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* Corresponding author 1 TIMC-IMAG - Techniques de l-Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications Grenoble 2 Société KOELIS 3 Département de cancérologie et radiothérapie 4 Département d-Uro-néphro-endocrinologie 5 Service d-urologie 6 GMCAO TIMC-IMAG - Techniques de l-Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications Grenoble

Abstract : Brachytherapy for localized prostate cancer consists in destroying cancer by introducing iodine radioactive seeds into the gland through hollow needles. The planning of the position of the seeds and their introduction into the prostate is based on intra-operative ultrasound US imaging. We propose to optimize the global quality of the procedure by: i using 3D US; ii enhancing US data with MRI registration; iii using a specially designed needle-insertion robot, connected to the imaging data. The imaging methods have been successfully tested on patient data while the robot accuracy has been evaluated on a realistic deformable phantom.

Keywords : brachytherapy 3D ultrasound robot





Autor: Michael Baumann - Michel Bolla - Vincent Daanen - Jean-Luc Descotes - Jean-Yves Giraud - Nikolai Hungr - Antoine Leroy - Jean-Ale

Fuente: https://hal.archives-ouvertes.fr/



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