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Title: A robotic system for overlapping radiofrequency ablation in large tumor treatment
Authors: Yang, L. 
Wen, R.
Qin, J.
Chui, C.-K. 
Lim, K.-B. 
Chang, S.K.-Y.
Keywords: Automatic ablation planning
medical device
radiofrequency ablation
surgical robotics
Issue Date: Dec-2010
Citation: Yang, L., Wen, R., Qin, J., Chui, C.-K., Lim, K.-B., Chang, S.K.-Y. (2010-12). A robotic system for overlapping radiofrequency ablation in large tumor treatment. IEEE/ASME Transactions on Mechatronics 15 (6) : 887-897. ScholarBank@NUS Repository.
Abstract: Overlapping radiofrequency ablation (RFA) in large tumor treatment requires multiple insertions of electrodes, which often compromise its efficacy and predictability. Surgical robot is a promising candidate for the execution of multiple RFA in large tumor treatment in terms of accuracy and speed. In this paper, we share our experience of design and implementation of a novel robotic system specialized for overlapping RFA. It consists of two components: a robotic manipulator and an automatic ablation planning module. The manipulator architecture is designed to facilitate the kinematic requirement for the multiple overlapping ablation technique within the constraints of minimally invasive surgery. An efficient Voxel Growing algorithm is adopted to automatically produce the ablation points according to the tumor's profile. The feasibility of the proposed robotic system is demonstrated by extensive simulation- and experiment-based evaluation conducted on ex vivo porcine liver. © 2010 IEEE.
Source Title: IEEE/ASME Transactions on Mechatronics
ISSN: 10834435
DOI: 10.1109/TMECH.2010.2078827
Appears in Collections:Staff Publications

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