Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/132139
Title: COMPUTED-AIDED AND ROBOT-ASSISTED RADIOFREQUENCY ABLATION OF LARGE LIVER TUMOR
Authors: DUAN BIN
Keywords: Radiofrequency ablation, probabilistic simulation, robotic surgery, single insertion port, remote center of motion, surgical registration.
Issue Date: 12-Jul-2016
Source: DUAN BIN (2016-07-12). COMPUTED-AIDED AND ROBOT-ASSISTED RADIOFREQUENCY ABLATION OF LARGE LIVER TUMOR. ScholarBank@NUS Repository.
Abstract: Multiple needle insertions and ablations are required in percutaneous Radiofrequency Ablation (RFA) for large liver tumor. It is difficult for clinicians to perform percutaneous multiple RFAs precisely due to the poor quality of the feedback images during the procedure. In this study, a computer-aided and robot-assisted RFA system was developed to improve the treatment outcome of large liver tumors. A probabilistic bio-heating finite element (FE) model was developed to predict the RFA lesion. A Remote Center of Motion (RCM) robot mechanism for multiple RFA needle insertions was also developed to cover the entire tumor volume through a Single Insertion Port (SIP). An effective registration method was proposed to transform data from patient coordinate system to robot coordinate system. Ex-vivo and in-vivo experimental results showed that the computer-aided and robot-assisted RFA system is able to conduct multiple RFAs with good accuracy.
URI: http://scholarbank.nus.edu.sg/handle/10635/132139
Appears in Collections:Ph.D Theses (Open)

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
DuanB.pdf26.11 MBAdobe PDF

OPEN

NoneView/Download

Page view(s)

107
checked on Jan 20, 2018

Download(s)

82
checked on Jan 20, 2018

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.