The navigation and positioning method of active plus passive ultrasound-guided robot for liver cancer coagulation therapy

The navigation and positioning of medical robot was the precondition of taking the medical robot-assisted surgery. The navigation and positioning method of ultrasound-guided robot for liver cancer coagulation therapy was introduced. This paper presented the positioning method of different functions of robot based on the characteristics of active plus passive robot. The homologous point least squares matching method was employed for the robot 3D platform and the space vector calculation method was used for the robot RCM structure arm. The experimental results show that the robot positioning error is 1.32 ± 0.83mm, and the average positioning time is 5.5s, which can meet the requirements on the positioning accuracy, positioning time and operating flexibility of the liver cancer coagulation therapy.