AN INNOVATIVE AUTOMATED INSTRUMENT FOR ROBOTICALLY ASSISTED BRACHYTHERAPY USED IN CANCER TREATMENT
Abstract
The paper presents the design of a novel brachytherapy automated instrument with 6 needles meant to be used within a medical robotic system as an end effector. Based on the design requirements derived from the medical procedure, the medical instrument uses a needle storage mechanism and a gripper which have a synchronized motion in order to perform needle loading, insertion and releasing. The functionality of the instrument is explained and the experimental model is presented. Experimental scenarios are also presented followed by conclusion and proposed future research which aims to optimize the medical instrument and validate it for the medical procedure.
Key words: medical instrument, multiple needle insertion, medical robot, brachytherapy.
Full Text:
PDFReferences
Gerbaulet, Alain; Pötter, Richard., Mazeron, Jean-Jacques., Meertens, Harm., Limbergen, Erik Van, eds. (2002). The GEC ESTRO handbook of brachytherapy, ESTRO, OCLC 52988578, Leuven, Belgium, 2002.
Stewart AJ et al., Radiobiological concepts for brachytherapy. In Devlin P. Brachytherapy, Applications and Techniques. Philadelphia, 2007
Yu Y1., Podder T., Zhang Y., Ng WS., Misic V., Sherman J., Fu L., Fuller D., Messing E., Rubens D., Strang J., Brasacchio R., Robot-assisted prostate brachytherapy, Medical Image Computing and Computer Assisted Intervention.;9(Pt 1):41-9,2006
Tarun K. Podder, et al., AAPM and GEC-ESTRO guidelines for image-guided robotic brachytherapy: Report of Task Group 192, Medical Physics, Volume 41, Issue 10, pp i-vi, DOI: 10.1118/1.4895013 October 2014
Dan Stoianovici et al., ‘‘MRI Stealth’’ robot for prostate interventions, Minimally Invasive Therapy. 2007; 16:4; 241–248, Urology Robotics, Johns Hopkins Medicine, Baltimore, MD, USA
Podder et al., MIRAB: An Image-Guided Multichannel Robot for Prostate Brachytherapy, International Journal of Radiation OncologyBiologyPhysics, DOI: 10.1016/j.ijrobp.2010.07.1876, November 2010
Trejos et al., MIRA V: An Integrated System for Minimally Invasive RobotAssisted
Lung Brachytherapy, IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, May 19-23, 2008
Doina Pisla, Dragos Cocorean, Calin Vaida, Bogdan Gherman, Adrian Pisla, Nicolae Plitea, Application oriented design and simulation of an innovative parallel robot for brachytherapy, ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DOI: 10.1115/DETC2014-35047, August 2014,
Cocorean D., Development of new parallel robots for brachytherapy (Published in Romanian), PHD Thesis, Cluj-Napoca, 2015
http://www.maxonmotor.com/, 2017
http://www.skf.com, 2017
http://www.tbimotion.com.tw/, 2017
https://www.zwick.com/, 2017
Refbacks
- There are currently no refbacks.