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However, challenges of the manual procedure may degrade the efficacy of the technique, such as the high accuracy requirement and radiation exposure to the surgeons. This paper aims to develop a robotic system and its control methods for assisting surgeons on the treatment.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>\n                           <jats:bold>Method<\/jats:bold>\n                        <\/jats:title>\n                <jats:p>We present an interventional robotic system, which consists of a 5 Degree-of-Freedom (DoF) positioning robotic arm (a 3-DoF translational joint and a 2-DoF revolute joint) and a needle actuator used for needle insertion and radioactive seeds implantation. Control strategy is designed for the system to ensure the safety of the motion. In the designed framework, an artificial potential field (APF)-based motion planning and an ultrasound (US) image-based contacting methods are proposed for the control.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>\n                           <jats:bold>Result<\/jats:bold>\n                        <\/jats:title>\n                <jats:p>Experiments were performed to evaluate position and orientation accuracy as well as validate the motion planning procedure of the system. The mean and standard deviation of targeting error is 0.69\u00a0mm and 0.33\u00a0mm, respectively. Needle placement accuracy is 1.10\u00a0mm by mean. The feasibility of the control strategy, including path planning and the contacting methods, is demonstrated by simulation and experiments based on an abdominal phantom.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>\n                           <jats:bold>Conclusion<\/jats:bold>\n                        <\/jats:title>\n                <jats:p>This paper presents a robotic system with force and US image feedback in assisting surgeons performing brachytherapy on liver tumors. The proposed robotic system is capable of executing an accurate needle insertion task with by optical tracking. The proposed methods improve the safety of the robot\u2019s motion and automate the process of US probe contacting under the feedback of US-image.\n<\/jats:p>\n              <\/jats:sec>","DOI":"10.1007\/s11548-021-02380-7","type":"journal-article","created":{"date-parts":[[2021,5,3]],"date-time":"2021-05-03T13:28:57Z","timestamp":1620048537000},"page":"1003-1014","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control"],"prefix":"10.1007","volume":"16","author":[{"given":"Xiaofeng","family":"Lin","sequence":"first","affiliation":[]},{"given":"Shoujun","family":"Zhou","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1880-4202","authenticated-orcid":false,"given":"Tiexiang","family":"Wen","sequence":"additional","affiliation":[]},{"given":"Shenghao","family":"Jiang","sequence":"additional","affiliation":[]},{"given":"Cheng","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Jingtao","family":"Chen","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,5,1]]},"reference":[{"issue":"6","key":"2380_CR1","doi-asserted-by":"publisher","first-page":"394","DOI":"10.3322\/caac.21492","volume":"68","author":"F Bray","year":"2018","unstructured":"Bray F, Ferlay J, Soerjomataram I, Siegel RL, Torre LA, Jemal A (2018) Global cancer statistics 2018: GLOBOCAN estimates of incidence and mortality worldwide for 36 cancers in 185 countries. 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