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

Animesh Garg, Timmy Siauw, Dmitry Berenson, Adam Cunha, I. Chow Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Automation seeks to improve the reliability and quality of processes. 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 skew-lines (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 more reliable and repeatable. In the future, we believe that robotic HDR-BT will improve overall treatment quality with reduced dependence on physician skill.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Automation Science and Engineering
Subtitle of host publicationGreen Automation Toward a Sustainable Society, CASE 2012
Pages26-33
Number of pages8
DOIs
StatePublished - Dec 1 2012
Externally publishedYes
Event2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 - Seoul, Korea, Republic of
Duration: Aug 20 2012Aug 24 2012

Publication series

NameIEEE International Conference on Automation Science and Engineering
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
CountryKorea, Republic of
CitySeoul
Period8/20/128/24/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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