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Towards a Robotically Steerable System for High Dose Rate Brachytherapy

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Experimental Robotics (ISER 2020)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 19))

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Abstract

Brachytherapy (BT) is a commonly employed percutaneous approach for cancer treatment. In this work, we propose a new tendon-driven omnidirectional bending joint for a steerable stylet that can be inserted into a commercial BT needle. This joint is made by laser cutting a diamond pattern with or without vertical supporting members into a nitinol tube. Simulations are used to compare the effect of different geometric pattern parameters and determine the most optimal parameter values. Joint simulation results are used in a model for bending the joint-needle system and compared to experimental results. We demonstrate the ability of the joint to achieve the desired bending angle in the needle.

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Acknowledgement

This work is supported in part by Emory University and the National Science Foundation Graduate Research Fellowship Program under Grant No. DGE-1650044. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of Emory University or the National Science Foundation.

Author information

Authors and Affiliations

  1. Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA

    Nancy J. Deaton, Yash Chitalia & Jaydev P. Desai

  2. Winship Cancer Institute, Emory University, Atlanta, GA, USA

    Pretesh Patel

Authors
  1. Nancy J. Deaton
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  2. Yash Chitalia
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  3. Pretesh Patel
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  4. Jaydev P. Desai
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Corresponding author

Correspondence to Nancy J. Deaton .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

  2. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Cecilia Laschi

  3. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

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Deaton, N.J., Chitalia, Y., Patel, P., Desai, J.P. (2021). Towards a Robotically Steerable System for High Dose Rate Brachytherapy. In: Siciliano, B., Laschi, C., Khatib, O. (eds) Experimental Robotics. ISER 2020. Springer Proceedings in Advanced Robotics, vol 19. Springer, Cham. https://doi.org/10.1007/978-3-030-71151-1_21

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