Research on the Implementation of Navigational Technology in the Use of Ct Images to Guide Thermal Ablation of Liver Tumors in Mechanical Arm

Tumor local microwave / radiofrequency ablation and surgical resection, organ transplantation are classified as the radical treatment of cancer; local thermal ablation therapy has the advantage of minimally invasive, is the future development of cancer treatment. Under the guidance of CT images, doctors usually puncture the heat ablation needle into the tumor by hand-eye coordination and personal experience. CT-guided thermal ablation therapy is the key to the success of thermal ablation needle accurate positioning and puncture. In addition to requirements the experience of surgery, there are also man-made risks at the time of treatment, such as over-performing surgery-induced fatigue or over-stress-induced instability. Therefore, we hope to develop a navigation system that integrates a mechanical arm to help doctors perform functions such as thermal ablation, thermal ablation path planning, precise positioning and stable holding of surgical instruments to enhance the safety and accuracy of the operation. This project will be completed in four parts: (1) establishment of three-dimensional CT imaging and tumor and related structure positioning; (2) path planning and development of navigation system; and (3) acceleration of computing with GPU , (4) integration with the mechanical arm. We will work with a hepatologist to determine the establishment of our system. In the project, use pork liver as patient's liver and the prosthesis model is used as peripheral organs of the patient to establish a complete system. From the establishment of three-dimensional CT images, the algorithm design is introduced, Path planning, and equipped with Mechanical arm platform for puncture operations, and instantly display the puncture path and depth position. Finally, we will use the pork liver to conduct a complete operation experiment, calculate the angle of alignment, the error of position accuracy, verify the feasibility of the system, and then correct it. Such a module will become the core technology and also the commercial prototype machine.

Project ID:PB10707-0199
External Project ID:MOST107-2221-E182-024