Compact Robotically Steerable Image-Guided Instrument for Multi-Adjacent-Point (MAP) Targeting

Torabi, Meysam; Gupta, Rajiv; Walsh, Conor J.

doi:10.1109/tro.2014.2304773

Cited by 20 publications

(13 citation statements)

References 66 publications

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“…Each applicator implants them linearly at a time to surround the cancer tissue. To reduce the exposure dose of the doctors, implantation robots were developed [4][5][6][7]. They use an ultrasonic probe, CT, or MRI to implant the grains accurately, as prostate cancer cannot be observed directly via visual inspection.…”

Section: Open Accessmentioning

confidence: 99%

“…4 Department of Radiation Therapeutics and Oncology, Tokyo Medical and Dental University, 1-5-45 Yushima, Bunkyo-ku, Tokyo, Japan. 5 Department of Oral Radiation Oncology, Tokyo Medical and Dental University, 1-5-45 Yushima, Bunkyo-ku, Tokyo 113-8510, Japan.…”

Section: Author Detailsmentioning

confidence: 99%

“…Consequently, there are few hospitals conducting permanent brachytherapy, and the number of treatments is limited at these hospitals. Brachytherapy devices for prostate and lung cancers that reduce the radiation dose to the doctors have been developed [4][5][6][7][8][9]. However, devices that can be applied to permanent brachytherapy for oral cancer have not been developed.…”

Section: Introductionmentioning

confidence: 99%

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Remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains

et al. 2017

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This paper presents a remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains to reduce the exposure dose to the doctors. Permanent brachytherapy is a treatment which involve implanting of radioactive Au-198 grains, and requires neither long-term needle insertion nor diet-restriction. This is its advantage over temporary brachytherapy. However, the doctors that perform this therapy are exposed to radiation during the treatment procedures. This hinders permanent brachytherapy from being commonly used. The developed device shoots an Au grain from a distant position using air pressure and loads it onto the applicator. This can reduce the exposure dose of the doctors compared with that of the traditional procedure because the doctors are able to stay as far away from the radioactive seeds as possible. We conducted experiments of motion simulation of the proposed and traditional treatment procedures, and compared the exposed doses. The device can reduce the exposed dose by 62% on average.

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Section: Open Accessmentioning

confidence: 99%

Section: Author Detailsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains

et al. 2017

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“…In the last decade, possibilities of using this novel class of robotic systems in various MISs have been continuously explored, examples including intracardiac procedure [6], urology surgery [8], neurosurgery surgery [3], prostate brachytherapy [28], and intraocular procedures [37]. Recently, CTR has also been applied to transnasal surgeries.…”

Section: Introductionmentioning

confidence: 99%

Development of a compact continuum tubular robotic system for nasopharyngeal biopsy

Song

et al. 2016

Med Biol Eng Comput

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Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniaturized size, curvilinear maneuverability, and capability of avoiding collision within the nasal environment. This paper presents a compact CTR which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight, and easy to be integrated with a robotic arm to perform more complicated operations. Structural design, end-effector design, and workspace analysis are described in detail. In addition, teleoperation of the CTR using a haptic input device is developed for position control in 3D space. Moreover, by integrating the robot with three electromagnetic tracking sensors, a navigation system together with a shape reconstruction algorithm is developed. Comprehensive experiments are conducted to test the functionality of the proposed prototype; experiment results show that under teleoperation, the system has an accuracy of 2.20 mm in following a linear path, an accuracy of 2.01 mm in following a circular path, and a latency time of 0.1 s. It is also found that the proposed shape reconstruction algorithm has a mean error of around 1 mm along the length of the tubes. Besides, the feasibility and effectiveness of the proposed robotic system being applied to posterior nasopharyngeal biopsy are demonstrated by a cadaver experiment. The proposed robotic system holds promise to enhance clinical operation in transnasal procedures.

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“…The related superelastic property allows some Nitinol alloys to undergo large, reversible psuedo-elastic deformations at a constant temperature [2], and has enabled steerable needles [3], multi-backbone continuum robots [4], tendon-actuated continuum robots [5], and concentric tube robots [6]–[9], among others. It is sometimes useful in these robots (and more generally in medical devices [10]) to shape set a nonlinear space curve into the superelastic material.…”

Section: Introductionmentioning

confidence: 99%

Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots

Gilbert

Webster

2016

IEEE Robot. Autom. Lett.

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Shape setting Nitinol tubes and wires in a typical laboratory setting for use in superelastic robots is challenging. Obtaining samples that remain superelastic and exhibit desired precurvatures currently requires many iterations, which is time consuming and consumes a substantial amount of Nitinol. To provide a more accurate and reliable method of shape setting, in this paper we propose an electrical technique that uses Joule heating to attain the necessary shape setting temperatures. The resulting high power heating prevents unintended aging of the material and yields consistent and accurate results for the rapid creation of prototypes. We present a complete algorithm and system together with an experimental analysis of temperature regulation. We experimentally validate the approach on Nitinol tubes that are shape set into planar curves. We also demonstrate the feasibility of creating general space curves by shape setting a helical tube. The system demonstrates a mean absolute temperature error of 10°C.

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Compact Robotically Steerable Image-Guided Instrument for Multi-Adjacent-Point (MAP) Targeting

Cited by 20 publications

References 66 publications

Remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains

Remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains

Development of a compact continuum tubular robotic system for nasopharyngeal biopsy

Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots

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