基于光学导航的全自动肝癌消融精准机器人穿刺系统

Automatic Robotic Puncture System for Accurate Liver Cancer Ablation Based on Optical Surgical Navigation

摘要: 该文介绍了一种基于光学导航的全自动肝癌消融精准机器人穿刺系统。系统利用自发研制的近红外光学导航仪进行术前计划模拟，术中近红外摄像头动态追踪穿刺针相对病人解剖结构的当前位置，引导机器人进行三维空间准确定位并手术。

Abstract: This paper designed an automatic robotic puncture system for accurate liver cancer ablation based on optical surgical navigation. The near-infrared optical surgical navigation system we constructed for liver ablation was applied to carry out surgical planning and simulation, the near-infrared cameras dynamically tracked the current position of puncture needle relative to the location of the patient's anatomy, then guided the surgery robot to position precisely in three-dimensional space and performed the surgery.