Design of an ultrasound-guided robotic brachytherapy needle insertion system

TL;DR

This paper presents a novel robotic system for ultrasound-guided prostate brachytherapy needle insertion that aims to improve accuracy and replace manual templates, integrating with existing seed dispensers.

Contribution

The paper introduces a new robotic brachytherapy needle-insertion system capable of precise positioning, inclining, and rotating the needle, compatible with existing equipment.

Findings

System can position and incline needle within manual workspace

Allows needle rotation during insertion for improved accuracy

Compatible with existing seed dispensers like Mick Applicator

Abstract

In this paper we describe a new robotic brachytherapy needle-insertion system that is designed to replace the template used in the manual technique. After a brief review of existing robotic systems, we describe the requirements that we based our design upon. A detailed description of the proposed system follows. Our design is capable of positioning and inclining a needle within the same workspace as the manual template. To help improve accuracy, the needle can be rotated about its axis during insertion into the prostate. The system can be mounted on existing steppers and also easily accommodates existing seed dispensers, such as the Mick Applicator.