PREOPERATIVE SURGICAL PLANNING FOR ROBOT-ASSISTED LIVER TUMOUR ABLATION THERAPY BASED ON COLLISION-FREE REACHABLE WORKSPACES

摘要

To destroy an entire tumour with the minimum damage to healthytissue using robotic-assisted liver tumour coagulation therapy, thesurgeon should manually determine the needle-insertion path andthe entry point based on a reconstructed three-dimensional (3D)model of the liver and the operating environment.