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Development and Experimental Testing of a Robot-Assisted Positioning System for Brachytherapy

文献类型： 会议论文

第一作者： Jie Liang

作者： Jie Liang 1 ; Jing Wang 1 ; Xiao-Jing Liu 1 ; Sanmiao Zhao 2 ;

作者机构： 1.Department of Oral and Maxillofacial Surgery, Peking University School and Hospital of Stomatology and National Center of Stomatology, and National Clinical Research Center for Oral Diseases, and National Engineering Research Center of Oral Biomaterials and Digital Medical Devices, Beijing, China

2.LECZCORE Hospital, Tianjin, China

关键词： Location awareness;Visualization;Robot vision systems;Measurement uncertainty;Phantoms;Position measurement;Needles

会议名称： International Conference on Service Robotics

主办单位：

页码： 91-95

摘要： Optical-based tracking and localization systems, widely utilized in brachytherapy surgeries, have been suffering from the problem of target loss caused by the visual occlusion exists in clinical practice. This work presents the development and experimental testing of a robot-assisted localization system for brachytherapy using OptiTrack. The flexible configuration of the multiple cameras can effectively solve this visual occlusion problem. A complete workflow based on this system is also proposed with the full consideration of clinical requirements. Finally, the accuracy test was carried out using an agar phantom, and the experimental results showed that the average error of the needle tip position was measured to be 0.3 mm, and the center of gravity errors of the two seed implantation experiments are found to be 0.92±0.64 mm and 0.61±0.25 mm, respectively. The proposed system has potential value in clinical application.

分类号： tp24-53

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