Design and Development of an Augmented Reality Robotic System for Large Tumor Ablation
Résumé
An augmented reality based robotic system is
proposed for treatment of large liver tumor using multiple
overlapping ablations technique. Radiofrequency ablation is a
non-resection interventional procedure that minimizes
invasiveness and reduces trauma. A single ablation is however
limited by the ablation volume coverage. In treatment of tumor
with diameter that could be 150mm or more, a single needle
insertion will not create sufficient ablation coverage to destroy the
entire tumor. As such, multiple insertions are required. The
precision and consistency associated with robot assisted surgery
coupled with direct augmented reality projection system can
better facilitate such treatment. The projection system is equipped
with manipulator mechanism and robotic needle insertion arm for
multiple insertions and needle deployment. The prototype
augmented reality surgical system was evaluated on its abilities in
ablating large tumor. Virtual models of the rectangular robot for
projector manipulation and robotic needle insertion device were
also used to assess the effectiveness of the proposed AR design.