The Existing Methods for Motion Control of Flexible Needles along a Curved Path as Part of Robotic Systems for Brachytherapy

摘要

Review of the recent developments in steerable needles and control algorithms of their movements in curvilinear directions in the human body for the modern robotic system to perform brachytherapy in prostate cancer patients is presented. Advantages of steerable needles over the standard ones are described; design aspects of these needles and results of the phantom studies are discussed. Scientific novelty consists in structuring the research information on the newest approaches in the prostate cancer treatment using brachytherapy, about the methods and tools that improve the quality of procedures, reducing time of procedure and making it safer.