Error Analysis of a 3D Ultrasound-based Robotic System for Hepatic Tumors

This paper proposed a needle insertion robotic system for ultrasound-guided hepatic microwave coagulation therapy, which is composed of a needle insertion robot, a surgical planning subsystem and a pose tracking device. The most important specification of the system is system accuracy. Firstly, the robotic system is introduced. Then, the 3D ultrasound planning subsystem is calibrated according to N-fiducial phantom and robot mechanism is calibrated based on 3D coordinate measurement machine. After that, the system accuracy is analyzed and the formula of the system error is deduced. Finally the system accuracy of the robotic system was measured. The result showed that the value of the system is no more than 4 mm , which can satisfy the intervention therapy for the hepatic tumors.