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Published in: Chinese Journal of Mechanical Engineering 6/2017

01-11-2017 | Original Article

Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors

Authors: Ying-Yu Cao, Long Xue, Bo-Jin Qi, Li-Pei Jiang, Shuang-Cheng Deng, Ping Liang, Jia Liu

Published in: Chinese Journal of Mechanical Engineering | Issue 6/2017

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Abstract

The existing interventional therapy robots for the microwave ablation of liver tumors have a poor clinical applicability with a large volume, low positioning speed and complex automatic navigation control. To solve above problems, a composite configuration interventional therapy robot with passive and active joints is developed. The design of composite configuration reduces the size of the robot under the premise of a wide range of movement, and the robot with composite configuration can realizes rapid positioning with operation safety. The cumulative error of positioning is eliminated and the control complexity is reduced by decoupling active parts. The navigation algorithms for the robot are proposed based on solution of the inverse kinematics and geometric analysis. A simulation clinical test method is designed for the robot, and the functions of the robot and the navigation algorithms are verified by the test method. The mean error of navigation is 1.488 mm and the maximum error is 2.056 mm, and the positioning time for the ablation needle is in 10 s. The experimental results show that the designed robot can meet the clinical requirements for the microwave ablation of liver tumors. The composite configuration is proposed in development of the interventional therapy robot for the microwave ablation of liver tumors, which provides a new idea for the structural design of medical robots.
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Metadata
Title
Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors
Authors
Ying-Yu Cao
Long Xue
Bo-Jin Qi
Li-Pei Jiang
Shuang-Cheng Deng
Ping Liang
Jia Liu
Publication date
01-11-2017
Publisher
Chinese Mechanical Engineering Society
Published in
Chinese Journal of Mechanical Engineering / Issue 6/2017
Print ISSN: 1000-9345
Electronic ISSN: 2192-8258
DOI
https://doi.org/10.1007/s10033-017-0141-1

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