This study introduces an innovative methodology that exploits chain transformations for registration in a robotic workspace, applied explicitly for liver tumour ablation. The study focuses on how chain transformations can be used to accurately calculate the position and
orientation of the end-effector with respect to the base of a six-degrees-of-freedom (6-DOF) robotic manipulator, thus ensuring precise alignment of the needle concerning tumours for efficient ablation. The study illustrates the feasibility of employing chain transformations
and inverse elements by characterizing numerous transformation chains within the workspace between the base, end effector, needle, and electromagnetic (EM) tracker (used as a reference for localizing the tumour). The study also shows how to use matrix multiplication properties and inverse properties to calculate undefined variables in the workspace, such as the transformation from base to the EM tracker and tumour to base.
These transformation matrices are then utilized to obtain the transformation matrix from base to end effector that achieves optimal needle alignment with the tumour. The findings from this study emphasize the successful application of chain transformations for precision registration in robotic tumour ablation. This method is currently experimental but could serve as a base for robotic tumour ablation.
Thus, this research can inform future advancements in precision medicine and robotic interventions, improving treatment outcomes.