A robotic system for overlapping radiofrequency ablation in large tumor treatment

IEEE/ASME Transactions on Mechatronics

Volumn 15, Issue 6, 2010, Pages 887-897

  Yang, Liangjing ^a   Wen, Rong ^a   Qin, Jing ^a   Chui, Chee Kong ^a   Lim, Kah Bin ^a   Chang, Stephen Kin Yong ^b  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

^b NATIONAL UNIVERSITY HOSPITAL   (Singapore)

Author keywords

Automatic ablation planning; medical device; radiofrequency ablation; surgical robotics

Indexed keywords

AUTOMATIC ABLATION PLANNING; EX-VIVO; EXTENSIVE SIMULATIONS; MANIPULATOR ARCHITECTURE; MEDICAL DEVICES; MINIMALLY INVASIVE SURGERY; RADIO-FREQUENCY ABLATION; ROBOTIC MANIPULATORS; ROBOTIC SYSTEMS; SURGICAL ROBOTICS; SURGICAL ROBOTS; TUMOR TREATMENT; TUMOR'S PROFILES; TWO-COMPONENT;

ABLATION; BIOMEDICAL ENGINEERING; MANIPULATORS; ROBOTICS; ROBOTS; SURGERY; TUMORS;

ROBOT PROGRAMMING;

EID: 78650415708     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2010.2078827     Document Type: Article

References (48)

