Abstract
The chapter presents the kinematics of a new parallel robot for brachytherapy. Brachytherapy (BT) is an innovative technique called also internal radiation, which enables the physician to deliver higher doses of radiation to very-specific areas of the body. Nowadays, BT usage is limited by the insufficient accuracy of the radioactive seeds placement devices. Thus, the authors propose an innovative modular parallel structure which overcomes these limitations, enabling the high accurate positioning of the BT needles in any parts of the patient’s body. The kinematics of the new 5-DOF parallel robot is presented. The dextrous workspace of the robot is computed. Some specific advantages of this structure and the conclusions are presented in the end.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Dubowsky, S., et al.: An MRI-compatible needle manipulator concept based on elastically averaged dielectric elastomer actuators for prostate cancer treatment: an accuracy and MR-compatibility evaluation in phantoms. J. Med. Devices 3(3), 10 (2009)
Dueitt, B.: External beam radiotherapy, chap. Comparisons of External Beam Radiation Therapy, Brachytherapy, and Combination Therapy in the Treatment of, Prostate cancer, pp. 34–40 (2002)
Fichtinger, G., et al.: Robotic assistance for ultrasound guided prostate brachytherapy. In: International Conference on Medical Image Computing and Computer-Assisted Intervention, vol. 4791, pp. 119–127 (2007)
Glozman, D., Shoham, M.: Image-guided robotic flexible needle steering. IEEE Trans. Robot. 23(3), 459–467 (2007)
Gogu, G.: Structural Synthesis of Parallel Robots, Solid Mechanics and Its Applications, vol. 149. Springer, Dordrecht (2008)
Hungr, N., et al.: A 3D ultrasound robotic prostate brachytherapy system with prostate motion tracking. IEEE Trans. Robot. 28, 1382–1397 (2012)
Kong, X., Gosselin, C.: Kinematics and singularity analysis of a novel type of 3-crr 3-dof translational parallel manipulator. Int. J. Robot. Res. 21(9), 791–798 (2002)
Manolescu, N.: For a united point of view in the study of the structural analysis of kinematic chains and mechanisms. J. Mech. 3, 149–169 (1968)
Plitea, N., et al.: Parallel robot for brachytherapy with two kinematic guiding chains of the platform (the needle) type 2CRRU and CRU, patent pending, A/10004/2013 (2013)
Plitea, N., et al.: Structural analysis and synthesis of parallel robots for brachytherapy. D. Pisla et al. (eds.) New Trends in Medical and Service Robots, vol. 16, pp. 191–204. Springer, MMS, Dordrecht (2014)
Podder, T., Fichtinger, G.: Robotic brachytherapy: overview of robotic brachytherapy approaches and synergistic applications. AAPM Annual Meeting (2010)
Salcudean, S.E., et al.: A robotic needle guide for prostate brachytherapy. In: IEEE International Conference on Robotics and Automation, pp. 2975–2981 (2008)
Stoianovici, D., et al.: “MRI stealth” robot for prostate interventions. Minim. Invasive Ther. Allied Technol. 16, 241–248 (2007)
Yu, Y., Podder, T., et al.: Robot-assisted prostate brachytherapy. In: International Conference on Medical Image Computing and Computer-Assisted Intervention, vol. 9, pp. 41–49 (2006)
Acknowledgments
This chapter was supported by the Project no. 173/2012, code PN-II-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers—CHANCE” financed by UEFISCDI and the Scopes International Grant IZ74Z0-137361/1, Creative Alliance in Research and Education focused on Medical and Service Robotics-CARE-Robotics.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Gherman, B., Plitea, N., Galdau, B., Vaida, C., Pisla, D. (2014). On the Kinematics of an Innovative Parallel Robot for Brachytherapy. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_49
Download citation
DOI: https://doi.org/10.1007/978-3-319-06698-1_49
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-06697-4
Online ISBN: 978-3-319-06698-1
eBook Packages: EngineeringEngineering (R0)