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2017 | OriginalPaper | Buchkapitel

An Evolutionary Computational Algorithm for Trajectory Planning of an Innovative Parallel Robot for Brachytherapy

verfasst von : F. Gîrbacia, D. Pîslă, S. Butnariu, B. Gherman, T. Gîrbacia, N. Plitea

Erschienen in: New Advances in Mechanisms, Mechanical Transmissions and Robotics

Verlag: Springer International Publishing

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Abstract

Brachytherapy (BT) is a procedure used to treat cancer by inserting needles directly into the patient’s tumour tissue in order to deliver radioactive seeds. The efficiency of this procedure is obtained by minimizing the number of inserted needles and generating safe trajectories that avoid critical areas. To increase the accuracy of needle insertion, the physician is replaced by a robot. The paper presents an evolutionary algorithm used to generate trajectories for needles inserted by an innovative BT parallel robot. Given the locations of the points representing the seeds and the 3D virtual model of the treatment area, the proposed solver allows the minimization of the number of inserted needles and the planning of needles trajectories that avoid high risk areas. The solver was validated for a complex BT liver treatment scenario.

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Vorheriges Kapitel Development of an Assisting Instrument of Standing-Up Motion Using Driving Springs for Elderly Persons

Nächstes Kapitel Inverse Kinematics and Dynamics of an Overconstrained Manipulator for Upper Extremity Rehabilitation

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Titel: An Evolutionary Computational Algorithm for Trajectory Planning of an Innovative Parallel Robot for Brachytherapy
verfasst von: F. Gîrbacia
D. Pîslă
S. Butnariu
B. Gherman
T. Gîrbacia
N. Plitea
Verlag: Springer International Publishing
Buch: New Advances in Mechanisms, Mechanical Transmissions and Robotics
Print ISBN: 978-3-319-45449-8

Electronic ISBN: 978-3-319-45450-4

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-45450-4_43

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