Research on Prostate Brachytherapy Robot Design and Puncture Control Strategy

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-03-23 DOI:10.1002/rcs.70059

Xuesong Dai, Yongde Zhang, Yue Sun

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引用次数: 0

Abstract

Background

In prostate brachytherapy, oblique-tip needles are frequently used to deliver radioactive seeds to the target area. These needles often experience deflection during insertion, leading to deviations from the planned trajectory and compromising treatment accuracy.

Method

This study did not involve human participants or animals, and therefore, ethics review and approval were not required. The proposed method combines preoperative needle trajectory planning with real-time intraoperative corrections, using an adaptive PID controller enhanced by reinforcement learning to adjust corrective forces during needle insertion.

Results

Experimental results demonstrated that the proposed method reduced the average seed implantation error to 1.92 mm, with a standard error of 0.56 mm. These findings indicate that the method minimises needle deflection and improves precision in seed implantation.

Conclusion

The proposed modular robotic system and puncture control method enhance the precision of seed implantation and show promise for improving treatment outcomes in prostate cancer therapy.

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背景在前列腺近距离放射治疗中，经常使用斜尖针将放射性粒子送入靶区。这些针在插入过程中经常出现偏移，导致偏离计划轨迹，影响治疗的准确性。方法本研究不涉及人类参与者或动物，因此无需伦理审查和批准。提出的方法结合了术前针头轨迹规划和术中实时校正，使用强化学习增强的自适应 PID 控制器在针头插入过程中调整校正力。结果实验结果表明，所提出的方法将种子植入的平均误差减少到 1.92 毫米，标准误差为 0.56 毫米。这些结果表明，该方法最大程度地减少了针的偏移，提高了种子植入的精确度。结论拟议的模块化机器人系统和穿刺控制方法提高了种子植入的精确度，有望改善前列腺癌治疗的疗效。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.