Please use this identifier to cite or link to this item: https://doi.org/10.1109/TMECH.2010.2078827
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dc.titleA robotic system for overlapping radiofrequency ablation in large tumor treatment
dc.contributor.authorYang, L.
dc.contributor.authorWen, R.
dc.contributor.authorQin, J.
dc.contributor.authorChui, C.-K.
dc.contributor.authorLim, K.-B.
dc.contributor.authorChang, S.K.-Y.
dc.date.accessioned2014-06-16T09:34:49Z
dc.date.available2014-06-16T09:34:49Z
dc.date.issued2010-12
dc.identifier.citationYang, 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. https://doi.org/10.1109/TMECH.2010.2078827
dc.identifier.issn10834435
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/54788
dc.description.abstractOverlapping 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/TMECH.2010.2078827
dc.sourceScopus
dc.subjectAutomatic ablation planning
dc.subjectmedical device
dc.subjectradiofrequency ablation
dc.subjectsurgical robotics
dc.typeArticle
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/TMECH.2010.2078827
dc.description.sourcetitleIEEE/ASME Transactions on Mechatronics
dc.description.volume15
dc.description.issue6
dc.description.page887-897
dc.description.codenIATEF
dc.identifier.isiut000285361700008
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