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Closed-Loop Control of a Tendon-Driven Active Needle for Tip Tracking at Desired Bending Angle for High-Dose-Rate
Samuel Lafreniere1, Blayton Padasdao1, Bardia Konh1
1Department of Mechanical Engineering, University of Hawaii at Manoa.
Robotica
|November 25, 2024
Summary
This study introduces an active needle for prostate brachytherapy, enabling precise radiation delivery. Real-time tracking with ultrasound or electromagnetic sensors achieved accurate needle bending for improved cancer treatment and reduced side effects.
Area of Science:
- Medical Physics
- Robotics
- Oncology
Background:
- Prostate cancer is a leading malignancy in men, with high-dose-rate brachytherapy being a common treatment.
- Curvilinear catheters offer dosimetric advantages over straight needles in prostate brachytherapy.
- Improved needle steerability is crucial for conformal dose distribution and minimizing toxicity to organs at risk.
Purpose of the Study:
- To develop and control a tendon-driven active needle capable of bending within the prostate.
- To evaluate real-time tip tracking accuracy using ultrasound (US) and electromagnetic (EM) sensors.
- To assess the feasibility of precise needle manipulation for enhanced prostate brachytherapy.
Main Methods:
- A compliant flexure-based active needle with two-directional bending via tendon actuation was designed.
- Closed-loop control was implemented using real-time position feedback from US and EM tracking systems.
- Tracking errors and bending angle accuracy were quantified in water and air environments.
Main Results:
- The active needle's bending angle was accurately controlled using both US and EM feedback.
- Bending angle errors were less than 1.00 degree, disregarding system delays.
- The developed actuation system and controller demonstrated reliable performance for needle steering.
Conclusions:
- The tendon-driven active needle system provides accurate bending control for prostate brachytherapy applications.
- Real-time US and EM tracking enable precise navigation of the active needle.
- This technology shows promise for improving dose delivery accuracy and reducing toxicity in prostate cancer treatment.
