Affiliation:
1. Transilvania Univerity of Brașov
2. Technical University of Cluj-Napoca
Abstract
Brachytherapy (BT) is a modality to treat cancer by inserting needles into a patient to deliver radioactive sources direct to the diseased tissue. The efficiency of the treatment is determined by the positions of the needles. A robot can be used in order to increase the precision of the needles locations. This paper presents an approach for needle trajectory planning based on isomorphic mapping from a haptic device. A virtual reality environment has been modelled containing a 3D reconstructed abdominal model of the patient. Needle insertion using the BT robot is controlled using a Force Dimension Omega haptic device. The developed software application allows the users to practice robotic needle insertion and to determine the most appropriate locations for the BT needles.
Publisher
Trans Tech Publications, Ltd.
Cited by
1 articles.
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