Abstract: A laparoscopic liver resection device is described. The device combines the Radiofrequency Ablation (RFA) technology with a cutting mechanism, a blood-flow sensor and a flexible actuation mechanism to simultaneously coagulate and cut the liver tissue and detect the presence of blood flow to confirm avascularity. The present invention eliminates the risk of excess bleeding due to cutting too deep and reduces recovery time and the time spent on re-coagulation of coagulated areas, thereby shortening duration of surgery. Also embodiments prevent excess ablation by stopping ablation activity on the target tissue as soon as insufficient or no blood flow in the target tissue is detected. Thus a closed loop control for a bloodless tissue/organ division method is provided.

Abstract: A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.

Abstract: A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.

Abstract: A laparoscopic liver resection device is described. The device combines the Radiofrequency Ablation (RFA) technology with a cutting mechanism, a blood-flow sensor and a flexible actuation mechanism to simultaneously coagulate and cut the liver tissue and detect the presence of blood flow to confirm avascularity. The present invention eliminates the risk of excess bleeding due to cutting too deep and reduces recovery time and the time spent on re-coagulation of coagulated areas, thereby shortening duration of surgery. Also embodiments prevent excess ablation by stopping ablation activity on the target tissue as soon as insufficient or no blood flow in the target tissue is detected. Thus a closed loop control for a bloodless tissue/organ division method is provided.

Abstract: A robotic system for overlapping radiofrequency ablation (RFA) in tumor treatment is disclosed. The robot assisted navigation system is formed of a robotic manipulator and a control system designed to execute preoperatively planned needle trajectories. Preoperative imaging and planning is followed by interoperative robot execution of the ablation treatment plan. The navigation system combines mechanical linkage sensory units with an optical registration system. There is no requirement for bulky hardware installation or computationally demanding software modules. Final position of the first needle placement is confirmed for validity with the plan and then is used as a reference for the subsequent needle insertions and ablations.