研究期間：10308~10407;Following technology progress, minimally invasive surgery has been getting popular in medical treatment. Liver tumor (liver cancer) is a very common disease of Chinese. Early diagnosis and treatment of liver tumor are important measures to avoid worsening. Ultrasound scanning is usually adopted for first-line screening and diagnosis. If the disease needs treatment, percutaneous ethanol injection, radiofrequency ablation, or arterial embolization are common treatment methods. For serious cases, liver dissection treatment will be necessary. In recent years, noninvasive thermal treatment by Intensity Focused Ultrasound (HIFU) has high potential in tumor treatment. This project is aimed to study and develop an ultrasound assisted robotic positioning system for treating liver tumor by HIFU. With the assistance of ultrasound image guidance technology, ultrasound images can be used to determine tumor size and location, which are applied to robotic HIFU probe positioning so that the focus point of HIFU can scan the whole tumor volume to kill tumor cells. The core research items of this project include 1. Ultrasound image 3D reconstruction and ultrasound image assisted navigation technology. 2. Ultrasound image assisted robotic positioning of HIFU focus point. 3. Integration, control and development of operation interface of the ultrasound system, robotic system, and HIFU system. 4. Dynamic positioning compensation of liver tumor due to respiration. 5. Temperature monitoring of liver tumor during HIFU treatment and treatment path and procedure planning. In this project, related technology to the research items will be developed. Also, experiments of using phantoms and pig livers will be performed to verify that ablation volume and temperature meet the requirements of liver tumor treatment. Whenever the required technology has been developed, we will seek collaboration with organizations which are capable to do live trial of pigs. This project is expected to develop a complete prototype system of a robotic ultrasound image guided HIFU ablation system for liver tumor treatment.
