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.
Equipment Design ; Humans ; Neoplasms ; surgery ; Robotics ; Surgery, Computer-Assisted ; instrumentation ; Surgical Equipment ; Ultrasonics

Robots are being more and more used in surgery. High Intensity Focused Ultrasound is newly used in tumor treatment and it is non invasive. In this paper, we introduced a Robot integrated HIFU surgery system and its general flow. Also introduced is an 8 DOF surgical platform, its design, its mechanism and its kinematic analysis. In the end, we give out two spatial working areas individually. Each is the combination of 5 dimensional motions. Compared with other platforms available, this surgery platform is more flexible and accurate and its treatment area is larger. All these advantages make the treatment design easier.
Equipment Design ; Humans ; Minimally Invasive Surgical Procedures ; instrumentation ; methods ; Neoplasms ; surgery ; Robotics ; instrumentation ; Surgery, Computer-Assisted ; methods ; Ultrasonic Therapy ; methods