Review of the recent developments in steerable needles and control algorithms of their movements in curvilinear directions in the human body for the modern robotic system to perform brachytherapy in prostate cancer patients is presented. Advantages of steerable needles over the standard ones are described; design aspects of these needles and results of the phantom studies are discussed. Scientific novelty consists in structuring the research information on the newest approaches in the prostate cancer treatment using brachytherapy, about the methods and tools that improve the quality of procedures, reducing time of procedure and making it safer.
Abstract:The article considers the results of scientific research works on creation of hydrodynamic and functional experimental benches for preclinical physiological tests of new mechatronic peristaltic blood pumps. The conclusion states the need in carrying out such tests before the start of biological experiments involving animals. An example of the device developed at Central Research Institute of Robotics and Cybernetics-a centrifugal pump-having optimal physiological characteristics is provided. The novelty of the proposed approaches to creation of hydrodynamic and functional experimental benches, as well as their technical equipment and data obtained as a result of the experiments, form a new approach to conduct of preclinical and physiological tests of mechatronic peristaltic pumps.
The article outlines the approach to applying the mechatronic technologies and robotic systems in carrying out the brachytherapy operations. To calculate the elastic state of the flexible needles of different geometry in the prostate model, a mathematical model of the flexible needle deformation has been applied which took into account the medium reaction and was based on the theory of flexible and elastic rods. The numeric calculations for different types of needles have been introduced for the first time. Also for the first time the advantages of applying flexible needles for brachytherapy procedure have been mathematically justified.
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