title: [Brachytherapy needle steering using intra-tissue real-time ultrasound 3d visualization].
abstract: OBJECTIVE
  To explore in a model experiment the capability of the developed software for 3D- ultrasound imaging of tumors in the pelvic tissue phantom to steer a brachytherapy needle using 6-axis robotic arm.
  
  
  METHODS
  The experiment employed a six-axis robotic arm with a device for moving the needle, a phantom with a tumor model and ultrasound scanner with biplane transducer. Controlled by the developed software, the robotic arm automatically inserted the needle in the phantom. At all stages of inserting the needle, its position in the phantom was continuously tracked using data obtained by the ultrasonic transducer.
  
  
  RESULTS
  The software was developed and tested for intra-tissue ultrasound imaging to steer a brachytherapy needle using US-scanner coupled with the robotic system providing 3D tumor modeling within the pelvic tissue phantom. In the course of the operation, the program corrects the existing model using current US images considering any shifting and swelling of the prostate.
  
  
  CONCLUSIONS
  The model experiment proved the operational capability of the proposed method of 3D tumor modeling within the pelvic tissue phantom and tracking needle movement in the phantom in real time using US scanner coupled with a robotic system for brachytherapy. Further development of the software, providing ultrasound image processing and automatically correcting the brachytherapy needle trajectory, will complete preclinical studies of a robotic arm and warrant clinical trials.
authors.affiliation: Central Scientific Research and Experimental Design Institute of Robotics and Technical Cybernetics, St. Petersburg.
authors.forename: N A
authors.initials: NA
authors.lastname: Gryaznov
authors.affiliation: Central Scientific Research and Experimental Design Institute of Robotics and Technical Cybernetics, St. Petersburg.
authors.forename: K Y
authors.initials: KY
authors.lastname: Senchik
authors.affiliation: Central Scientific Research and Experimental Design Institute of Robotics and Technical Cybernetics, St. Petersburg.
authors.forename: G S
authors.initials: GS
authors.lastname: Kireeva
authors.affiliation: Central Scientific Research and Experimental Design Institute of Robotics and Technical Cybernetics, St. Petersburg.
authors.forename: V V
authors.initials: VV
authors.lastname: Kharlamov
authors.affiliation: Central Scientific Research and Experimental Design Institute of Robotics and Technical Cybernetics, St. Petersburg.
authors.forename: D V
authors.initials: DV
authors.lastname: Novitskiy
authors.affiliation: Central Scientific Research and Experimental Design Institute of Robotics and Technical Cybernetics, St. Petersburg.
authors.forename: S A
authors.initials: SA
authors.lastname: Nikitin
mesh_terms: D001918:Brachytherapy / Q000379:methods*; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D009339:Needles; D019047:Phantoms, Imaging; D012984:Software; D014463:Ultrasonography
keywords: brachytherapy; control algorithm; phantom; prostate tumor; robotic arm; ultrasound visualization