Utilizing Transformation Chain Systems for Accurate Positioning and Orientation of a 6-DOF Robotic Manipulator

Worldwide, liver cancer is the sixth most common cancer and the third leading cause of cancer death [1]. The liver is the organ that moves the most during respiration, making it hard to track the exact position of cancer tumours. A possible solution is estimating the respiratory motion to follow the liver tumours; this would help prevent the misalignment of the needle with the tumour. A robotic arm could be utilized to perform needle insertion after obtaining the estimations of the tumours from the motion model, which would aid in surgical procedures [2].

Enhancing the calibration of the robotic compensatory mechanism during liver tumour ablation in the presence of respiratory motion is a proposed method of robotic calibration that could provide a promising future to improve tumour ablations in the liver by minimizing the harm caused to healthy tissues in the liver.

References
[1] "National Cancer Institute," 18 May 2022. [Online]. Available: https://www.cancer.gov/types/liver/what-is-liver-cancer/causes-risk-factors. [Accessed 19 February 2023].
[2] S. Z. T. W. S. J. C. W. &. J. C. Xiaofeng Lin, "A novel multi-DoF surgical robotic system for brachytherapy on liver tumour: Design and control," International Journal of Computer Assisted Radiology and Surgery , p. 16, 2021.