DESIGN OF AN INNOVATIVE MEDICAL ROBOTIC INSTRUMENT FOR MINIMALLY INVASIVE TREATMENT OF LIVER TUMORS

Bogdan GHERMAN, Nadim AL HAJJAR, Alin BURZ, Iosif BIRLESCU, Paul TUCAN, Florin GRAUR, Doina PISLA

Abstract


The paper presents the design of a robotic needle insertion instrument the cancer treatment of the hepatocellular carcinoma. The instrument is able to perform multiple needle insertion on a linear trajectory using specially designed guides. It has only 2 degrees of freedom and is able to insert up to 6 needles successively, featuring preoperative designed needles storages that fit the final needles placement in the liver. Thus it is less dependent of the robot motions during the needles insertion assuring a higher overall accuracy

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References


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