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	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 Peneyr; Stephen Kin-Yong Chang; Pheng-Ann Heng; Chee-Kong Chui
	2015
会议名称	The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2015)
会议地点	KINTEX, Goyang city, Korea
英文摘要	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.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/6797]
专题	深圳先进技术研究院_集成所
作者单位	2015
推荐引用方式 GB/T 7714	Bin Duan,Rong Wen,Chin-Boon Chng,et al. Image-guided Robotic System for Radiofrequency Ablation of Large Liver Tumor with Single Incision[C]. 见:The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2015). KINTEX, Goyang city, Korea.

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