Prosper: image and robot-guided prostate brachytherapy

Details Prosper: image and robot-guided prostate brachytherapy Prosper: image and robot-guided prostate brachytherapy

2011-04-08

arxiv.org/abs/1104.1506v1

Computer Science

Robotics

Scientific paper

Brachytherapy for localized prostate cancer consists in destroying cancer by introducing iodine radioactive seeds into the gland through hollow needles. The planning of the position of the seeds and their introduction into the prostate is based on intra-operative ultrasound (US) imaging. We propose to optimize the global quality of the procedure by: i) using 3D US; ii) enhancing US data with MRI registration; iii) using a specially designed needle-insertion robot, connected to the imaging data. The imaging methods have been successfully tested on patient data while the robot accuracy has been evaluated on a realistic deformable phantom.

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