1. S. Benoist and B. Nordlinger, "Radiofrequency ablation in liver tumours," Ann. Oncol., vol. 15, Suppl. 4, pp. iv313-iv317, 2004.
2. B. Nordlinger, M. Guiguet, J. C. Vaillant, P. Balladur, K. Boudjema, P. Bachellier, and D. Jaeck, "Surgical resection of colorectal carcinoma metastases to the liver: A prognostic scoring system to improve case selection, based on 1568 patients," Cancer, vol. 77, pp. 1254-1262, Apr. 1, 1996.
3. Liver Cancer Study Group of Japan, "Primary liver cancer in Japan. Clinicopathologic features and results of surgical treatment," Ann. Surg., vol. 211, pp. 277-287, Mar. 1990.
4. W. Y. Lau, T. W. Leung, S. C. Yu, and S. K. Ho, "Percutaneous local ablative therapy for hepatocellular carcinoma: A review and look into the future," Ann. Surg., vol. 237, pp. 171-179, Feb. 2003.
5. J. P. McGhana and G. D. Dodd, III, "Radiofrequency ablation of the liver: Current status," AJR Amer. J. Roentgenol., vol. 176, pp. 3-16, Jan. 2001.
6. N. Abolhassani, R. Patel, and M. Moallem, "Needle insertion into soft tissue: A survey," Med. Eng. Phys., vol. 29, pp. 413-431, 2007.
7. D. Choi, H. K. Lim, S. H. Kim, W. J. Lee,H.-J. Jang, J.Y. Lee, S.W. Paik, K. C. Koh, and J. H. Lee, "Hepatocellular carcinoma treated with percutaneous radio frequency ablation: Usefulness of power dopplerUSwith amicrobubble contrast agent in evaluating therapeutic response-preliminary results 1," Radiology, vol. 217, pp. 558-563, Nov. 2000.
8. S. N. Goldberg, G. S. Gazelle, L. Solbiati, T. Livraghi, K. K. Tanabe, P. F. Hahn, and P. R.Mueller, "Ablation of liver tumors using percutaneous RF therapy," AJR Amer. J. Roentgenol., vol. 170, pp. 1023-1028, Apr. 1998.
9. B. Davies, "A review of robotics in surgery," Proc. Inst. Mech. Eng. [H], vol. 214, pp. 129-140, 2000.
10. C. Villard, L. Soler, and A. Gangi, "Radiofrequency ablation of hepatic tumors: Simulation, planning, and contribution of virtual reality and haptics," Comput. Methods Biomech. Biomed. Eng., vol. 8, pp. 215-227, 2005.
11. C. Baegert, C. Villard, P. Schreck, L. Soler, and A. Gangi, "Trajectory optimization for the planning of percutaneous radiofrequency ablation of hepatic tumors," Comput. Aided Surg., vol. 12, pp. 82-90, Mar. 2007.
12. C. K. Chui, S. H. Teoh, C. J. Ong, J. H. Anderson, and I. Sakuma, "Integrative modeling of liver organ for simulation of flexible needle insertion," in Proc. Ninth Int. Conf. Control, Autom., Robot. Vision (ICARCV), 2006, pp. 1-6.
13. M. H. Chen,W.Yang, K.Yan, M.W. Zou, L. Solbiati, J. B. Liu, andY.Dai, "Large liver tumors: Protocol for radiofrequency ablation and its clinical application in 110 patients-mathematic model, overlapping mode, and electrode placement process," Radiology, vol. 232, pp. 260-271, Jul. 2004.
14. G. D. Dodd, III, M. S. Frank, M. Aribandi, S. Chopra, and K. N. Chintapalli, "Radiofrequency thermal ablation: Computer analysis of the size of the thermal injury created by overlapping ablations," Amer. J. Roentgenol., vol. 177, pp. 777-782, Oct. 2001.
15. D. Qinjun, H. Qiang, T. Libo, and L. Chuncheng, "Mechanical design and control system of a minimally invasive surgical robot system," in Proc. IEEE Int. Conf. Mechatronics Autom., 2006, pp. 1120-1125.
16. D. Qinjun, H. Qiang, L. Chuncheng, and Z.Weimin, "Research on control system of radio frequency ablation surgical robot," in Proc. IEEE Int. Conf. Robot. Biomimetics (ROBIO), 2006, pp. 1287-1292.
17. D. Qinjun and Z. Xueyi, "Research on robotic technologies for ultrasound guided radio frequency ablation surgery," in Proc. IEEE Int. Conf. Ind. Technol. (ICIT), 2008, pp. 1-6.
18. D. Sun, C. Willingham, A. Durrani, P. King, K. Cleary, and B. Wood, "A novel end-effector design for robotics in image-guided needle procedures," Int. J. Med. Robot., vol. 2, pp. 91-97, Mar. 2006.
19. M. J. H. Lum, J. Rosen, M. N. Sinanan, and B. Hannaford, "Optimization of a spherical mechanism for a minimally invasive surgical robot: Theoretical and experimental approaches," IEEE Trans. Biomed. Eng., vol. 53, no. 7, pp. 1440-1445, Jul. 2006.
20. L. Adhami and E. Coste-Maniere, "Optimal planning for minimally invasive surgical robots," IEEE Trans. Robot. Autom., vol. 19, no. 5, pp. 854- 863, Oct. 2003.
21. D. Stoianovici, L. Whitcomb, J. Anderson, R. Taylor, and L. Kavoussi, "A modular surgical robotic system for image guided percutaneous procedures," in Proc. Med. Image Comput. Comput.-Assist. Interventation (MICCAI), 1998, pp. 404-410.
22. H. S. Bassan, R. V. Patel, and M. Moallem, "A novel manipulator for percutaneous needle insertion: Design and experimentation," IEEE/ASME Trans. Mechatronics, vol. 14, no. 6, pp. 746-761, Dec. 2009.
