Manipulability analysis and design of radio frequency ablation robot

Radio frequency ablation of non-resectable malignant tissue in a patientpsilas liver is a rapidly expanding treatment tool for clinicians, because the operation result is smaller incision, therefore there is significantly reduced tissue trauma and short recovery time. But, the minimally invasive surgery only experienced surgeons can do, and need a long time, which bring maximum burden to surgeons. A possible solution to reduce these requirements is robot aided minimally invasive surgery, in which the ablator is guided by visual feedback towards the goal defined by the surgeon in the ultrasonic imaging. This paper designs a radio frequency ablation medical robot system assisting surgeon effective treatment for patients with liver tumors. The medical robot can control the ablator to track the tumor in real-time with precision. Surgery space, clinical operation requirements and optimize mechanical structure of robots requirement, are the key factors in designing a perfectly performing medical robot structure which is suitable for surgeons in their operation environment. Analyzing manipulability and dexterity of the medical robot, which contribute to guarantee the ablator tool can be orientated stably and dexterously.