A Robot for Non-Invasive Breast Cancer Surgery

S. Chauhan, R. Mishra, S. Kumar, M. Y. Teo

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

2 Citations (Scopus)


The use robotic principles as surgical assist technology, particularly in the area of minimal invasive surgery may provide several advantages. These include, but not limited to higher accuracy, precision and repeatability in manipulating surgical instruments in desired locations. This paper describes the design and development of a robotic system for non-invasive surgery of breast cancer using High Intensity Focused Ultrasound (HIFU) as the surgical modality. A custom designed robot, operating partially in a water tank (coupling medium) is devised to guide the end-effector (an assembly of multiple HIFU transducers) through a pre-determined trajectory. A 4axis controller is used for controlling various sub-sections of the system within a constrained work envelope. The end-point accuracy of the designed system at the end-effector is accomplished within ± 1mm.

Original languageEnglish
Title of host publicationProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Number of pages4
Publication statusPublished - 1 Dec 2002
Externally publishedYes
EventInternational Conference on Control, Automation, Robotics and Vision 2002 - Singapore, Singapore
Duration: 2 Dec 20025 Dec 2002
Conference number: 7th
https://ieeexplore.ieee.org/xpl/conhome/8741/proceeding (Proceedings)


ConferenceInternational Conference on Control, Automation, Robotics and Vision 2002
Abbreviated titleICARCV 2002
Internet address

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