02141nas a2200217   4500008004100000020001400041245010700055210006900162260000900231300001200240490000600252520136300258100002301621700002601644700001901670700002401689700002001713700002301733700002101756856014601777       2006                        eng d  a1538-472100aRobotically assisted prostate brachytherapy with transrectal ultrasound guidance - Phantom experiments0 aRobotically assisted prostate brachytherapy with transrectal ult  c2006  a14 - 260 v53 aPURPOSE: To report the preliminary experimental results obtained with a robot-assisted transrectal ultrasound (TRUS)-guided prostate brachytherapy system. METHODS AND MATERIALS: The system consists of a TRUS unit, a spatially coregistered needle insertion robot, and an FDA-approved treatment planning and image-registered implant system. The robot receives each entry/target coordinate pair of the implant plan, inserts a preloaded needle, and then the seeds are deposited. The needles/sources are tracked in TRUS, thus allowing the plan to be updated as the procedure progresses. RESULTS: The first insertion attempt was recorded for each needle, without adjustment. All clinically relevant locations were reached in a prostate phantom. Nonparallel and parallel needle trajectories were demonstrated. Based on TRUS, the average transverse placement error was 2 mm (worst case 2.5 mm, 80% less than 2 mm), and the average sagittal error was 2.5 mm (worst case 5.0 mm, 70% less than 2.5 mm). CONCLUSIONS: The concept and technical viability of robot-assisted brachytherapy were demonstrated in phantoms. The kinematically decoupled robotic assistant device is inherently safe. Overall performance was promising, but further optimization is necessary to prove the possibility of improved dosimetry. © 2006 American Brachytherapy Society. All rights reserved.1 aFichtinger, Gábor1 aBurdette, Everette, C1 aTanacs, Attila1 aPatriciu, Alexandru1 aMazilu, Dumitru1 aWhitcomb, Louis, L1 aStoianovici, Dan  uhttps://home.inf.u-szeged.hu/publication/robotically-assisted-prostate-brachytherapy-with-transrectal-ultrasound-guidance-phantom-experiments02228nas a2200241   4500008004100000020001400041245009600055210006900151260000900220300001200229490000600241520140600247100002301653700002601676700002401702700001901726700002001745700002301765700001801788700002201806700002101828856013701849       2002                        eng d  a1076-633200aSystem for robotically assisted prostate biopsy and therapy with intraoperative CT guidance0 aSystem for robotically assisted prostate biopsy and therapy with  c2002  a60 - 740 v93 aRationale and Objectives. The purpose of this study was to assess the work-in-progress prototype of an image-guided, robotic system for accurate and consistent placement of transperineal needles into the prostate with intraoperative image guidance inside the gantry of a computed tomographic (CT) scanner. Materials and Methods. The coach-mounted system consists of a seven-degrees-of-freedom, passive mounting arm; a remote-center-of-motion robot; and a motorized, radiolucent needle-insertion device to deliver 17-18-gauge implant and biopsy needles into the prostate with the transperineal route. The robot is registered to the image space with a stereotactic adapter. The surgeon plans and controls the intervention in the CT scanner room with a desktop computer that receives DICOM images from the CT scanner. The complete system fits in a carry-on suitcase, does not need calibration, and does not utilize vendor-specific features of the CT scanner. Results. In open air, the average accuracy was better than 1 mm at a 5-8-cm depth. In various phantoms, the average orientation error was 1.3°, and the average distance between the needle tip and the target was 2 mm. Conclusion. Results of preliminary experiments indicate that this robotic system may be suitable for transperineal needle placement into the prostate and shows potential in a variety of other percutaneous clinical applications.1 aFichtinger, Gábor1 aDeWeese, Theodore, L.1 aPatriciu, Alexandru1 aTanacs, Attila1 aMazilu, Dumitru1 aAnderson, James, H1 aMasamune, Ken1 aTaylor, Russel, H1 aStoianovici, Dan  uhttps://home.inf.u-szeged.hu/publication/system-for-robotically-assisted-prostate-biopsy-and-therapy-with-intraoperative-ct-guidance