An Efficient Needle Insertion Robotics System for Ultrasound-guided Hepatic Microwave Coagulation Therapy

The goal of this paper is to develop a needle insertion robotic system for ultrasound-guided minimally invasive surgery, which is composed of a robot, a surgical planning subsystem and a pose tracking device. The system plays roles of assisting surgeon for inserting needle to the centre of target tumor leading to efficient tumor destruction. Compared to the conventional 2D ultrasound guided therapy, it is able to achieve better accuracy. Furthermore, the robot can position and guide needles. The monitor method based on mutual information is effective. At last, a prime experiment is performed to validate accuracy of the system. The result shows that the error is acceptable, and them proves efficiency of hepatic microwave coagulation therapy.