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An experimental test-bed for robot-assisted image-guided minimally invasive lung brachytherapy

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7 Author(s)
Ana Luisa Trejos ; Department of Electrical and Computer Engineering, The University of Western Ontario, London, ON, Canada; and with Canadian Surgical Technologies & Advanced Robotics (CSTAR), London, ON, Canada ; Shiva Mohan ; Harman Bassan ; Amy W. Lin
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An experimental test-bed for robot-assisted image-guided minimally invasive lung brachytherapy has been developed. The setup includes surgical robots, a device to accurately drop brachytherapy seeds, an ultrasound system, electromagnetic trackers, and navigational software. An evaluation using the test-bed was performed to compare the open procedure and the video-assisted thoracoscopic procedure with the proposed robot-assisted minimally invasive procedure under ultrasound image guidance and electromagnetic tracking. The results show that the use of robotic systems and image guidance can provide improved seed placement accuracy as compared to open surgery, while reducing the invasiveness of the procedure and trauma to the patient's body.

Published in:

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 29 2007-Nov. 2 2007