The clinical application of a 3D ultrasound-guided robot system

Shao Li Liu*, Xiang Dong Yang, Tao Feng, Ken Chen, Ping Liang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

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 languageEnglish
Pages (from-to)878-884
Number of pages7
JournalChinese Journal of Biomedical Engineering
Volume28
Issue number6
Publication statusPublished - Dec 2009
Externally publishedYes

Keywords

  • 3D ultrasound image-guide
  • NN
  • Needle-driven robot
  • Robot calibration

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