A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control.

Journal: International journal of computer assisted radiology and surgery
Published Date: May 1, 2021

Abstract

PURPOSE: Radioactive seed implantation is an effective invasive treatment method for malignant liver tumors in hepatocellular carcinomas. However, challenges of the manual procedure may degrade the efficacy of the technique, such as the high accuracy requirement and radiation exposure to the surgeons. This paper aims to develop a robotic system and its control methods for assisting surgeons on the treatment.

Authors

  • Xiaofeng Lin
    Department of Medical Imaging, Sun Yat-sen University Cancer Center, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Guangzhou 510060, China.
  • Shoujun Zhou
    Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China. Electronic address: sj.zhou@siat.ac.cn.
  • Tiexiang Wen
    Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen University Town, Shenzhen, GD, 518055, People's Republic of China. tx.wen@siat.ac.cn.
  • Shenghao Jiang
    Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen University Town, Shenzhen, GD, 518055, People's Republic of China.
  • Cheng Wang
    Department of Pathology, Dalhousie University, Halifax, NS, Canada.
  • Jingtao Chen
    Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen University Town, Shenzhen, GD, 518055, People's Republic of China.

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