Multi-channel robotic system for prostate brachytherapy.
In contemporary prostate brachytherapy, precise placement of needle and accurate deliver of radioactive seed at planned location is challenging. In this paper, we present a multi-channel robotic system designed for permanent seed implant in prostate. Unlike a single-channel robotic system or conventional manual technique, the designed multi-channel robotic system is capable of inserting a large number of needles concurrently. Numerous techniques perfected by a variety of experiments have been implemented in the system design. Thus, this system possesses potential several added advantages such as reduced target displacement, reduced edema, and less operating time as compared to single needle insertion technique. Several experimental results have been presented in this paper.
Podder
Tarun K
TK
Department of Radiation Oncology, Jefferson Medical College of Thomas Jefferson University, Philadelphia, PA 19107, USA. tarun.podder@jeffersonhospital.org
Ng
Wan Sing
WS
Yu
Yan
Y
D001918:Brachytherapy / Q000295:instrumentation* / Q000379:methods; D006801:Humans; D008297:Male; D008846:Micromanipulation / Q000295:instrumentation; D009339:Needles; D011471:Prostatic Neoplasms / Q000532:radiotherapy*; D019919:Prosthesis Implantation / Q000295:instrumentation* / Q000379:methods; D011881:Radiotherapy, Computer-Assisted / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods