Ping Liu1,2, Jing Qin3, Bin Duan4, Qiong Wang1, Xiaoyu Tan4, Baoliang Zhao1, Peneyra Libao Jonnathan5, Chee-Kong Chui4, Pheng-Ann Heng1,6. 1. Shenzhen Key Laboratory of Virtual Reality and Human Interaction Technology, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, China. 2. Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, China. 3. Centre for Smart Health, School of Nursing, The Hong Kong Polytechnic University, Hong Kong. 4. Department of Mechanical Engineering, National University of Singapore, Singapore. 5. Lab Animals Centre, National University of Singapore, Singapore. 6. Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong.
Abstract
BACKGROUND: We aimed at facilitating percutaneous radiofrequency ablation (RFA) for large tumors with accurate overlapping ablation planning and robot-assisted needle insertion from a single incision port (SIP). METHODS: We developed a personalized and quantitative RFA planning method to obtain multiple needle overlapping ablation planning through a single incision. A robot with a remote center of motion mechanism was designed to perform needle insertions through a SIP according to the planning. RESULTS: Numerical and visual evaluation showed that the planning could yield nearly full coverage over large tumors and greatly reduce both ablation times and the ablations of normal tissues. Ex vivo and in vivo experiments showed that our robot-assisted needle insertion system was capable of conducting the RFA procedure in large liver tumors from a SIP. CONCLUSIONS: Robot-assisted RFA needle insertions from a SIP makes RFA treatment for large tumors more minimally invasive, predictable, and repeatable.
BACKGROUND: We aimed at facilitating percutaneous radiofrequency ablation (RFA) for large tumors with accurate overlapping ablation planning and robot-assisted needle insertion from a single incision port (SIP). METHODS: We developed a personalized and quantitative RFA planning method to obtain multiple needle overlapping ablation planning through a single incision. A robot with a remote center of motion mechanism was designed to perform needle insertions through a SIP according to the planning. RESULTS: Numerical and visual evaluation showed that the planning could yield nearly full coverage over large tumors and greatly reduce both ablation times and the ablations of normal tissues. Ex vivo and in vivo experiments showed that our robot-assisted needle insertion system was capable of conducting the RFA procedure in large liver tumors from a SIP. CONCLUSIONS: Robot-assisted RFA needle insertions from a SIP makes RFA treatment for large tumors more minimally invasive, predictable, and repeatable.