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. 2006;9(Pt 1):41-9.
doi: 10.1007/11866565_6.

Robot-assisted prostate brachytherapy

Yan Yu  1 , Tarun Podder, Yongde Zhang, Wan-Sing Ng, Vladimir Misic, Jason Sherman, Luke Fu, Dave Fuller, Edward Messing, Deborah Rubens, John Strang, Ralph Brasacchio
Affiliations

Robot-assisted prostate brachytherapy

Yan Yu et al. Med Image Comput Comput Assist Interv. 2006.

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 7 DOF 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.

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