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
相关论文
共 50 条
  • [31] Piezoelectric system as an alternative for electroencephalography in animal sleep experiments
    Mang, G. M.
    Nicod, J.
    Donohue, K. D.
    Ohara, B. F.
    Flint, J.
    Franken, P.
    JOURNAL OF SLEEP RESEARCH, 2012, 21 : 198 - 198
  • [32] Research on an electromagnetic wave exposed system for animal experiments
    Wu, SZ
    Cao, ZJ
    Wu, CZ
    Yan, J
    IEEE 2005 International Symposium on Microwave, Antenna, Propagation and EMC Technologies for Wireless Communications Proceedings, Vols 1 and 2, 2005, : 605 - 609
  • [33] In vitro experiments on PDR brachytherapy
    Fritz, P
    Frank, C
    Weber, KJ
    STRAHLENTHERAPIE UND ONKOLOGIE, 1998, 174 (07) : 365 - 374
  • [34] Development and experiments of a continuum robotic system for transoral laryngeal surgery
    Feng, Fan
    Zhou, Yuan
    Hong, Wuzhou
    Li, KeYong
    Xie, Le
    INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, 2022, 17 (03) : 497 - 505
  • [35] Conceptual design and initial experiments on cable inspection robotic system
    Wang, Xingsong
    Xu, Fengyu
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 3628 - 3633
  • [36] Development and experiments of a continuum robotic system for transoral laryngeal surgery
    Fan Feng
    Yuan Zhou
    Wuzhou Hong
    KeYong Li
    Le Xie
    International Journal of Computer Assisted Radiology and Surgery, 2022, 17 : 497 - 505
  • [37] New robotic technique for thoracic brachytherapy
    Belsley, S
    Connery, C
    Pisch, J
    DeRose, J
    Gaildon, M
    Ashton, R
    JOURNAL OF THE AMERICAN COLLEGE OF SURGEONS, 2003, 197 (03) : S31 - S31
  • [38] A robotic needle guide for prostate brachytherapy
    Salcudean, Septimiu E.
    Prananta, Thomas D.
    Morris, William J.
    Spadinger, Ingrid
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 2975 - +
  • [39] Robotic brachytherapy techniques for lung cancer
    Belsley, SJ
    Connery, CP
    Pisch, J
    McGinnis, K
    Evans, AJ
    DeRose, JJ
    Ashton, RC
    CHEST, 2004, 126 (04) : 914S - 915S
  • [40] Design and validation of a surgical navigation system for brachytherapy based on mixed reality
    Zhou, Zeyang
    Yang, Zhiyong
    Jiang, Shan
    Zhang, Fujun
    Yan, Huzheng
    MEDICAL PHYSICS, 2019, 46 (08) : 3709 - 3718
12345