Intra-operative risk analysis of robot-assisted liver tumor coagulation therapy systems

An effective real-time intra-operative risk analysis algorithm for robot-assisted liver tumor coagulation therapy systems was proposed to solve the problem that the systems risk analysis still depends on two-dimensional image information in celiac intervention therapy due to the lack of quantitative information during intra-operative monitoring. The key to the algorithm is that the shortest distance between the moving needles and the important tissues and organs in the abdominal cavity, and the corresponding time are transformed into the convex optimization problem for analysis. This convex optimization problem is solved based on the interior point method. The simulation results demonstrated that the real-time risk analysis algorithm based on the interior point method was effective, real-time, and universal. The collision detection between multiple convex bodies can be realized once the obstacles and needles are expressed for the third-order continuously differentiable implicit function, which can provide effective quantitative risk analysis information to surgeons for surgery monitoring.