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CLC number: TH6

On-line Access: 2010-03-29

Received: 2010-01-19

Revision Accepted: 2010-01-27

Crosschecked: 2010-01-27

Cited: 6

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Journal of Zhejiang University SCIENCE A 2010 Vol.11 No.4 P.263-269


A medical robot for needle placement therapy in liver cancer

Author(s):  Xing-guang Duan, Gui-bin Bian, Hong-hua Zhao, Xing-tao Wang, Qiang Huang

Affiliation(s):  Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, China

Corresponding email(s):   duanstar@bit.edu.cn

Key Words:  Surgical robot, Needle insertion, Inverse kinematics, Numerical solution

Xing-guang Duan, Gui-bin Bian, Hong-hua Zhao, Xing-tao Wang, Qiang Huang. A medical robot for needle placement therapy in liver cancer[J]. Journal of Zhejiang University Science A, 2010, 11(4): 263-269.

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journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

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%T A medical robot for needle placement therapy in liver cancer
%A Xing-guang Duan
%A Gui-bin Bian
%A Hong-hua Zhao
%A Xing-tao Wang
%A Qiang Huang
%J Journal of Zhejiang University SCIENCE A
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A1000040

T1 - A medical robot for needle placement therapy in liver cancer
A1 - Xing-guang Duan
A1 - Gui-bin Bian
A1 - Hong-hua Zhao
A1 - Xing-tao Wang
A1 - Qiang Huang
J0 - Journal of Zhejiang University Science A
VL - 11
IS - 4
SP - 263
EP - 269
%@ 1673-565X
Y1 - 2010
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A1000040

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.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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