超声导航微波消融辅助机器人技术的研究

Study on Robot-assisted Radio Frequency Ablation Based on Ultrasound Navigation

针对超声导航肝肿瘤消融术的不足之处,研制了辅助微创手术的机器人系统。该系统由机器人本体、磁定位系统、超声图像处理系统、手术规划及人机交互系统组成。辅助机器人系统可协助外科医生精确定位消融针于目标病灶点,提高手术操作的精度和适形消融的能力,减少对医生经验的依赖,从而使超声引导下的肝肿瘤消融治疗建立在更加科学、可控和具有预见性的基础上,促进热消融治疗肿瘤技术在临床的广泛应用。

We have studied minimally invasive surgery robot system according to the shortcoming of minimally invasive surgery operation. The major components include： a conventional 2D ultrasound system; a computer surgical workstation; a five degree freedoms medical robot; an electromagnetic tracking system. The robot assists surgeons to realize high quality and precise operation in radio frequency ablation for patients with liver tumors. With the robot-assisted, the minimally invasive operation will not limit to the experienced surgeons and will be popular in the clinical operation.