An ultrasonic imaging guided medical robot system for microwave ablation therapy

This article proposes one kind of ultrasonic imaging guided medical robot system with a six-joint arm. This system can detect the real-time space position of the ultrasonic probe by sensors in six joints of the arm. In the microwave ablation liver neoplasm treatment, when the six-joint arm holds the ultrasonic probe to scan on the body surface of a patient, the system´s microcomputer can determinate the space position of the ultrasonic probe by the data from various joints´ sensors, and make a three dimensional restructuring of the tumor ultrasonic image so as to guide the medical surgical operation. The arm´s six joints are assembled in an intersection combination way, which simplifies the calculating and controlling algorithm. The simulation results indicate that this ultrasonic imaging guided medical robot system has a high measuring accuracy and can satisfy the request of ultrasonic image guiding.