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Design and Kinematics of a Comanipulated Robot Dedicated to Prostate Brachytherapy

Published online by Cambridge University Press:  22 June 2020

Mozert Djohossou ,
Aziza Ben Halima ,
Antoine Valérie ,
Julien Bert Open the ORCID record for Julien Bert [Opens in a new window]  and
Dimitris Visvikis
Mozert Djohossou
Affiliation:
Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France
Aziza Ben Halima
Affiliation:
Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France
Antoine Valérie
Affiliation:
Urology Department, Brest Regional University Hospital, Brest, France
Julien Bert*
Affiliation:
Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France
Dimitris Visvikis
Affiliation:
Laboratory of Medical Image Processing (LaTIM), INSERM-UMR 1101, Brest, France
*
*Corresponding author. E-mail: julien.bert@univ-brest.fr
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Summary

In brachytherapy, the manual implantation of seeds is not accurate leading to side effects and limiting the use of new procedures. Robotics solutions have to be fully suitable for medical applications especially considering the operating room. This paper investigates a delta robot solution for improving the accuracy of the prostate brachytherapy procedure by proposing a compact and lightweight robot. In addition, the design was thought as a comanipulated robot for a better acceptability and human–machine interaction. The robot kinematics and singularities were determined and the theoretical capability in term of resolution and force feedback was evaluated. A prototype was built in order to experimentally measure the capability of this first prototype.

Keywords

Medical roboticsComanipulationProstate brachytherapy
Type
Articles
Information
Robotica , Volume 39 , Issue 3 , March 2021 , pp. 468 - 482
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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Footnotes

These authors share senior authorship

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