Robot-assisted prostate brachytherapy.
Robot-assisted prostate brachytherapy.
复制标题
机器人辅助前列腺近距离治疗。
DOI：
10.1007/11866565_6
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Brasacchio,Ralph
中科院分区：
文献类型：
--
作者：
Yu,Yan;Podder,Tarun;Zhang,Yongde;Ng,Wan-Sing;Misic,Vladimir;Sherman,Jason;Fu,Luke;Fuller,Dave;Messing,Edward;Rubens,Deborah;Strang,John;Brasacchio,Ralph
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.
