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.
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Leong, F., Yang, L., Chang, S., Poo, A.N., Sakuma, I., Chui, CK. (2008). A Precise Robotic Ablation and Division Mechanism for Liver Resection. In: Dohi, T., Sakuma, I., Liao, H. (eds) Medical Imaging and Augmented Reality. MIAR 2008. Lecture Notes in Computer Science, vol 5128. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79982-5_35
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DOI: https://doi.org/10.1007/978-3-540-79982-5_35
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-79981-8
Online ISBN: 978-3-540-79982-5
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