Advances in Robot Kinematics pp 475-483 | Cite as
On the Kinematics of an Innovative Parallel Robot for Brachytherapy
Abstract
The chapter presents the kinematics of a new parallel robot for brachytherapy. Brachytherapy (BT) is an innovative technique called also internal radiation, which enables the physician to deliver higher doses of radiation to very-specific areas of the body. Nowadays, BT usage is limited by the insufficient accuracy of the radioactive seeds placement devices. Thus, the authors propose an innovative modular parallel structure which overcomes these limitations, enabling the high accurate positioning of the BT needles in any parts of the patient’s body. The kinematics of the new 5-DOF parallel robot is presented. The dextrous workspace of the robot is computed. Some specific advantages of this structure and the conclusions are presented in the end.
Keywords
Kinematics Parallel robot Robotic assisted brachytherapyNotes
Acknowledgments
This chapter was supported by the Project no. 173/2012, code PN-II-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers—CHANCE” financed by UEFISCDI and the Scopes International Grant IZ74Z0-137361/1, Creative Alliance in Research and Education focused on Medical and Service Robotics-CARE-Robotics.
References
- 1.Dubowsky, S., et al.: An MRI-compatible needle manipulator concept based on elastically averaged dielectric elastomer actuators for prostate cancer treatment: an accuracy and MR-compatibility evaluation in phantoms. J. Med. Devices 3(3), 10 (2009)Google Scholar
- 2.Dueitt, B.: External beam radiotherapy, chap. Comparisons of External Beam Radiation Therapy, Brachytherapy, and Combination Therapy in the Treatment of, Prostate cancer, pp. 34–40 (2002)Google Scholar
- 3.Fichtinger, G., et al.: Robotic assistance for ultrasound guided prostate brachytherapy. In: International Conference on Medical Image Computing and Computer-Assisted Intervention, vol. 4791, pp. 119–127 (2007)Google Scholar
- 4.Glozman, D., Shoham, M.: Image-guided robotic flexible needle steering. IEEE Trans. Robot. 23(3), 459–467 (2007)CrossRefGoogle Scholar
- 5.Gogu, G.: Structural Synthesis of Parallel Robots, Solid Mechanics and Its Applications, vol. 149. Springer, Dordrecht (2008)Google Scholar
- 6.
- 7.Hungr, N., et al.: A 3D ultrasound robotic prostate brachytherapy system with prostate motion tracking. IEEE Trans. Robot. 28, 1382–1397 (2012)CrossRefGoogle Scholar
- 8.Kong, X., Gosselin, C.: Kinematics and singularity analysis of a novel type of 3-crr 3-dof translational parallel manipulator. Int. J. Robot. Res. 21(9), 791–798 (2002)CrossRefGoogle Scholar
- 9.Manolescu, N.: For a united point of view in the study of the structural analysis of kinematic chains and mechanisms. J. Mech. 3, 149–169 (1968)CrossRefGoogle Scholar
- 10.Plitea, N., et al.: Parallel robot for brachytherapy with two kinematic guiding chains of the platform (the needle) type 2CRRU and CRU, patent pending, A/10004/2013 (2013)Google Scholar
- 11.Plitea, N., et al.: Structural analysis and synthesis of parallel robots for brachytherapy. D. Pisla et al. (eds.) New Trends in Medical and Service Robots, vol. 16, pp. 191–204. Springer, MMS, Dordrecht (2014)Google Scholar
- 12.Podder, T., Fichtinger, G.: Robotic brachytherapy: overview of robotic brachytherapy approaches and synergistic applications. AAPM Annual Meeting (2010)Google Scholar
- 13.Salcudean, S.E., et al.: A robotic needle guide for prostate brachytherapy. In: IEEE International Conference on Robotics and Automation, pp. 2975–2981 (2008)Google Scholar
- 14.Stoianovici, D., et al.: “MRI stealth” robot for prostate interventions. Minim. Invasive Ther. Allied Technol. 16, 241–248 (2007)CrossRefGoogle Scholar
- 15.Yu, Y., Podder, T., et al.: Robot-assisted prostate brachytherapy. In: International Conference on Medical Image Computing and Computer-Assisted Intervention, vol. 9, pp. 41–49 (2006)Google Scholar