基于超声引导的微波消融治疗肝癌的机器人系统

超声引导微波消融治疗肝癌技术是一种微创手术，和传统的手术相比，具有安全、无毒副作用、灭活效果好等优点。但目前在二维超声图像引导下存在微波天线定位不准确，对医生技术与经验依赖强的问题，影响了治疗效果。本文针对上述问题开发了一套基于超声引导的用于微波消融治疗肝癌的机器人系统，该系统主要有超声影响导航、穿刺机器人和空间定位装置三个模块组成。通过该系统，医生术前可以三维重建出肿瘤区域，进行术前穿刺针路径的规划，模拟出所需微波热场的大小。术中，通过肝脏内的血管将术前的肝肿瘤模型和术中的病人实体内的肝肿瘤相匹配。通过机器人系统可以准确地将穿刺针送入到指定的病灶位置进行微波消融。实验证明该系统的精度满足微波消融治疗肝癌的需求，该系统有效地提高超声引导微波消融治疗肝癌的治疗效果。

The Robotic System of Microwave Coagulation Therapy for Liver Cancer Based on Ultrasound Navigation

The goal of this paper is to develop an ultrasound-guided robot system of microwave coagulation therapy for liver cancer which consists of 3D image navigation, needle-driven robot and electro-magnetic tracking unit.In the pre-operative phase,the surgeon reconstructs the 3D model of liver tumor and plans the needle insertion path with this system.In the intra-operative phase,to transform the positions in pre-operative model into the joint angles of robot,the surgeon matches the pre-opertive 3D model of liver with real patient liver by the blood vessels in liver.At last,the surgeon accurately inserts the needle to the target point by moving the robot system to destroy the tumor with microwave coagulation.In phantom experiment,the error of the system is no more than 5 mm,which can meet the need of microwave coagulation therapy for liver cancer and improve the efficacy of liver treatment.