Robotic Assistance for Ultrasound Guided Prostate Brachytherapy 1st Edition by Gabor Fichtinger, Jonathan Fiene, Christopher W Kennedy, Gernot Kronreif, Iulian I Iordachita, Danny Y Song, E Clif Burdette, Peter Kazanzides ISBN 9783540757573

Robotic Assistance for Ultrasound Guided Prostate Brachytherapy 1st Edition by Gabor Fichtinger, Jonathan Fiene, Christopher W Kennedy, Gernot Kronreif, Iulian I Iordachita, Danny Y Song, E Clif Burdette, Peter Kazanzides – Ebook PDF Instant Download/Delivery. 9783540757573
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ISBN 10: 
ISBN 13: 9783540757573
Author: Gabor Fichtinger, Jonathan Fiene, Christopher W Kennedy, Gernot Kronreif, Iulian I Iordachita, Danny Y Song, E Clif Burdette, Peter Kazanzides

We present a robotically assisted prostate brachytherapy system and test results in training phantoms. The system consists of a transrectal ultrasound (TRUS) and a spatially co-registered robot integrated with an FDA-approved commercial treatment planning system. The salient feature of the system is a small parallel robot affixed to the mounting posts of the template. The robot replaces the template interchangeably and uses the same coordinate system. Established clinical hardware, workflow and calibration are left intact. In these experiments, we recorded the first insertion attempt without adjustment. All clinically relevant locations were reached. Non-parallel needle trajectories were achieved. The pre-insertion transverse and rotational errors (measured with Polaris optical tracker relative to the template’s coordinate frame) were 0.25mm (STD=0.17mm) and 0.75° (STD=0.37°). The needle tip placement errors measured in TRUS were 1.04mm (STD=0.50mm). The system is in Phase-I clinical feasibility and safety trials, under Institutional Review Board approval.

Robotic Assistance for Ultrasound Guided Prostate Brachytherapy 1st Table of contents:

• Introduction
  1.1 Motivation and Background
  1.2 Overview of Prostate Brachytherapy and Its Clinical Importance
  1.3 Challenges in Ultrasound-Guided Brachytherapy Procedures
  1.4 Role of Robotic Assistance in Enhancing Precision and Minimizing Errors
  1.5 Objectives and Contributions of the Paper
  1.6 Structure of the Paper

• Related Work
  2.1 Robotic Systems in Medical Imaging and Interventions
  2.2 Ultrasound-Guided Prostate Brachytherapy: Current Techniques and Limitations
  2.3 Integration of Robotics with Ultrasound in Prostate Treatments
  2.4 Existing Robotic-Assisted Prostate Cancer Treatments
  2.5 Challenges in Robotic Assistance for Brachytherapy

• System Design and Architecture
  3.1 Overview of the Robotic Assistance System for Brachytherapy
  3.2 Mechanical and Kinematic Design of the Robotic Arm
  3.3 Ultrasound Probe Integration for Real-Time Imaging
  3.4 Control and User Interface for the Robotic System
  3.5 Precision and Calibration of the Robotic System for Needle Placement
  3.6 Safety Considerations and System Fail-Safes

• Methodology
  4.1 Ultrasound-Guided Prostate Brachytherapy Procedure
  4.2 Image-Guided Needle Insertion and Implantation Techniques
  4.3 Real-Time Tracking and Targeting Using Ultrasound Imaging
  4.4 Robotic System for Automated Needle Insertion
  4.5 Calibration and Accuracy Assessment of Robotic Assistance
  4.6 Optimization of Needle Placement and Dosimetry
  4.7 Operator Interaction and Control in Robotic-Assisted Procedure

• Experimental Setup and Validation
  5.1 Description of Experimental Protocols
  5.2 Phantom Models for Validation of Robotic System Performance
  5.3 Quantitative Assessment of Needle Placement Accuracy
  5.4 Comparison with Manual and Existing Robotic Techniques
  5.5 Real-World Testing with Prostate Cancer Models and Ultrasound Imaging
  5.6 Clinical Evaluation and Feedback from Surgeons and Technicians

• Results
  6.1 Accuracy of Needle Placement Using Robotic Assistance
  6.2 Comparison of Robotic-Assisted Brachytherapy with Traditional Methods
  6.3 Efficiency and Time Reduction in the Procedure
  6.4 Imaging and Ultrasound Quality During the Procedure
  6.5 Patient-Specific Considerations and Variability
  6.6 Clinical Case Studies and Outcomes

• Discussion
  7.1 Insights from Robotic Assistance in Ultrasound-Guided Brachytherapy
  7.2 Benefits of Robotic Assistance: Precision, Repeatability, and Safety
  7.3 Limitations and Challenges of the Current Robotic System
  7.4 Clinical Feasibility and Scalability of the Robotic System
  7.5 Future Directions: Enhancing System Performance and Autonomy

• Clinical Applications and Impact
  8.1 Application of Robotic Assistance in Prostate Cancer Treatment
  8.2 Improving Brachytherapy Treatment Planning and Targeting
  8.3 Role of Robotics in Reducing Procedure Time and Improving Patient Outcomes
  8.4 Integration with Other Treatment Modalities (e.g., External Beam Radiation Therapy)
  8.5 Long-Term Benefits in Precision Medicine and Minimally Invasive Surgery

• Conclusion
  9.1 Summary of Key Findings
  9.2 Contributions to Robotic-Assisted Prostate Brachytherapy
  9.3 Potential for Future Developments and Innovations
  9.4 Closing Remarks

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