Teleoperated and Automated Control of a Robotic Tool for Targeted Prostate Biopsy.

This work presents a robotic tool with bidirectional manipulation and control capabilities for targeted prostate biopsy interventions. Targeted prostate biopsy is an effective image-guided technique that results in detection of significant cancer with fewer cores and lower number of unnecessary biopsies compared to systematic biopsy. The robotic tool comprises of a compliant flexure section fabricated on a nitinol tube that enables bidirectional bending via actuation of two internal tendons, and a biopsy mechanism for extraction of tissue samples.

Modeling and Operator Control of a Robotic Tool for Bidirectional Manipulation in Targeted Prostate Biopsy.

This work introduces design, manipulation, and operator control of a bidirectional robotic tool for minimally invasive targeted prostate biopsy. The robotic tool is purposed to be used as a compliant flexure section of active biopsy needles. The design of the robotic tool comprises of a flexure section fabricated on a nitinol tube that enables bidirectional bending via actuation of two internal tendons.

Steering a Tendon-Driven Needle in High-Dose-Rate Prostate Brachytherapy for Patients with Pubic Arch Interference.

High-dose-rate brachytherapy (HDR BT) is a radiation therapy that places radioactive sources at cancerous tissue using needles. HDR BT offers better dose conformality and sparing of clinical structures, lower operator dependency, and fewer acute irritative symptoms compared to the other form of BT (low-dose-rate (LDR)). However, use of HDR BT is limited for patients with pubic arch interference, where the transperineal path to the prostate is blocked.

Integrating robot-assisted ultrasound tracking and 3D needle shape prediction for real-time tracking of the needle tip in needle steering procedures.

Background: Needle insertions have been used in several minimally invasive procedures for diagnostic and therapeutic purposes. Real-time position of the needle tip is an important information in needle steering systems.

Methods: This work introduces a robot-assisted ultrasound tracking (R-AUST) system integrated with a needle shape prediction method to provide 3D position of the needle tip.