Title :
An experimental test-bed for robot-assisted image-guided minimally invasive lung brachytherapy
Author :
Trejos, Ana Luisa ; Mohan, Shiva ; Bassan, Harman ; Lin, Amy W. ; Kashigar, Aida ; Patel, Rajni V. ; Malthaner, Richard A.
Author_Institution :
Univ. of Western Ontario, London
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
An experimental test-bed for robot-assisted image-guided minimally invasive lung brachytherapy has been developed. The setup includes surgical robots, a device to accurately drop brachytherapy seeds, an ultrasound system, electromagnetic trackers, and navigational software. An evaluation using the test-bed was performed to compare the open procedure and the video-assisted thoracoscopic procedure with the proposed robot-assisted minimally invasive procedure under ultrasound image guidance and electromagnetic tracking. The results show that the use of robotic systems and image guidance can provide improved seed placement accuracy as compared to open surgery, while reducing the invasiveness of the procedure and trauma to the patient´s body.
Keywords :
biomedical ultrasonics; lung; medical image processing; medical robotics; surgery; ultrasonic imaging; brachytherapy seed placement; electromagnetic tracking; image-guided minimally invasive lung brachytherapy; navigational software; robot-assisted lung brachytherapy; surgical robot; ultrasound image guidance; ultrasound system; video-assisted thoracoscopic procedure; Brachytherapy; Electromagnetic devices; Lungs; Medical robotics; Minimally invasive surgery; Navigation; Performance evaluation; Robots; Testing; Ultrasonic imaging;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399171
