Design of an ultrasound-guided robotic brachytherapy needle insertion system

Nikolai Hungr; Jocelyne Troccaz; Nabil Zemiti; Nathanael Tripodi

Design of an ultrasound-guided robotic brachytherapy needle insertion system

Robotics 2009-09-15 v1

Authors: Nikolai Hungr , Jocelyne Troccaz , Nabil Zemiti , Nathanael Tripodi

Abstract

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.

Keywords

robotic brachytherapy needle insertion ultrasound guidance prostate cancer seed dispenser Mick applicator

Cite

@article{arxiv.0909.2476,
  title  = {Design of an ultrasound-guided robotic brachytherapy needle insertion system},
  author = {Nikolai Hungr and Jocelyne Troccaz and Nabil Zemiti and Nathanael Tripodi},
  journal= {arXiv preprint arXiv:0909.2476},
  year   = {2009}
}

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