OncoROBOT – robotic system for the treatment of lung cancer

OncoROBOT – robotic system for the treatment of lung cancer

Vadim G. Pishchik
Doctor of Medical Science, Professor, Chief Consulting Thoracic Surgeon of Saint Petersburg, Saint Petersburg State Healthcare Institution «City Clinical Oncological Dispensary», Deputy Chief Physician for Surgery (Chief Surgeon), 3/5, 2-ya Berezovaya alleya, Saint Petersburg, 197022, Russia; Saint Petersburg University, Professor at the Hospital Surgery Department, 7-9, Universitetskaya naberezhnaya, Saint Petersburg, 199034, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Eduard A. Abrosimov
Peter the Great Saint Petersburg Polytechnical University (SPbPU), Higher School of Automation and Robotics, Postgraduate Student, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia; Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Lead Programmer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Artem Yu. Astakhov
RTC, Engineer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Makariy A. Boriskin
SPbPU, Higher School of Automation and Robotics, Master's Degree, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia; RTC, Programmer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Anastasiya A. Gagarskaya
LLC Medical Robotics, Technician, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexander S. Dmitriev
Saint Petersburg Electrotechnical University «LETI», Postgraduate Student, Engineer of the Electronic Devices Department, 5, ul. Professora Popova, Saint Petersburg, 197376, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Ilyas R. Nanyagiev
SPbPU, Higher School of Automation and Robotics, Postgraduate Student, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia; RTC, Programmer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Sergey A. Nikitin
RTC, Head of Scientific and Technical Department, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexander D. Obornev
PhD in Medical Sciences, North-West Regional Scientific and Clinical Center named after L.G. Sokolov, Federal Medical and Biological Agency, Thoracic Surgeon, 4, Kultury pr., Saint Petersburg, 194291, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Nikolay N. Potrakhov
Doctor of Technical Science, Saint Petersburg Electrotechnical University «LETI», Head of the Electronic Devices Department, 5, ul. Professora Popova, Saint Petersburg, 197376, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Vyacheslav V. Khаrlamov
RTC, Senior Research Scientist, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Vasiliy V. Tceluyko
RTC, Engineer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Andrey A. Shavlikov
RTC, Head of the Design Bureau, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 26 January 2021

Abstract
Nowadays, robotic systems are becoming an important part of our lives, and medicine is no exception. Since lung cancer is in the first place in the number of deaths from cancer, doctors do not stop looking for new ways of treating it. To reduce the number of relapses after surgical removal of the tumor, it was proposed to use the method of intraoperative radiotherapy (IORT). To make it possible, the surgeon have to be equipped with a convenient device that he can use directly in the operating room after surgical resection. IORT after surgical removal of a tumor using a low-voltage x-ray source is a relatively new method used in the treatment of lung cancer. This article discusses a robotic system for performing IORT and the method of its use. Currently, there is a working prototype of this system and we are still improving it. The paper presents the main technical characteristics of the robot manipulator and the working tool, namely the x-ray tube mounted on the manipulator. Moreover, the software and its architecture are described, as well as a method for managing the manipulation system. A comparison of our development with foreign ones is also performed.

Key words
Intraoperative radiotherapy, robotic system, lung cancer.

DOI
https://doi.org/10.31776/RTCJ.9107

Bibliographic description
Pishchik, V. et al., 2021. OncoROBOT – robotic system for the treatment of lung cancer. Robotics and Technical Cybernetics, 9(1), pp.59-71.

UDC identifier:
621.386:007.52:616.24

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Editorial office address: 21, Tikhoretsky pr., Saint-Petersburg, Russia, 194064, tel.: +7(812) 552-13-25 e-mail: zheleznyakov@rtc.ru