A Robotic Surgery Exploration Arrangement for Hepatic Microwave Coagulation Therapy

This paper counseled a needle insertion robotic surgery arrangement for hepatic microwave coagulation of liver tumors. The arrangement might compensate the impact provoked by the patient’s respiratory motion. The arrangement includes a needle insertion robot, a surgical arranging subsystem, a magnetic pursuing mechanism and a stereo vision system. In order to encounter the frank necessity of the arrangement, inserting the needle precisely to the target, we counseled a method in this paper. First, a patient body fixation method was utilized to cut unintentional patient movement. Then, stereo vision method was utilized to trail the markers on the patient’s body surface. By joining the fixation and stereo vision, we can draw the precise gesture of the structure, minimizing impact of respiratory and cardiac motion. Finally, accuracy examination on 3D ultrasound phantom was grasped out to assess the exploration system. The aftermath indicated that the counseled method might enhance arrangement accuracy, enhancing the efficiency of interference therapy for the hepatic tumors and cutting the patient’s pain.