Multichannel robotic system for surgical procedures

Tarun K. Podder, Ivan Buzurovic, Ke Huang, Yan Yu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

A large and increasing number of cancer interventions including both diagnosis and therapy such as in-vivo analysis using optical, Raman spectroscopy, chemicals, as well as brachytherapy, photodynamic therapy (PDT), radio-frequency (RF) based thermal ablation, biopsy, and viral/gene therapy involve precise placement of needles. A majority of these interventions today are performed percutaneously. Guiding needle to a precise location inside soft tissue is a difficult task. Moreover, quantitative real-time sensory feedback is seldom available, and the needle is usually rigid. Many procedures could benefit from closing the control loop through quantitative sensory feedback and the ability to adjust the needle trajectory in real-time. In this paper, we present a multichannel robotic system developed for percutaneous interventions using real-time sensory feedback. The developed system is capable of inserting a large number of needles concurrently and also can deposit radioactive seeds for cases such as brachytherapy. Numerous techniques perfected by a variety of experiments have been implemented in the system design and development. Thus, this system possesses potential several advantages as compared to single needle insertion technique. Performance of this multichannel robot has been demonstrated with experimental results.

Original languageEnglish (US)
Title of host publicationProceedings of the IASTED International Symposia on Imaging and Signal Processing in Healthcare and Technology, ISPHT 2011
Pages95-101
Number of pages7
DOIs
Publication statusPublished - Sep 2 2011
EventIASTED International Symposia on Imaging and Signal Processing in Healthcare and Technology, ISPHT 2011 - Washington, DC, United States
Duration: May 16 2011May 18 2011

Publication series

NameProceedings of the IASTED International Symposia on Imaging and Signal Processing in Healthcare and Technology, ISPHT 2011

Other

OtherIASTED International Symposia on Imaging and Signal Processing in Healthcare and Technology, ISPHT 2011
CountryUnited States
CityWashington, DC
Period5/16/115/18/11

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Keywords

  • Multichannel robot
  • Prostate cancer
  • Prostate seed implant
  • Robotic brachytherapy
  • Robotic intervention
  • Surgical robot

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Signal Processing
  • Nursing(all)
  • Health(social science)

Cite this

Podder, T. K., Buzurovic, I., Huang, K., & Yu, Y. (2011). Multichannel robotic system for surgical procedures. In Proceedings of the IASTED International Symposia on Imaging and Signal Processing in Healthcare and Technology, ISPHT 2011 (pp. 95-101). (Proceedings of the IASTED International Symposia on Imaging and Signal Processing in Healthcare and Technology, ISPHT 2011). https://doi.org/10.2316/P.2011.737-014