Design of an ultrasound-guided robotic brachytherapy needle-insertion system.
In this paper we describe a new robotic brachytherapy needle-insertion system that is designed to replace the template used in the manual technique. After a brief review of existing robotic systems, we describe the requirements that we based our design upon. A detailed description of the proposed system follows. Our design is capable of positioning and inclining a needle within the same workspace as the manual template. To help improve accuracy, the needle can be rotated about its axis during insertion into the prostate. The system can be mounted on existing steppers and also easily accommodates existing seed dispensers, such as the Mick Applicator.
Hungr
Nikolai
N
TIMC Laboratory, 38706 La Tronche cedex, France. nikolai.hungr@imag.fr
Troccaz
Jocelyne
J
Zemiti
Nabil
N
Tripodi
Nathanaël
N
D001918:Brachytherapy / Q000295:instrumentation*; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D009339:Needles; D019919:Prosthesis Implantation / Q000295:instrumentation* / Q000379:methods; D011881:Radiotherapy, Computer-Assisted / Q000295:instrumentation*; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D014463:Ultrasonography / Q000295:instrumentation*