Abstract
Brachytherapy (BT) is an innovative cancer treatment option that allows the delivery of high doses of radiation to specific areas of the body. BT has an important advantage: it doesn’t irradiate unnecessarily healthy tissue, but focalizes mainly on the destruction of tumorous cells. The paper presents an innovative parallel robot designed for BT and a needle trajectory planning software. The algorithm designed for virtual planning of robotic needle insertion allows automatic or manual definition of the needles trajectory. A virtual reality environment has been modelled and simulations using a real needle trajectory have been conducted.
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Acknowledgments
This paper was supported by the Post-Doctoral Programme POSDRU/159/1.5/S/137516, project co-funded from European Social Fund through the Human Resources Sectorial Operational Program 2007-2013, by the project no. 173/2012, code PN-II-PT-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers—CHANCE” financed by UEFISCDI, and by the Scopes International Grant IZ74Z0_137361/1 entitled “Creative Alliance in Research and Education focused on Medical and Service Robotics CARE-Robotics”.
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Gherman, B. et al. (2016). Virtual Planning of Needle Guidance for a Parallel Robot Used in Brachytherapy. In: Bleuler, H., Bouri, M., Mondada, F., Pisla, D., Rodic, A., Helmer, P. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 38. Springer, Cham. https://doi.org/10.1007/978-3-319-23832-6_9
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DOI: https://doi.org/10.1007/978-3-319-23832-6_9
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