Trajectory planning and 3-D image reconstruction of an ultrasound guided robot aiming radio frequency ablation surgery

摘要

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 proposed an assisted medical robot system to reduce these requirements. For an effective surgery robot system, the trajectory planning and 3D ultrasonic image reconstruction are the key factors in designing a radio frequency ablation surgery robot, and so do other image-guided minimally invasive systems. By kinematics modeling and analysis, the quintic polynomial interpolation is adopted in trajectory planning for the robot locomotion control. The result shows that it can guarantee the continuous of joint angles, velocity and acceleration which is essential to the smooth running of motors and medical robotpsilas requirements including precision and safety. Further, 3D ultrasonic medical imaging is discussed in the paper. A whole solution of 3D image reconstruction, including ultrasonic image pre-treatment, image segmentation and 3D ultrasonic image reconstruction, are proposed, which contribute to carry out the tasks of ultrasound guided robot aiming radio frequency ablation surgery.