Abstract
This study is aimed to improve the position accuracy of the three-dimensional ultrasound-guided microwave ablation robotic systems for the treatment of liver cancer. A forward kinematic modal for medical robot was established by using the product of exponential formula. And a special nerve network calibration method was designed for the medical robot calibration. Experiment results showed that the average position accuracy of medical robot increased significantly after calibration. The 3D ultrasound-guided robot has performed clinical operations successfully in Beijing 301 Hospital. The system could help surgeons locate targets accurately and place the surgery devices precisely, improving the treatment effect of cyst-punctured surgery.
| Original language | English |
|---|---|
| Pages (from-to) | 878-884 |
| Number of pages | 7 |
| Journal | Chinese Journal of Biomedical Engineering |
| Volume | 28 |
| Issue number | 6 |
| Publication status | Published - Dec 2009 |
| Externally published | Yes |
Keywords
- 3D ultrasound image-guide
- NN
- Needle-driven robot
- Robot calibration
