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Design and Experiments of Ultrasound Image-Guided Multi-DOF Robot System for Brachytherapy

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Abstract

To implant radioactive seeds through a needle precisely and safely, a novel multi-DOF surgical robotic system is presented in this paper for percutaneous prostate intervention through the patient’s perineum under real-time ultrasound image guidance. The proposed robot, which is designed with 9-DOF, consists of a 3-DOF automatic location platform for position adjustment, 2-DOF for automatic ultrasonic probe adjustment mounted with electromagnetic trackers, and 4-DOF for manually adjusting the guided template. Meanwhile, a new registration method based on the quaternion algorithm and least square method is developed, and the needle insertion is performed under the real-time guidance of a navigation system. Furthermore, the robot system has undergone some preliminary experiments with a laser tracker to evaluate the repeatability and accuracy of the robot system. The location error of the puncture needle tip can be controlled under 0.7 mm in air for the whole robotic system. The acquired results endorse the precision of the robot system for prostate seed implantation brachytherapy.

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Acknowledgements

This study was supported by the Key Technology and Development Program of the Tianjin Municipal and Technology Commission (No. 14ZCDZGX00490).

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Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300350, China

    Shan Jiang, Yunpeng Yang, Zhiyong Yang, Zhen Zhang & Sheng Liu

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  1. Shan Jiang
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  2. Yunpeng Yang
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  3. Zhiyong Yang
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  5. Sheng Liu
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Correspondence to Shan Jiang.

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Jiang, S., Yang, Y., Yang, Z. et al. Design and Experiments of Ultrasound Image-Guided Multi-DOF Robot System for Brachytherapy. Trans. Tianjin Univ. 23, 479–487 (2017). https://doi.org/10.1007/s12209-017-0067-9

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  • DOI: https://doi.org/10.1007/s12209-017-0067-9

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