Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-25T05:34:56.507Z Has data issue: false hasContentIssue false
  • English
  • Français

An ultrasound-directed robotic system for microwave ablation of liver cancer

Published online by Cambridge University Press:  07 December 2009

Qiang Huang ,
Gui-bin Bian ,
Xing-guang Duan ,
Hong-hua Zhao  and
Ping Liang
Qiang Huang
Affiliation:
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China
Gui-bin Bian*
Affiliation:
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China
Xing-guang Duan
Affiliation:
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China
Hong-hua Zhao
Affiliation:
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China
Ping Liang
Affiliation:
Department of Ultrasound, General Hospital of PLA, Beijing, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Hepatocellular carcinoma (HCC), which leads to more than one million deaths every year in the world, is the second most common malignancy in China. As microwave ablation (MWA) is an effective method for the treatment of liver cancer, an ultrasound-directed (US-directed) robotic system was designed to assist surgeons on positioning the needle. This interventional robotic system includes a 5-DOF needle-guiding robot, a conventional 2D ultrasound device, a workstation for path planning and image processing and an electromagnetic tracking device. In clinical environments, we first use real-time freehand 3D ultrasound reconstruction and image analysis methods to attain tumour position, and then manipulate the guiding hole of the robot to position the needle affirmed by the surgeon. Finally, the feasibility of the interventional robotic system are validated by experimental results.

Keywords

Needle insertionInterventional robot3D model reconstructionMicrowave ablation
Type
Article
Information
Robotica , Volume 28 , Special Issue 2: Surgical Robotics: System Development, Application Study and Performance Analysis , March 2010 , pp. 209 - 214
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Colombo, M., “Hepatocellular carcinoma,” J. Hepatol. 15, 225–236 (1992).CrossRefGoogle ScholarPubMed
2. Esquivel, C. O., Keeffe, E. B., Garcia, G., Imperial, J. C., Millan, M. T., Monge, H. and So, S. K., “Hepatic neoplasms: Advances in treatment,” J. Gastroenterol. and Hepatol. 14 (Suppl.), 37–41 (1999).Google Scholar
3. Seki, T., Wakabayashi, M., Nakagawa, T., Imamura, M., Tamai, T., Nishimura, A., Yamashiki, N., Okamura, A. and Inoue, K., “Percutaneous microwave coagulation therapy for patients with small hepatocellular carcinoma,” Cancer 85, 1694–1702 (1999).3.0.CO;2-3>CrossRefGoogle ScholarPubMed
4. Seki, T., Wakabayashi, M., Nakagawa, T., Itoh, T., Shiro, T., Kunieda, K., Sato, M., Uchiyama, S. and Inoue, K., “Ultrasonically guided percutaneous microwave coagulation therapy for small hepatocellular carcinoma,” Cancer 74, 814–825 (1994).3.0.CO;2-8>CrossRefGoogle ScholarPubMed
5. Boctor, E., Fischer, G., Choti, M., Fichtinger, G. and Taylor, R. H., “A dual-armed robotic system for intraoperative ultrasound guided hepatic ablative therapy: A prospective study,” Proceedings of 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA (2004) pp. 2517–2522.Google Scholar
6. Thorgeirsson, S. S. and Grisham, J. W., “Molecular pathogenesis of human hepatocellular carcinoma,” Nat. Genet. 31, 339–346 (2002).CrossRefGoogle ScholarPubMed
7. Chinese Societies of Liver Cancer and Clinical Oncology, Chinese Anti-Cancer Association; Liver Cancer Study Group, Chinese Society of Hepatology, Chinese Medical Association. “Expert consensus on standardization of the management of primary liver cancer,” tumour, 29 (3), 295–304 (2009).Google Scholar
8. Mercier, L., Langφ, T., Lindseth, F. and Collins, D. L., “A review of calibration techniques for freehand 3-D ultrasound systems,” Ultrasound Med. Biol. 31 (2), 143–165 (2005).CrossRefGoogle ScholarPubMed
9. Dai, Y. K., Tian, J., Xue, J. and Liu, J. G., “A qualitative and quantitative interaction technique for freehand 3D ultrasound imaging,” Proceedings of the IEEE EMBS 2006, New York, (2006) pp. 2750–2753.Google Scholar
10. Poona, M., Hamarneh, G. and Abugharbieh, R., “Efficient interactive 3D Livewire segmentation of complex objects with arbitrary topology,” Med. Image Anal. 32 (8), 639–650 (2008).Google Scholar
11. Rohling, R. N., Gee, A. H. and Berman, L., “Automatic registration of 3-D ultrasound images,” Ultrasound Med. Biol. 24 (6), 841–854 (1998).CrossRefGoogle ScholarPubMed
12. Wachinger, C., Wein, W. and Navab, N., “Registration strategies and similarity measures for three-dimensional ultrasound mosaicing,” Ultrasound Med. Biol. 15 (11), 1405–1415 (2008).Google ScholarPubMed