Design and Experiments of Ultrasound Image-Guided Multi-DOF Robot System for Brachytherapy

作     者：Shan Jiang Yunpeng Yang Zhiyong Yang Zhen Zhang Sheng Liu 

作者机构：School of Mechanical Engineering Tianjin UniversityTianjin 300350 China 

出 版 物：《Transactions of Tianjin University》 (天津大学学报（英文版）)

年 卷 期：2017年第23卷第5期

页      面：479-487页

核心收录：

学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0836[工学-生物工程] 

基　　金：supported by the Key Technology and Development Program of the Tianjin Municipal and Technology Commission (No. 14ZCDZGX00490) 

主　　题：Implants (surgical) Least squares approximations Machine design Nanocomposites Navigation systems Needles Oncology Patient treatment Radiotherapy Robotics Ultrasonics Urology 

摘      要：To implant radioactive seeds through a needle precisely and safely, a novel multi-DOF surgical robotic system is presented in this paper for percutaneous prostate intervention through the patient’s perineum under real-time ultrasound image guidance. The proposed robot, which is designed with 9-DOF, consists of a 3-DOF automatic location platform for position adjustment, 2-DOF for automatic ultrasonic probe adjustment mounted with electromagnetic trackers, and 4-DOF for manually adjusting the guided template. Meanwhile, a new registration method based on the quaternion algorithm and least square method is developed, and the needle insertion is performed under the real-time guidance of a navigation system. Furthermore, the robot system has undergone some preliminary experiments with a laser tracker to evaluate the repeatability and accuracy of the robot system. The location error of the puncture needle tip can be controlled under 0.7 mm in air for the whole robotic system. The acquired results endorse the precision of the robot system for prostate seed implantation brachytherapy. © 2017, Tianjin University and Springer-Verlag GmbH Germany.