Minimization of needle deflection in robot-assisted prostate brachytherapy

International Journal of Computer Assisted Radiology and Surgery

Volumn 1, Issue SUPPL. 7, 2006, Pages 269-271

  Abolhassani, N ^a,b   Patel, R V ^a,b  

^a Canadian Surgical Technologies and Advanced Robotics CSTAR   (Canada)

^b UNIVERSITY OF WESTERN ONTARIO   (Canada)

Author keywords

Needle deflection; Optimization; Robotic needle insertion; Soft tissue; Trajectory generation

Indexed keywords

EID: 33748959349     PISSN: 18616410     EISSN: 18616429     Source Type: Journal    
DOI: None     Document Type: Article

References (6)

1. Nath S, Chen Z, Yue N, Trumpore S, Peschel R (2000) Dosimetric effects of needle divergence in prostate seed implant using 125I and 103Pd radioactive seeds. Med Phys 27(5):1058-1066
2. Alterovitz R, Goldberg K, Okamura AM (2005) Planning for steerable bevel-tip needle insertion through 2D soft tissues with obstacles. In: Proceedings IEEE international conference on robotics and automation, pp 1652-1657
3. Okamura AM, Simone C, O'Leary MD (2004) Force modeling for needle insertion into soft tissue. IEEE Trans Biomed Eng 51(10):1707-1716
4. Kataoka H, Washio T, Audette M, Mizuhara K (2001) A model for relations between needle deflection, force, and thickness on needle insertion. In: Proceedings of medical image computing and computer-assisted intervention (MICCAI), pp 966-974
5. Abolhassani N, Patel RV, Moallem M (2006) Control of soft tissue deformation during robotic needle insertion. Minim Invas Ther Allied Technol 15(3) (in press)
6. Abolhassani N, Patel RV, Moallem M (2004) Experimental study of robotic needle insertion in soft tissue. In: Proceedings of 18th International congress on computer assisted radiology and surgery (CARS) pp 797-802