Abstract
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 language | English |
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| Title of host publication | Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002 |
| Pages | 425-428 |
| Number of pages | 4 |
| Publication status | Published - 1 Dec 2002 |
| Externally published | Yes |
| Event | International Conference on Control, Automation, Robotics and Vision 2002 - Singapore, Singapore Duration: 2 Dec 2002 → 5 Dec 2002 Conference number: 7th https://ieeexplore.ieee.org/xpl/conhome/8741/proceeding (Proceedings) |
Conference
| Conference | International Conference on Control, Automation, Robotics and Vision 2002 |
|---|---|
| Abbreviated title | ICARCV 2002 |
| Country/Territory | Singapore |
| City | Singapore |
| Period | 2/12/02 → 5/12/02 |
| Internet address |
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