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Robot-Assisted Prostate Brachytherapy

  • Yan Yu
  • Tarun Podder
  • Yongde Zhang
  • Wan-Sing Ng
  • Vladimir Misic
  • Jason Sherman
  • Luke Fu
  • Dave Fuller
  • Edward Messing
  • Deborah Rubens
  • John Strang
  • Ralph Brasacchio
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4190)

Abstract

In contemporary brachytherapy procedures, needle placement at the desired target is challenging due to a variety of reasons. A robot-assisted brachytherapy system can improve the needle placement and seed delivery resulting in enhanced patient care. In this paper we present a 16 DOF (degrees-of-freedom) robotic system (9DOF positioning module and 7DOF surgery module) developed and fabricated for prostate brachytherapy. Techniques to reduce needle deflection and target movement have been incorporated after verifying with extensive experiments. Provisions for needle motion and force feedback have been included into the system for improving the robot control and seed delivery. Preliminary experimental results reveal that the prototype system is quite accurate (sub-millimeter) in placing brachytherapy needles.

Keywords

Robotic System Needle Insertion Needle Placement Prostate Brachytherapy Needle Driver 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Yan Yu
    • 1
    • 5
  • Tarun Podder
    • 1
  • Yongde Zhang
    • 1
  • Wan-Sing Ng
    • 6
  • Vladimir Misic
    • 1
  • Jason Sherman
    • 1
  • Luke Fu
    • 1
  • Dave Fuller
    • 1
  • Edward Messing
    • 2
    • 4
  • Deborah Rubens
    • 3
    • 4
    • 5
  • John Strang
    • 3
    • 4
  • Ralph Brasacchio
    • 1
  1. 1.Departments of Radiation OncologyUniversity of RochesterRochesterUSA
  2. 2.Departments of UrologyUniversity of RochesterRochesterUSA
  3. 3.Departments of RadiologyUniversity of RochesterRochesterUSA
  4. 4.Departments of SurgeryUniversity of RochesterRochesterUSA
  5. 5.Department of Biomedical EngineeringUniversity of RochesterRochesterUSA
  6. 6.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingapore

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