Virtual Planning of Needle Guidance for a Parallel Robot Used in Brachytherapy [chapter]

B. Gherman, T. Girbacia, D. Cocorean, C. Vaida, S. Butnariu, N. Plitea, D. Talaba, D. Pisla
2015 Mechanisms and Machine Science  
Scope The paper aims to develop an accurate virtual planning of the needles trajectory for an innovative parallel robot used for general brachytherapy. Brachytherapy is an innovative cancer treatment method that allows the delivery of high doses of radiation to specific areas of the body, using specific needles. The brachytherapy needles must be introduced inside the tumour and through their catheters, radioactive seeds will be placed. The method's effectiveness has been already demonstrated
more » ... h good results, but it is conditioned by the following restriction: the needles must be precisely placed since the radiation dose decreases abruptly from the base and an incorrect position leads to the damage of healthy tissue [1] . Using brachytherapy to treat the tumours situated in the thoracic or abdominal areas prove to be a difficult task, as inserting the needles might cause damage to the internal organs and/or fail to reach the target.
doi:10.1007/978-3-319-23832-6_9 fatcat:jsxxf4hhprgujgsxv5f7kqfy7q