AN INNOVATIVE AUTOMATED INSTRUMENT FOR ROBOTICALLY ASSISTED BRACHYTHERAPY USED IN CANCER TREATMENT

摘要

The paper presents the design of a novel brachytherapy automated instrument with 6 needles meant to be used within a medical robotic system as an end effector. Based on the design requirements derived from the medical procedure, the medical instrument uses a needle storage mechanism and a gripper which have a synchronized motion in order to perform needle loading, insertion and releasing. The functionality of the instrument is explained and the experimental model is presented. Experimental scenarios are also presented followed by conclusion and proposed future research which aims to optimize the medical instrument and validate it for the medical procedure. Key words: medical instrument, multiple needle insertion, medical robot, brachytherapy.