A non-invasive remote thermometry system for fus applications

This report briefly describes a novel non-invasive remote temperature measurement technique integrated with a bio-mechatronic surgery system, named FUSBOT-BS (acronym for – Focal Ultrasound Surgery Robot for Breast Surgery). It includes theoretically and empirically derived solutions for localization and remote thermometry for intra-operative ablative feedback, empirical set-ups and test-jigs, functionality tests and in vitro and ex vivo trial results. In minimally invasive surgery, the use of computer integrated methods and robotic principles as surgical assist technology provide several advantages, notably - higher accuracy, precision and repeatability in manipulating surgical instruments in desired locations. In our system, surgical planning and deployment of the therapy probes in a given spatial location, through a specified trajectory is accomplished using robotic techniques. The customized robotic system, FUSBOTBS has five degrees of freedom (DOFs), works partially in a water tank (for effective coupling with target tissues) and is devised to guide a specially designed end-effector through a pre-determined trajectory (following an optimal surgical protocol) in order to deliver a prescribed controlled thermal dosage to deep-seated targets. An 8-axis PC based controller controls various sub sections of the system within a safe constrained work envelope. The end-point compensated accuracy at the target is accomplished within ± 0.2mm. Conventional surgical methods for treating deep-seated cancers/abnormalities of the human body involve very large surgical access wounds, which may lead to substantial complications.RG 14/0