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Medical Imaging and Augmented Reality

Volume 5128 of the series Lecture Notes in Computer Science pp 320-328

A Precise Robotic Ablation and Division Mechanism for Liver Resection

  • Florence LeongAffiliated withDepartment of Mechanical Engineering, National University of Singapore
  • , Liangjing YangAffiliated withDepartment of Mechanical Engineering, National University of Singapore
  • , Stephen ChangAffiliated withDepartment of Surgery, National University Hospital
  • , Aun Neow PooAffiliated withDepartment of Mechanical Engineering, National University of Singapore
  • , Ichiro SakumaAffiliated withDepartment of Precision Engineering, The University of Tokyo
  • , Chee-Kong ChuiAffiliated withDepartment of Mechanical Engineering, National University of Singapore

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Abstract

Radiofrequency Ablation (RFA) assisted liver resection results in lesser blood loss during liver resections. It involves a time consuming and error prone process of alternating coagulation and cutting until the line of transaction is completed to finally divide the liver. We proposed a new robotic mechanism to automate the ablation and division process. The robotic device comprises a 2-link manipulator, an x-y translator, a flexi-arm as well as a liver ablation and division device. The process of precise linear motion ablation and cutting has been integrated with the guidance of a robotic mechanism to uniformly coagulate and slit areas of the parenchymal. A prototype of the robotic device has been evaluated on its ability to uniformly target a large region.

Keywords

Surgical robot RF ablation needle insertion liver division liver