# Adaptive approach for tracking movements of biological targets: application to robot-based intervention for prostate cancer

## TL;DR

A robotic system with an adaptive algorithm improves precision in prostate cancer treatment by adjusting needle paths in real time.

## Contribution

The novel adaptive optimization algorithm dynamically adjusts needle trajectories during prostate Brachytherapy.

## Key findings

- The system improves radiation seed placement accuracy, enhancing treatment efficacy.
- The algorithm reduces needle insertions by 15%, lowering invasiveness and recovery time.
- Real-time MRI data enables precise tracking of prostate movement during intervention.

## Abstract

In this paper, we introduce an advanced robotic system integrated with an adaptive optimization algorithm, tailored for Brachytherapy in prostate cancer treatment. The primary innovation of the system is the algorithm itself, designed to dynamically adjust needle trajectories in response to the real-time movements of the prostate gland during the local intervention.

The system employs real-time position data extracted from Magnetic Resonance Imaging (MRI) to ensure precise targeting of the prostate, adapting to its constant motion and deformation. This precision is crucial in Brachytherapy, where the accurate placement of radioactive seeds directly impacts the efficacy of the treatment and minimizes damage to surrounding safe tissues.

Our results demonstrate a marked improvement in the accuracy of radiation seed placement, directly correlating to more effective radiation delivery. The adaptive nature of the algorithm significantly reduces the number of needle insertions, leading to a less invasive treatment experience for patients. This reduction in needle insertions also contributes to lower risks of infection and shorter recovery times.

This novel robotic system, enhanced by the adaptive optimization algorithm, improves the coverage of targets reached by a traditional combinatorial approach by approximately 15% with fewer required needles. The improved precision and reduced invasiveness highlight the potential of this system to enhance the overall effectiveness and patient experience in prostate cancer Brachytherapy.