Acubot: a robot for radiological interventions

Stoianovici, Dan; Cleary, Kevin; Patriciu, Alexandru; Mazilu, Dumitru; Stanimir, Alexandru; Crăciunoiu, Nicolae; Watson, Vance; Kavoussi, Louis R.

doi:10.1109/tra.2003.817072

Cited by 183 publications

(110 citation statements)

References 16 publications

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“…With specialized hardware adjustment in Acubo-RND, the dependency on novice can be reduced leading to lower placement error. According to other studies with PPI-BT robots, sub-millimeter precision is possible [10,32,33].…”

Section: Discussionmentioning

confidence: 93%

“…Some of these brachytherapy-specific devices can insert needles at a continuum of locations and angles, emulating the degrees of freedom provided by freehand techniques, but can also place the tip of a needle with millimeter accuracy. However, the majority of current brachytherapy robot prototypes focus on PPI-BT [27,28,29,30,31], including the Acubot-RND [10,32,33], which is a needle insertion robot with applications to PPI-BT. Fig.…”

Section: Background and Related Workmentioning

confidence: 99%

“…This study used the Acubot-RND system developed at Johns Hopkins University [10]. Custom software was written for the Acubot-RND to automate needle insertion.…”

Section: Acubot-rndmentioning

confidence: 99%

“…Reducing the reliance on the skill of the physician through automation will standardize treatment quality, increase adherence to treatment objectives, and reduced trauma to organs. In this study, we present initial experiments with a robotic HDR-BT system consisting of planning software, a needle insertion robot, Acubot-RND [10], and a human with no brachytherapy clinical experience. We show that, within our experimental setup, this system can consistently plan and implant needle configurations that avoid puncturing nonprostate organs and meet clinical radiation dose objectives for the procedure.…”

Section: Introductionmentioning

confidence: 99%

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Initial experiments toward automated robotic implantation of skew-line needle arrangements for HDR brachytherapy

Garg¹,

Siauw²,

Berenson³

et al. 2012

2012 IEEE International Conference on Automation Science and Engineering (CASE)

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Abstract-One of the goals of automation is to increase the reliability and quality of a given process. This study aims to automate high dose rate brachytherapy (HDR-BT), a radiation therapy that places radioactive sources at the site of the tumor using needles. Although HDR-BT has a high rate of clinical success in curing prostate cancer, it also has several side effects related to needle and dose trauma. A new planning algorithm from previous work optimizes needle arrangements using skewlines (non-parallel, non-intersecting lines). This paper presents initial experiments towards an automated system for implanting skew-line needle arrangements computed from a planning system. We describe the interface, calibration and integration of the robotic hardware with the planning system, and present experiments using our robotic system to implant needles into anatomically-correct tissue phantoms. Results suggest that this system can achieve HDR-BT treatment objectives with reduced trauma to organs and low demands on operator skill, thus making the procedure repeatable at lower cost. We believe that in the future, robotic HDR-BT will result in improved treatment quality with reduced dependence on physician skill.

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Section: Discussionmentioning

confidence: 93%

Section: Background and Related Workmentioning

confidence: 99%

“…This study used the Acubot-RND system developed at Johns Hopkins University [10]. Custom software was written for the Acubot-RND to automate needle insertion.…”

Section: Acubot-rndmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Initial experiments toward automated robotic implantation of skew-line needle arrangements for HDR brachytherapy

Garg¹,

Siauw²,

Berenson³

et al. 2012

2012 IEEE International Conference on Automation Science and Engineering (CASE)

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“…This algorithm is theoretically capable of achieving zero alignment error. The method was implemented and tested using our AcuBot robot [6].…”

Section: Introductionmentioning

confidence: 99%

Automatic Targeting Method and Accuracy Study in Robot Assisted Needle Procedures

Patriciu

Mazilu

Petrisor

et al. 2003

Lecture Notes in Computer Science

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Abstract. We present an automatic needle targeting method for fluoroscopyguided percutaneous access procedures. The approach is derived from the manual needle superimposition technique making it intuitive and familiar to surgeons and radiologists. The proposed algorithm is insensitive to image distortion and does not require any C-Arm calibration or initial pose estimation. Needle alignment is performed using a direct adaptive visual servoing approach; once the desired orientation is achieved, insertion is performed using under joystick control. The algorithm was implemented and tested using our AcuBot robot, purposely built for percutaneous image guided interventions. A series of tests were performed showing that the proposed approach increases accuracy and reduces radiation exposure.

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