US Brachytherapy

From CISSTwiki

Direct Physician Control of Robot for Ultrasound-Guided Prostate Brachytherapy
Advanced Computer Integrated Surgery - 446

Overview

Goal We develop a hardware interface to allow direct physician control of robotic needle positioning taking advantage of robot's ability to perform angular needle insertions for improved coverage

Use low cost, off-the-shelf hardware

Add support for collision detection and avoidance

People

• Members: Albert Lee, Bong Joon Cho

• Mentor: Dr. Peter Kazanzides

• Clinical Partner: Dr. Danny Song

Publications

Resources

• Alterovitz, et al., Planning for Steerable Bevel­tip Needle Insertion Through 2D Soft Tissue

with Obstacles. Proc. IEEE International Conference on Robotics and Automation (ICRA), Apr. 2005, pp. 1652­1657

• Fichtinger, et al. Robotically Assisted Prostate Biopsy And Therapy With Intra­Operative CT

Guidance. Journal of Academic Radiology, Jan 2002, Vol. 9, 8 No 1, pp. 60­74.

• Fichtinger, et al., Robotic Assistance for Ultrasound Guided Prostate Brachytherapy, Tenth

International Conference on Medical Image Computing and Computer­Assisted Intervention, Proceedings in Lecture Notes in Computer Science Vol. 4791, pp 119­127, Springer, 2007

• Fichtinger, et al., Robotically assisted prostate brachytherapy with transrectal ultrasound

guidance­Phantom experiments. Brachytherapy. 2006 Jan­Mar; 5(1):14­26.