken Chen,&Ping Liang.(2010).Three-dimensional ultrasound image-guided robotic system for accurate microwave coagulation of malignant liver tumours.INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,6(3),256-268.
MLA	Jing Xu,et al."Three-dimensional ultrasound image-guided robotic system for accurate microwave coagulation of malignant liver tumours".INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY 6.3(2010):256-268.