Optimisation and validation of a co-manipulated robot for brachytherapy procedure.
co-manipulation
medical robotics
prostate brachytherapy
Journal
The international journal of medical robotics + computer assisted surgery : MRCAS
ISSN: 1478-596X
Titre abrégé: Int J Med Robot
Pays: England
ID NLM: 101250764
Informations de publication
Date de publication:
Feb 2023
Feb 2023
Historique:
revised:
25
08
2022
received:
22
02
2022
accepted:
27
09
2022
pubmed:
1
10
2022
medline:
5
1
2023
entrez:
30
9
2022
Statut:
ppublish
Résumé
Low-dose rate brachytherapy is the referent treatment for early-stage prostate cancer and consists in manually inserting radioactive seeds within the organ to destroy tumorous cells. This treatment is inaccurate leading to side effects. Researchers developed robots to improve this technique. Despite ameliorating accuracy, they cannot be clinically used because of size and acceptability. Therefore, a 6-DOF parallel and co-manipulated robot is proposed to meet these requirements. To fulfil the application requirements, a compact design was modelled. The robot's optimal dimensions were defined by establishing kinematics and implementing genetic algorithm. The robot's relevance was evaluated by measuring workspace and needle placement errors. The robot fits into a cube of 300 × 300 × 300 mm The results are promising and prove that our robot fulfils the application requirements and presents a beneficial alternative to the manual procedure.
Sections du résumé
BACKGROUND
BACKGROUND
Low-dose rate brachytherapy is the referent treatment for early-stage prostate cancer and consists in manually inserting radioactive seeds within the organ to destroy tumorous cells. This treatment is inaccurate leading to side effects. Researchers developed robots to improve this technique. Despite ameliorating accuracy, they cannot be clinically used because of size and acceptability. Therefore, a 6-DOF parallel and co-manipulated robot is proposed to meet these requirements.
METHODS
METHODS
To fulfil the application requirements, a compact design was modelled. The robot's optimal dimensions were defined by establishing kinematics and implementing genetic algorithm. The robot's relevance was evaluated by measuring workspace and needle placement errors.
RESULTS
RESULTS
The robot fits into a cube of 300 × 300 × 300 mm
CONCLUSION
CONCLUSIONS
The results are promising and prove that our robot fulfils the application requirements and presents a beneficial alternative to the manual procedure.
Identifiants
pubmed: 36177788
doi: 10.1002/rcs.2465
pmc: PMC10078344
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
e2465Informations de copyright
© 2022 The Authors. The International Journal of Medical Robotics and Computer Assisted Surgery published by John Wiley & Sons Ltd.
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