22 March 2007 A compact robotic apparatus and method for 3-D ultrasound guided prostate therapy
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Ultrasound imaging has revolutionized the treatment of prostate cancer by producing increasingly accurate models of the prostate and influencing sophisticated targeting procedures for the insertion of radioactive seeds during brachytherapy. Three-dimensional (3D) ultrasound imaging, which allows 3D models of the prostate to be constructed from a series of two-dimensional images, helps to accurately target and implant seeds into the prostate. We have developed a compact robotic apparatus, as well as an effective method for guiding and controlling the insertion of transperineal needles into the prostate. This device has been designed to accurately guide a needle in 3D space so that the needle can be inserted into the prostate at an angle that does not interfere with the pubic arch. The physician can adjust manually or automatically the position of the apparatus in order to place several radioactive seeds into the prostate at designated target locations. Because many physicians are wary of conducting robotic surgical procedures, the apparatus has been developed so that the physician can position the needle for manual insertion and apply a method for manually releasing the needle without damaging the apparatus or endangering the patient.
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Jeffrey Bax, Jeffrey Bax, Lori Gardi, Lori Gardi, Jacques Montreuil, Jacques Montreuil, David Smith, David Smith, Aaron Fenster, Aaron Fenster, } "A compact robotic apparatus and method for 3-D ultrasound guided prostate therapy", Proc. SPIE 6509, Medical Imaging 2007: Visualization and Image-Guided Procedures, 65092H (22 March 2007); doi: 10.1117/12.708987; https://doi.org/10.1117/12.708987

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