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

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: Contribution to journal › Article › peer-review

31 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 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.

Original language	English (US)
Pages (from-to)	41-49
Number of pages	9
Journal	Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Volume	9
Issue number	Pt 1
State	Published - 2006
Externally published	Yes

ASJC Scopus subject areas

General Medicine

Cite this

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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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AU - Yu, Yan

AU - Podder, Tarun

AU - Zhang, Yongde

AU - Ng, Wan Sing

AU - Misic, Vladimir

AU - Sherman, Jason

AU - Fu, Luke

AU - Fuller, Dave

AU - Messing, Edward

AU - Rubens, Deborah

AU - Strang, John

AU - Brasacchio, Ralph

PY - 2006

Y1 - 2006

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AB - 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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Robot-assisted prostate brachytherapy.

Abstract

ASJC Scopus subject areas

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