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Conference Papers Year : 2021

CoBra robot for localized cancer treatment and diagnosis under real-time MRI

Sarah Wilby
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David Pasquier

Abstract

Cooperative Brachytherapy (CoBra) project intends to perform localized cancer treatment and biopsy of soft-tissues. The robot executes needle insertion within the MRI-scanner, performing adaptive prostate brachytherapy under real-time (RT) imaging. An active steerable-needle under closed-loop control is used to achieve precise positioning of the seed. Dose calculation under RT-MRI is achieved by the generation of synthetic-CT datasets based on a Machine-learning algorithm. Needle trajectory planning based on a steerable needle with minimal entry points is optimized by an algorithm depending upon the target, seed plan, and prostate contours attained from MRI. A bio-inspired active phantom is designed for concept validation.
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hal-03284086 , version 1 (12-07-2021)

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Sepaldeep Singh Dhaliwal, Sarah Wilby, Sina Firouzy, Kevin Brou Boni, Martijn de Vries, et al.. CoBra robot for localized cancer treatment and diagnosis under real-time MRI. AUTOMED 2021 - Interdisciplinary Symposium Automation in Medical Engineering, Jun 2021, Basel / Virtual, Switzerland. ⟨10.5281/zenodo.4923036⟩. ⟨hal-03284086⟩
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