Robotic system for prostate brachytherapy.
Comput Aided Surg
; 12(6): 366-70, 2007 Nov.
Article
em En
| MEDLINE
| ID: mdl-18066952
ABSTRACT
In contemporary brachytherapy procedures, needle placement at the desired target is challenging for a variety of reasons. A robot-assisted brachytherapy system can potentially improve needle placement and seed delivery, resulting in enhanced therapeutic outcome. In this paper we present a robotic system with 16 degrees of freedom (DOF) (9 DOF for the positioning module and 7 DOF for the surgery module) that has been developed and fabricated for prostate brachytherapy. Strategies to reduce needle deflection and target movement were incorporated after extensive experimental validation. Provision for needle motion and force feedback was included in the system to improve robot control and seed delivery. Preliminary experimental results reveal that the prototype system is sufficiently accurate in placing brachytherapy needles.
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Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Próstata
/
Robótica
/
Braquiterapia
Tipo de estudo:
Diagnostic_studies
Limite:
Humans
/
Male
Idioma:
En
Revista:
Comput Aided Surg
Ano de publicação:
2007
Tipo de documento:
Article
País de afiliação:
Estados Unidos