id: 05301896
dt: a
an: 05301896
au: Leong, Florence; Yang, Liangjing; Chang, Stephen; Poo, Aun Neow; Sakuma,
    Ichiro; Chui, Chee-Kong
ti: A precise robotic ablation and division mechanism for liver resection.
so: Dohi, Takeyoshi (ed.) et al., Medical imaging and augmented reality. 4th
    international workshop Tokyo, Japan, August 1‒2, 2008. Proceedings.
    Berlin: Springer (ISBN 978-3-540-79981-8/pbk). Lecture Notes in
    Computer Science 5128, 320-328 (2008).
py: 2008
pu: Berlin: Springer
la: EN
cc: 
ut: surgical robot; RF ablation; needle insertion; liver division; liver
ci: 
li: doi:10.1007/978-3-540-79982-5_35
ab: Summary: Radiofrequency Ablation (RFA) assisted liver resection results in
    lesser blood loss during liver resections. It involves a time consuming
    and error prone process of alternating coagulation and cutting until
    the line of transaction is completed to finally divide the liver. We
    proposed a new robotic mechanism to automate the ablation and division
    process. The robotic device comprises a 2-link manipulator, an x-y
    translator, a flexi-arm as well as a liver ablation and division
    device. The process of precise linear motion ablation and cutting has
    been integrated with the guidance of a robotic mechanism to uniformly
    coagulate and slit areas of the parenchymal. A prototype of the robotic
    device has been evaluated on its ability to uniformly target a large
    region.
rv: