Robot-assisted prostate brachytherapy

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

doi:10.1007/11866565_6

Robot-assisted prostate brachytherapy

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

32 Scopus citations

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 7DOF 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.

Original language	English (US)
Title of host publication	Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings
Publisher	Springer Verlag
Pages	41-49
Number of pages	9
ISBN (Print)	3540447075, 9783540447078
DOIs	https://doi.org/10.1007/11866565_6
State	Published - 2006
Externally published	Yes
Event	9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - Copenhagen, Denmark Duration: Oct 1 2006 → Oct 6 2006

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4190 LNCS - I
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006
Country/Territory	Denmark
City	Copenhagen
Period	10/1/06 → 10/6/06

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/11866565_6

Cite this

Yu, Y., Podder, T., Zhang, Y., Ng, W. S., Misic, V., Sherman, J., Fu, L., Fuller, D., Messing, E., Rubens, D., Strang, J., & Brasacchio, R. (2006). Robot-assisted prostate brachytherapy. In Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings (pp. 41-49). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4190 LNCS - I). Springer Verlag. https://doi.org/10.1007/11866565_6

Robot-assisted prostate brachytherapy. / Yu, Yan; Podder, Tarun; Zhang, Yongde et al.
Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings. Springer Verlag, 2006. p. 41-49 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4190 LNCS - I).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yu, Y, Podder, T, Zhang, Y, Ng, WS, Misic, V, Sherman, J, Fu, L, Fuller, D, Messing, E, Rubens, D, Strang, J & Brasacchio, R 2006, Robot-assisted prostate brachytherapy. in Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4190 LNCS - I, Springer Verlag, pp. 41-49, 9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006, Copenhagen, Denmark, 10/1/06. https://doi.org/10.1007/11866565_6

Yu Y, Podder T, Zhang Y, Ng WS, Misic V, Sherman J et al. Robot-assisted prostate brachytherapy. In Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings. Springer Verlag. 2006. p. 41-49. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/11866565_6

Yu, Yan ; Podder, Tarun ; Zhang, Yongde et al. / Robot-assisted prostate brachytherapy. Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - 9th International Conference, Proceedings. Springer Verlag, 2006. pp. 41-49 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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AU - Misic, Vladimir

AU - Sherman, Jason

AU - Fu, Luke

AU - Fuller, Dave

AU - Messing, Edward

AU - Rubens, Deborah

AU - Strang, John

AU - Brasacchio, Ralph

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Robot-assisted prostate brachytherapy

Abstract

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