23. C.-H. Kuo and J. S. Dai, "Robotics for minimally invasive surgery: A historical review from the perspective of kinematics," in Proc. Int. Symp. Hist. Mach. Mech., 2009, pp. 337-354.
24. R. H. Taylor, P. Kazanzides, and F. David Dagan, "Medical robotics and computer-integrated interventional medicine," in Biomedical Information Technology. Burlington, VT: Academic Press, 2008, pp. 393-416.
25. R. H. Taylor and D. Stoianovici, "Medical robotics in computer-integrated surgery," IEEE Trans. Robot. Autom., vol. 19, no. 5, pp. 765-781, Oct. 2003.
26. N. Koizumi, S. Warisawa, M. Mitsuishi, and H. Hashizume, "Continuous path controller of slave manipulator in remote ultrasound diagnostic system," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2002, vol. 4, pp. 3368-3373.
27. M. Jakopec, S. J. Harris, F. Rodriguez y Baena, P. Gomes, J. Cobb, and B. L. Davies, "The first clinical application of a hands-on robotic knee surgery system," Comput. Aided Surg., vol. 6, pp. 329-339, 2001.
28. M. J. H. Lum, J. Rosen, M. N. Sinanan, and B. Hannaford, "Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2004, vol. 1, pp. 829-834.
29. D. S. Minhas, J. A. Engh, M. M. Fenske, and C. N. Riviere, "Modeling of needle steering via duty-cycled spinning," in Proc. Conf. IEEE Eng. Med. Biol. Soc., 2007, pp. 2756-2759.
30. A. T. Tung, B.-H. Park, D. H. Liang, and G. Niemeyer, "Laser-machined shape memory alloy sensors for position feedback in active catheters," Sens. Actuators A, Phys., vol. 147, pp. 83-92, 2008.
31. K. S. Fu, Robotics: Control, Sensing, Vision, and Intelligence. vol. 280227, New York: McGraw-Hill, 1987.
32. J. J. Craig, Introduction to Robotics Mechanics and Control. Upper Saddle River, NJ: Prentice Hall, 2005.
33. R. Vijaykumar, K. J. Waldron, and M. J. Tsai, "Geometric optimization of serial chain manipulator structures for working volume and dexterity," Int. J. Robot. Res., vol. 5, pp. 91-103, 1986.
34. L. Yang, C. B. Chng, C.-K. Chui, and D. Lau, "Model-based design analysis for programmable remote center of motion in minimally invasive surgery," presented at the Proc. 4th IEEE Int. Conf. Robot., Autom. Mechatronics, Singapore, 2010.
35. L. B. Nan, N. P. Binh, S. H. Ong, Q. Jing,Y. L. Jing, andC.K.Chui, "Image processing and modeling for active needle steering in liver surgery," in Proc. Int. Asia Conf. Inf. Control, Autom. Robot. (CAR), 2009, pp. 306- 310.
36. C. Baegert, C. Villard, P. Schreck, and L. Soler, "Multi-criteria trajectory planning for hepatic radiofrequency ablation," Med. Image Comput. Comput. Assist. Interv., vol. 10, pp. 676-684, 2007.
37. S. Misra, K. J. Macura, K. T. Ramesh, and A. M. Okamura, "The importance of organ geometry and boundary constraints for planning of medical interventions," Med. Eng. Phys., vol. 31, pp. 195-206, 2009.
38. P. I. Corke, "A robotics toolbox for MATLAB," IEEE Rob. Autom. Mag., vol. 3, no. 1, pp. 24-32, Mar. 1996.
39. K. Abdel-Malek, F. Adkins, H.-J. Yeh, and E. Haug, "On the determination of boundaries to manipulator workspaces," Robot. Comput. Integr. Manuf., vol. 13, pp. 63-72, 1997.
40. K. Waldron, "Design of Arms," in The International Encyclopedia of Robotics. New York: Wiley, 1988.
41. K. Jin-Oh and K. Khosla, "Dexterity measures for design and control of manipulators," in Proc. IEEE/RSJ Int. Workshop Intell. Robots Syst. (IROS) Intell. Mech. Syst., 1991, vol. 2, pp. 758-763.
42. M. J. Tsai and Y. H. Chiou, "Manipulability of manipulators," Mech. Mach. Theory, vol. 25, pp. 575-585, 1990.
43. T. Yoshikawa, "Manipulability of robotic mechanisms," Int. J. Robot. Res., vol. 4, pp. 3-9, Jun. 1, 1985.
44. M. Hayashibe, N. Suzuki, M. Hashizume, K. Konishi, and A. Hattori, "Robotic surgery setup simulation with the integration of inversekinematics computation and medical imaging," Comput. Methods Programs Biomed., vol. 83, pp. 63-72, 2006.
45. O. Miyake, H. Kiuchi, K. Yoshimura, and A. Okuyama, "Urological robotic surgery: Preliminary experience with the Zeus system," Int. J. Urol., vol. 12, pp. 928-932, Oct. 2005.
46. L. Yang, C.-K. Chui, and S. Chang, "Design and development of an augmented reality robotic system for large tumor ablation," Int. J. Virtual Real., vol. 8, pp. 27-35, 2009.
47. R. Wen, L. Yang, C.-K. Chui, K.-B. Lim, and S. Chang, "Intraoperative visual guidance and control interface for augmented reality robotic surgery," presented at the 8th IEEE Int. Conf. Control Autom., Xiamen, China, 2010.
48. F. Leong, L. Yang, S. Chang, A. Poo, I. Sakuma, and C.-K. Chui, "A precise robotic ablation and division mechanism for liver resection," in Proc. Med. Imaging Augmented Real., 2008, pp. 320-328.