Figures & data
Figure 1. Conventional brachytherapy procedure (Seattle method).
Figure 2. Workspace for robotic insertion of brachytherapy needle: (i) front view, (ii) top view. [Color version available online.]
![Figure 2. Workspace for robotic insertion of brachytherapy needle: (i) front view, (ii) top view. [Color version available online.]](/cms/asset/1aaaa068-14e7-43a8-add7-a443e8452990/icsu_a_274649_f0002_b.gif)
Figure 3. Ultrasound probe driver.
Figure 4. Gantry robot.
Figure 5. In-vivo needle insertion force measured during actual (conventional) prostate brachytherapy procedure in the operating room.
Figure 6. Needle driver.
Figure 7. Assembled surgery module: (top) drawing and (bottom) fabricated prototype.
Figure 8. Prototype robotic system.
Figure 9. Schematic diagram of system architecture.
Figure 10. Position and size of holes (a) after one hundred penetrations at each location by moving the needle from one location to the next after each penetration; and (b) after a single penetration at each location. [Color version available online.]
![Figure 10. Position and size of holes (a) after one hundred penetrations at each location by moving the needle from one location to the next after each penetration; and (b) after a single penetration at each location. [Color version available online.]](/cms/asset/58462757-d37d-4328-8d14-6d562a9a1ab5/icsu_a_274649_f0010_b.gif)
Figure 11. Seed delivery in soft material (PVC) phantom.
