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A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control
PURPOSE: Radioactive seed implantation is an effective invasive treatment method for malignant liver tumors in hepatocellular carcinomas. However, challenges of the manual procedure may degrade the efficacy of the technique, such as the high accuracy requirement and radiation exposure to the surgeon...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer International Publishing
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8166720/ https://www.ncbi.nlm.nih.gov/pubmed/33934286 http://dx.doi.org/10.1007/s11548-021-02380-7 |
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author | Lin, Xiaofeng Zhou, Shoujun Wen, Tiexiang Jiang, Shenghao Wang, Cheng Chen, Jingtao |
author_facet | Lin, Xiaofeng Zhou, Shoujun Wen, Tiexiang Jiang, Shenghao Wang, Cheng Chen, Jingtao |
author_sort | Lin, Xiaofeng |
collection | PubMed |
description | PURPOSE: Radioactive seed implantation is an effective invasive treatment method for malignant liver tumors in hepatocellular carcinomas. However, challenges of the manual procedure may degrade the efficacy of the technique, such as the high accuracy requirement and radiation exposure to the surgeons. This paper aims to develop a robotic system and its control methods for assisting surgeons on the treatment. METHOD: We present an interventional robotic system, which consists of a 5 Degree-of-Freedom (DoF) positioning robotic arm (a 3-DoF translational joint and a 2-DoF revolute joint) and a needle actuator used for needle insertion and radioactive seeds implantation. Control strategy is designed for the system to ensure the safety of the motion. In the designed framework, an artificial potential field (APF)-based motion planning and an ultrasound (US) image-based contacting methods are proposed for the control. RESULT: Experiments were performed to evaluate position and orientation accuracy as well as validate the motion planning procedure of the system. The mean and standard deviation of targeting error is 0.69 mm and 0.33 mm, respectively. Needle placement accuracy is 1.10 mm by mean. The feasibility of the control strategy, including path planning and the contacting methods, is demonstrated by simulation and experiments based on an abdominal phantom. CONCLUSION: This paper presents a robotic system with force and US image feedback in assisting surgeons performing brachytherapy on liver tumors. The proposed robotic system is capable of executing an accurate needle insertion task with by optical tracking. The proposed methods improve the safety of the robot’s motion and automate the process of US probe contacting under the feedback of US-image. |
format | Online Article Text |
id | pubmed-8166720 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Springer International Publishing |
record_format | MEDLINE/PubMed |
spelling | pubmed-81667202021-06-03 A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control Lin, Xiaofeng Zhou, Shoujun Wen, Tiexiang Jiang, Shenghao Wang, Cheng Chen, Jingtao Int J Comput Assist Radiol Surg Original Article PURPOSE: Radioactive seed implantation is an effective invasive treatment method for malignant liver tumors in hepatocellular carcinomas. However, challenges of the manual procedure may degrade the efficacy of the technique, such as the high accuracy requirement and radiation exposure to the surgeons. This paper aims to develop a robotic system and its control methods for assisting surgeons on the treatment. METHOD: We present an interventional robotic system, which consists of a 5 Degree-of-Freedom (DoF) positioning robotic arm (a 3-DoF translational joint and a 2-DoF revolute joint) and a needle actuator used for needle insertion and radioactive seeds implantation. Control strategy is designed for the system to ensure the safety of the motion. In the designed framework, an artificial potential field (APF)-based motion planning and an ultrasound (US) image-based contacting methods are proposed for the control. RESULT: Experiments were performed to evaluate position and orientation accuracy as well as validate the motion planning procedure of the system. The mean and standard deviation of targeting error is 0.69 mm and 0.33 mm, respectively. Needle placement accuracy is 1.10 mm by mean. The feasibility of the control strategy, including path planning and the contacting methods, is demonstrated by simulation and experiments based on an abdominal phantom. CONCLUSION: This paper presents a robotic system with force and US image feedback in assisting surgeons performing brachytherapy on liver tumors. The proposed robotic system is capable of executing an accurate needle insertion task with by optical tracking. The proposed methods improve the safety of the robot’s motion and automate the process of US probe contacting under the feedback of US-image. Springer International Publishing 2021-05-01 2021 /pmc/articles/PMC8166720/ /pubmed/33934286 http://dx.doi.org/10.1007/s11548-021-02380-7 Text en © The Author(s) 2021 https://creativecommons.org/licenses/by/4.0/Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) . |
spellingShingle | Original Article Lin, Xiaofeng Zhou, Shoujun Wen, Tiexiang Jiang, Shenghao Wang, Cheng Chen, Jingtao A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control |
title | A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control |
title_full | A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control |
title_fullStr | A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control |
title_full_unstemmed | A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control |
title_short | A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control |
title_sort | novel multi-dof surgical robotic system for brachytherapy on liver tumor: design and control |
topic | Original Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8166720/ https://www.ncbi.nlm.nih.gov/pubmed/33934286 http://dx.doi.org/10.1007/s11548-021-02380-7 |
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