MR-guided HDR prostate brachytherapy with teleoperated steerable needles.
Brachytherapy
MIRIAM
MR-guided
Prostate
Steerable needle
Teleoperation
daVinci Surgical System
Journal
Journal of robotic surgery
ISSN: 1863-2491
Titre abrégé: J Robot Surg
Pays: England
ID NLM: 101300401
Informations de publication
Date de publication:
Oct 2023
Oct 2023
Historique:
received:
26
05
2023
accepted:
08
07
2023
medline:
11
9
2023
pubmed:
22
7
2023
entrez:
22
7
2023
Statut:
ppublish
Résumé
Conformity of tumour volumes and dose plans in prostate brachytherapy (BT) can be constrained by unwanted needle deflections, needle access restrictions and visualisation limitations. This work validates the feasibility of teleoperated robotic control of an active steerable needle using magnetic resonance (MR) for guidance. With this system, perturbations can be counteracted and critical structures can be circumvented to access currently inaccessible areas. The system comprises of (1) a novel steerable needle, (2) the minimally invasive robotics in an MR environment (MIRIAM) system, and (3) the daVinci Research Kit (dVRK). MR scans provide visual feedback to the operator controlling the dVRK. Needle steering is performed along curved trajectories to avoid the urethra towards targets (representing tumour tissue) in a prostate phantom with a targeting error of 1.2 ± 1.0 mm. This work shows the potential clinical applicability of active needle steering for prostate BT with a teleoperated robotic system in an MR environment.
Identifiants
pubmed: 37480476
doi: 10.1007/s11701-023-01676-x
pii: 10.1007/s11701-023-01676-x
pmc: PMC10492758
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
2461-2469Informations de copyright
© 2023. The Author(s).
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