@inproceedings{4296b58c237b4e849d290c530ad857b3,
title = "Robot-assisted platform for intratumoral delivery (RAPID)",
abstract = "In prostate brachytherapy, radioactive seeds are permanently implanted in the prostate for delivering a tumorocidal dose to the cancerous tissues. These seeds provide a significant radiation dose to a relatively small volume, requiring that the seeds be placed accurately to ensure complete treatment. Sensitivity of the urethra and rectal mucosa to radiation are other factors that heighten the need for careful placement of the seeds. In currently practiced manual procedures, the needles are inserted into the patient through fixed holes of a physical template where the maneuverability of the needle is extremely difficult. In contrast, a robotic system can not only provide flexibility in positioning and orientating along with improved consistency and accuracy of needle insertion and seed deposition but may also assist less skillful/ inexperienced clinicians to treat patients with higher quality. Thus, it is important to develop an automated (or a semiautomated) seed delivery device which can provide enhanced consistency, accuracy and efficiency. In this paper, we present the design and development of a 8DOF motorized semi-automated ultrasound image-guided robotic system for performing prostate brachytherapy. In this system, we have incorporated various important data and methods gleaned from in-vivo measurements in the operating room. Techniques, proven by in-vitro experiments, to reduce needle insertion force and tissue deformation have been implemented into this design. Three force-torque sensors have been incorporated to track the forces on the needle for detecting pubic arch interference and to improve robot control. Rigidity and factor of safety of the device has been analyzed using the finite element method. Provisions for position, velocity and force feedback incorporated in this device are useful in improving needle insertion accuracy, consistency and efficiency. We also present preliminary experimental results regarding the performance of the prototype system.",
keywords = "Image-guided robot, Medical robot, Robot-assisted brachytherapy, Robotic needling, Robotic surgery",
author = "Yan Yu and Podder, {T. K.} and Zhang, {Y. D.} and Ng, {W. S.} and V. Misic and L. Fu and J. Sherman and D. Fuller and Messing, {E. M.} and Rubens, {D. J.} and Strang, {J. G.} and Brasacchio, {R. A.}",
note = "Publisher Copyright: {\textcopyright} International Federation for Medical and Biological Engineering 2007.; 10th World Congress on Medical Physics and Biomedical Engineering, WC 2006 ; Conference date: 27-08-2006 Through 01-09-2006",
year = "2007",
doi = "10.1007/978-3-540-36841-0_775",
language = "English (US)",
isbn = "9783540368397",
series = "IFMBE Proceedings",
publisher = "Springer Verlag",
number = "1",
pages = "3060--3064",
editor = "Kim, {Sun I.} and Suh, {Tae Suk}",
booktitle = "IFMBE Proceedings",
edition = "1",
}