Virtual Planning of Needle Guidance for a Parallel Robot Used in Brachytherapy

  • B. Gherman
  • T. Girbacia
  • D. Cocorean
  • C. Vaida
  • S. Butnariu
  • N. Plitea
  • D. Talaba
  • D. Pisla
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 38)


Brachytherapy (BT) is an innovative cancer treatment option that allows the delivery of high doses of radiation to specific areas of the body. BT has an important advantage: it doesn’t irradiate unnecessarily healthy tissue, but focalizes mainly on the destruction of tumorous cells. The paper presents an innovative parallel robot designed for BT and a needle trajectory planning software. The algorithm designed for virtual planning of robotic needle insertion allows automatic or manual definition of the needles trajectory. A virtual reality environment has been modelled and simulations using a real needle trajectory have been conducted.


Parallel robot Virtual reality Brachytherapy Trajectory planning 



This paper was supported by the Post-Doctoral Programme POSDRU/159/1.5/S/137516, project co-funded from European Social Fund through the Human Resources Sectorial Operational Program 2007-2013, by the project no. 173/2012, code PN-II-PT-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers—CHANCE” financed by UEFISCDI, and by the Scopes International Grant IZ74Z0_137361/1 entitled “Creative Alliance in Research and Education focused on Medical and Service Robotics CARE-Robotics”.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • B. Gherman
    • 1
  • T. Girbacia
    • 2
  • D. Cocorean
    • 1
  • C. Vaida
    • 1
  • S. Butnariu
    • 2
  • N. Plitea
    • 1
  • D. Talaba
    • 2
  • D. Pisla
    • 1
  1. 1.Technical University of Cluj-NapocaCluj-NapocaRomania
  2. 2.Transilvania University of BrasovBrasovRomania

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