Semi-automated Needling and Seed Delivery Device for Prostate Brachytherapy

In this paper we present a semi-automated device designed and developed to deliver radio-active seeds for treating prostate cancer. In the brachytherapy procedure a slander needle is inserted through the perineum and passed through different types of tissues. Thus, the needle experiences significant amount of force which may cause it to buckle and bend. In our design, we have considered the buckling force and insertion force on needle by collecting in-vivo data from real patient and performing in-vitro experiments. Techniques to reduce force and organ/tissue deformation have been implemented into this new design. To track the axial force on the needle for detecting pubic arch interference and to improve robotic control, we have incorporated three force sensors. Rigidity and factor of safety of the device has been analyzed using finite element method which was very useful for iterative design process