1. Department of Biomedical Engineering, Beijing University of Technology, Beijing 100124, China丨
2. School of Biomedical Engineering, The Capital University of Medical Sciences, Beijing 100069, China
Abstract:Objective To design an auxiliary surgical system that uses a navigation robot to achieve thermal ablation of liver
tumors, and real-time electromagnetic positioning is used to accurately guide the needle tip into the liver tumor. Methods Based on
preoperative CT images, image coordinate registration was completed by SVD matrix decomposition or quaternion method. Using
hardware auxiliary equipment such as UR robotic arm and NDI electromagnetic locator, the corresponding software was designed
to realize the robot navigation system for liver tumor thermal ablation. Results In the phantom experiment, five simulated tumors
were selected. Guided by the navigation system, the ablation needle was inserted into the end slot of the manipulator, and the tip of
the ablation needle can be inserted into the tumor accurately. The position error of the target was less than 1.4 mm. In the absence
of navigation system guidance, the target position error was greater than 3.0 mm. The target position error of navigation system was
significantly less than that without navigation guidance (P<0.05). Conclusion The robot navigation system for hepatic tumor thermal
ablation designed in this paper can effectively assist doctors in operation.