Methodology for the Identification of Needles Trajectories in Robotic Brachytherapy Procedure Using VR Technology

Butnariu, Silviu; Gîrbacia, Florin

doi:10.4028/www.scientific.net/amm.332.503

Cited by 4 publications

(3 citation statements)

References 17 publications

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“…It can support interventions and the training of surgeons. Butnariu et al [ 6 ] presented a pre-planning stage based on a VR technique to generate and optimize the needle trajectory of the robotic brachytherapy procedure. Schumann et al [ 7 ] presented a visualization method that highlighted less-suited trajectories and projected a risk structure map directly on the 2D slices.…”

Section: Introductionmentioning

confidence: 99%

Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy

et al. 2016

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The “robotic-assisted liver tumor coagulation therapy” (RALTCT) system is a promising candidate for large liver tumor treatment in terms of accuracy and speed. A prerequisite for effective therapy is accurate surgical planning. However, it is difficult for the surgeon to perform surgical planning manually due to the difficulties associated with robot-assisted large liver tumor therapy. These main difficulties include the following aspects: (1) multiple needles are needed to destroy the entire tumor, (2) the insertion trajectories of the needles should avoid the ribs, blood vessels, and other tissues and organs in the abdominal cavity, (3) the placement of multiple needles should avoid interference with each other, (4) an inserted needle will cause some deformation of liver, which will result in changes in subsequently inserted needles’ operating environment, and (5) the multiple needle-insertion trajectories should be consistent with the needle-driven robot’s movement characteristics. Thus, an effective multiple-needle surgical planning procedure is needed. To overcome these problems, we present an automatic multiple-needle surgical planning of optimal insertion trajectories to the targets, based on a mathematical description of all relevant structure surfaces. The method determines the analytical expression of boundaries of every needle “collision-free reachable workspace” (CFRW), which are the feasible insertion zones based on several constraints. Then, the optimal needle insertion trajectory within the optimization criteria will be chosen in the needle CFRW automatically. Also, the results can be visualized with our navigation system. In the simulation experiment, three needle-insertion trajectories were obtained successfully. In the in vitro experiment, the robot successfully achieved insertion of multiple needles. The proposed automatic multiple-needle surgical planning can improve the efficiency and safety of robot-assisted large liver tumor therapy, significantly reduce the surgeon’s workload, and is especially helpful for an inexperienced surgeon. The methodology should be easy to adapt in other body parts.

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Section: Introductionmentioning

confidence: 99%

Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy

et al. 2016

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“…Those forces, displacements and vibrations are controlled by embedded software, and integrated into device user interfaces and applications [5]. Compared with other pre-planning applications for robotic needle insertion presented in [6], [7], [10] the novelty of the presented approach is the possibility to use a haptic device to establish the needles trajectories that avoid the critical anatomical areas.…”

Section: Introductionmentioning

confidence: 99%

Virtual Planning of Needle Trajectories Using a Haptic Interface for a Brachytherapy Parallel Robot: An Evaluation Study

Gîrbacia

Gherman

Butnariu

et al. 2015

AMM

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Brachytherapy (BT) is a modality to treat cancer by inserting needles into a patient to deliver radioactive sources direct to the diseased tissue. The efficiency of the treatment is determined by the positions of the needles. A robot can be used in order to increase the precision of the needles locations. This paper presents an approach for needle trajectory planning based on isomorphic mapping from a haptic device. A virtual reality environment has been modelled containing a 3D reconstructed abdominal model of the patient. Needle insertion using the BT robot is controlled using a Force Dimension Omega haptic device. The developed software application allows the users to practice robotic needle insertion and to determine the most appropriate locations for the BT needles.

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“…The world it is in a continuous progress, huge efforts being made to improve life quality [1] combining medical treatments with the latest technology [2], [3], [4]. Cancer is a leading healthcare issue in society, as the global number of cases is predicted to increase significantly in the coming decades [5].…”

Section: Introductionmentioning

confidence: 99%

Design and control system of a parallel robot for brachytherapy

Galdau

Plitea

Vaida

et al. 2014

2014 IEEE International Conference on Automation, Quality and Testing, Robotics

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The design and control of a new parallel robot for brachytherapy is presented. In brachytherapy, a local minimally invasive oncological treatment known also as internal radiation, a needle is placed with high precision, in or near the tumor, to deliver higher doses of radiation. Currently most of the structures used for brachytherapy are designed for easy access areas, more than 70% targeting only the prostate. Due to the positive outcomes of the treatment, there is a big need for a robotic structure that could perform brachytherapy in hard-toreach areas that are declared inoperable cases. Parallel structures have been widely appreciated for their positioning precision and stiffness, making them a viable option for brachytherapy. The control system and the user interface are presented, followed by some numerical simulations on a scale model.

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Methodology for the Identification of Needles Trajectories in Robotic Brachytherapy Procedure Using VR Technology

Cited by 4 publications

References 17 publications

Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy

Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy

Virtual Planning of Needle Trajectories Using a Haptic Interface for a Brachytherapy Parallel Robot: An Evaluation Study

Design and control system of a parallel robot for brachytherapy

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