A Robotic System for Brachytherapy: Validation in Animal Experiments

被引：0
|
作者：
Li, Changle [1 ]
Zhang, Leifeng [1 ]
Zhang, Xuehe [1 ]
Liu, Gangfeng [1 ]
Yao, Chong [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Peoples R China
来源：
2024 9TH INTERNATIONAL CONFERENCE ON CONTROL AND ROBOTICS ENGINEERING, ICCRE 2024 | 2024年
关键词：
brachytherapy; medical robot; puncture; ABLATION; INSERTION; CANCER;
D O I：
10.1109/ICCRE61448.2024.10589777
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we proposed a brachytherapy robotic system. The system uses a 7-Dof robotic arm and a set of tools to complete puncture and seeds implantation. We designed end tools for puncture and seed implantation separately. A workflow based on this system has also been proposed. Finally, we used this system to conduct six animal experiments. The experimental results showed that the average error of seed implantation was 2.48mm, the minimum error is only 0.5mm, the maximum error reached 5.2mm.
引用
收藏
页码：109 / 113
页数：5
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