Workspace Analysis of the Needle Driven Robot

The ultrasonic imaging guided radio frequency ablation surgery is an effective technique in liver tumour treatment. However, the traditional surgery imposes a constraint for surgeons to have high precision in their hand-eye coordination. This paper designs an assisted medical robot system to reduce these requirements, the needle driven robot system consists of needle-driven robot, 3D image navigation and a magnetic tracker. In the pre-operative phase, the 3D model of liver tumor is reconstructed and the needle insertion path is planed. In the intra-operative phase, the surgeon matches the pre-operative 3D model of liver with real patient liver. Then the needle-driven robot moves accurately at the target point, the surgeon inserts the needle into the liver tumour to destroy the tumor with microwave coagulation. This surgical robot system can meet the need of radio frequency ablation therapy for liver cancer and improve the efficacy of liver treatment, a small and compact medical robot is proposed based on workspace optimization, analyzing manipulability and dexterity.