Positioning path planning for HIFU Surgery Platform application.
- Author:
Linqing XIANG
1
;
Xueguan GAO
;
Jianbo XU
;
Peisun MA
Author Information
1. Shanghai Jiaotong University, Robot Research Institute, Shanghai 200030, China. ClearForest@sjtu.edu.cn
- Publication Type:Journal Article
- MeSH:
Equipment Design;
Humans;
Neoplasms;
surgery;
Robotics;
Surgery, Computer-Assisted;
instrumentation;
Surgical Equipment;
Ultrasonics
- From:
Journal of Biomedical Engineering
2005;22(5):890-895
- CountryChina
- Language:Chinese
-
Abstract:
Based on the analysis of the workspace and positioning procedure for using the HIFU Surgery Platform, a simplified representation of the tumor volume's location and orientation in the workspace by Positioning Volume Ellipsoid is proposed. The terminal and intermediate configuration which the ultrasound focus must pass through during positioning is determined; according to the decided configurations, a C2 continuous uniform interpolating B spline positioning path is constructed in Lie Group SE (3); and a case analysis is made at last.
