Skip to main content
SpringerLink
Log in

A medical robot for needle placement therapy in liver cancer

  • Published:
Journal of Zhejiang University SCIENCE A Aims and scope Submit manuscript

Abstract

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  • Boctor, E.M., Fischer, G., Choti, M.A., Fichtinger, G., Taylor, R.H., 2004. A Dual-armed Robotic System for Intraoperative Ultrasound Guided Hepatic Ablative Therapy: A Prospective Study. Proceedings of IEEE ICRA, New Orleans, p.2517–2522.

  • Cleary, K., Nguyen, C., 2001. State of the art in surgical robotics: Clinical applications and technology challenges. Computer Aided Surgery, 6(6):312–328. [doi:10.3109/10929080109146301]

    Article  Google Scholar 

  • Colombo, M., 1992. Hepatocellular carcinoma. Hepatology, 15(4):225–236. [doi:10.1002/hep.1840150421]

    Article  MathSciNet  Google Scholar 

  • Du, Q.J., Huang, Q., Tian, L.B., Liu, C.C., 2006. Mechanical Design and Control System of a Minimally Invasive Surgical Robot System. Proceeding of IEEE ICMA, Luoyang, China, p.1120–1125.

  • Du, Q.J., Zhang, X.Y., 2006. Manipulability Analysis and Design of Radio Frequency Ablation Robot. Proceeding of IEEE WCICA, Chongqing, China, p.7432–7437.

  • Esquivel, C., Keeffe, E., Garcia, G., Imperial, J., Millan, M., Monge, H., So, S., 1999. Hepatic neoplasm: Advances in treatment. Gastroenterol Hepatol, 14(suppl):37–41.

    Google Scholar 

  • Fei, B.W., Ng, W.S., 2001. The safety issues of medical robotics. Reliability Engineering and System Safety, 73(2):183–192. [doi:10.1016/S0951-8320(01)00037-0]

    Article  Google Scholar 

  • Seki, T., Wakabayashi, M., Nakagawa, T., Itoh, T., Shiro, T., Kunieda, K., Sato, M., Uchiyama, S., Inoue, K., 1994. Ultrasonically guided percutaneous microwave coagulation therapy for small hepatocellular carcinoma. Cancer, 74(3):817–825. [doi:10.1002/1097-0142(19940801)74:3<817::AID-CNCR2820740306>3.0.CO;2-8]

    Article  Google Scholar 

  • Seki, T., Wakabayashi, M., Nakagawa, T., Imamura, M., Tamai, T., Nishimura, A., Yamashiki, N., Okamura, A., Inoue, K., 1999. Percutaneous microwave coagulation therapy for patients with small hepatocellular carcinoma. Cancer, 85(8):1694–1702. [doi:10.1002/(SICI)1097-0142 (19990415)85:8<1694::AID-CNCR8>3.0.CO;2-3]

    Article  Google Scholar 

  • Tsai, Y.C., Soni, A.H., 1984. The effect of link parameter in the working space of general 3R robot arms. Mechanism and Machine Theory, 19(1):9–16. [doi:10.1016/0094-114X (84)90004-1]

    Article  Google Scholar 

  • Tsai, Y.C., Soni, A.H., 1985. Workspace synthesis of 3R, 4R, 5R and 6R robots. Mechanism and Machine Theory, 20(6):555–563. [doi:10.1016/0094-114X(85)90072-2]

    Article  Google Scholar 

  • Ye, S.L., Qin, S.K., 2009. Expert consensus of standardized treatment of primary liver cancer. Tumour, 4:295–304.

    Google Scholar 

  • Ying, X., Ma, X.F., 1991. Synthesis of types of manipulators and determination of their structural parameters in mechanical system design of robots. Journal of University of Science and Technology Beijing, 13(3):252–258.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, 100081, China

    Xing-guang Duan, Gui-bin Bian, Hong-hua Zhao, Xing-tao Wang & Qiang Huang

Authors
  1. Xing-guang Duan
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Gui-bin Bian
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Hong-hua Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Xing-tao Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Qiang Huang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Xing-guang Duan.

Additional information

Project supported by the National High-Tech (863) Research and Development Program of China (No. 2006AA04Z216), and the National Natural Science Foundation of China (No. 60875054)

Rights and permissions

Reprints and permissions

About this article

Cite this article

Duan, Xg., Bian, Gb., Zhao, Hh. et al. A medical robot for needle placement therapy in liver cancer. J. Zhejiang Univ. Sci. A 11, 263–269 (2010). https://doi.org/10.1631/jzus.A1000040

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1631/jzus.A1000040

Key words

CLC number

Search

Navigation