N.A. Gryaznov
PhD in Physical and Mathematical Sciences, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Deputy Director for Science, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)294-47-36, This email address is being protected from spambots. You need JavaScript enabled to view it.
G.S. Kireeva
PhD in Biology, RTC, Junior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(981)831-73-06, This email address is being protected from spambots. You need JavaScript enabled to view it.
K.Yu. Senchik
Doctor of Medical Science, RTC, Chief Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-43-90, This email address is being protected from spambots. You need JavaScript enabled to view it.
V.V. Khаrlamov
RTC, Head of of the Research Department, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(911)212-15-45, This email address is being protected from spambots. You need JavaScript enabled to view it.
S.A. Nikitin
RTC, Head of Laboratory, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia,
tel.: +7(911)201-51-99, This email address is being protected from spambots. You need JavaScript enabled to view it.
D.V. Novitsky
RTC, Programmer, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)556-33-51, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
Consistent performance of robotic systems designed to automate brachytherapy process is impossible without special control algorithms which eventually provide essensial parameters for brachytherapeutic needles insertion and positioning. Objective of carried out research was to develop the algorithm for six-axis robot manipulator control to position the probe using data from 2D ultrasonic scanning. Experiments were conducted on phantom model of prostate with imbeded model of tumor. Efficiency of robot manipulator control algorithm based on ultrasonic scanning coordinates was proved subsequent to the results of the full-scale experiments.
Key words
Brachytherapy, robot manipulator, ultrasonic scanning, control algorithms, prostate phantom model.
Year 2016 Issue number 1 Consecutive issue number 10 Pages 67-72
UDC identifier: 611.637:616.006:007.52
