中文摘要：

本文目标是开发一套基于超声影像导航通过微波消融来治疗肝癌的机器人系统．该系统主要由超声影像导航、穿刺机器人和空间定位装置三个模块组成．通过该系统，医生术前可以三维重建出肝部肿瘤区域，进行穿刺针路径的规划；术中，为了将术前模型中的位置转化成机器人的关节角度，医生利用肝脏中的血管将模型和病人实体进行匹配．最后，医生拖动机器人系统准确地将穿刺针送入到指定的病灶位置进行微波消融．实验证明，该系统的误差小于5mm，满足微波消融治疗肝癌的需求，该系统能有效地提高肝癌的治疗效果．

英文摘要：

The goal of this paper is to develop an ultrasound-guided robot system of microwave coagulation therapy for liver cancer which consists of 3D image navigation, needle-driven robot and electro-magnetic tracking unit. In the pre-operative phase, the surgeon reconstructs the 3D model of liver tumor and plans the needle insertion path with this system. In the intra-operative phase, to transform the positions in pre-operative model into the joint angles of robot, the surgeon matches the pre-opertive 3D model of liver with real patient liver by the blood vessels in liver. At last, the surgeon accurately inserts the needle to the target point by moving the robot system to destroy the tumor with microwave coagulation. In phantom experiment, the error of the system is no more than 5 mm, which can meet the need of microwave coagulation therapy for liver cancer and improve the efficacy of liver treatment.