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Development of a Robotic System for Interstitial Brachytherapy Needle Insertions

I Buzurovic1*, X Pei2 , Y Hu1 , (1) Brigham and Women's Hospital, Harvard Medial School, Boston, MA, (2) Beihang University, Beijing, China


(Sunday, 7/29/2018) 4:00 PM - 4:55 PM

Room: Room 209

Purpose: Interests of the medical physics community for brachytherapy robotic systems have increased recently. In this study, we report the design, development and fabrication of a robotic system for interstitial brachytherapy needle insertions.

Methods: A robotic system, Smart Portable Inserter of Needles (S-PIN), was developed and fabricated to be used in needle insertion procedures, such as LDR and HDR interstitial brachytherapy and biopsies. The device is able to operate with different types of needles. It delivers the needles to the desired locations using a model predictive control strategy. S-PIN measures the needle resistance during insertion, using a micro sensor so that the lateral displacements of the needle tip and the lateral components of the insertion force over the sampling period can be minimized iteratively in real-time, allowing for the needle steering with variable translational and rotational speeds.

Results: S-PIN is designed and developed as a portable handheld 2 degree-of-freedom needle insertion mechanism. S-PIN consists of the following components: a) two actuators responsible for needle translations and rotations, b) horizontal needle guiding mechanism, c) one microforce sensor acquiring needle insertion information d) specially designed needle holders for easy access and sterilization e) system-on-chip (SOC) processor to apply the robotic control algorithm. The range of the insertion speed was recorded to be from 1 to 200 mm/s, whereas the needle rotation was in the range of 0 - 10 rev/s. The mechanical resolution of the needle insertion is 2μm, with maximum force output of 30 N. The accuracy of the force sensor is 30 mN.

Conclusion: Clinical implementation of this robotic system can potentially improve the dosimetry in HDR and LDR brachytherapy procedures by minimizing needle deflection and deviations from the desired positions. Potential advantages of this device are to be addressed in various clinical settings.


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