Virtual Planning of Needle Trajectories Using a Haptic Interface for a Brachytherapy Parallel Robot: An Evaluation Study

Abstract:

Brachytherapy (BT) is a modality to treat cancer by inserting needles into a patient to deliver radioactive sources direct to the diseased tissue. The efficiency of the treatment is determined by the positions of the needles. A robot can be used in order to increase the precision of the needles locations. This paper presents an approach for needle trajectory planning based on isomorphic mapping from a haptic device. A virtual reality environment has been modelled containing a 3D reconstructed abdominal model of the patient. Needle insertion using the BT robot is controlled using a Force Dimension Omega haptic device. The developed software application allows the users to practice robotic needle insertion and to determine the most appropriate locations for the BT needles.

• Periodical: Applied Mechanics and Materials (Volume 762)
• Pages: 155-160
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.762.155
• Online since: May 2015
• Authors: Florin Gîrbacia*, Bogdan Gherman, Silviu Butnariu, Nicolae Plitea, Doru Talabă, Doina Pîslă
• Keywords: Haptic Interface, Parallel Robot, Trajectory Planning, Virtual Reality

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