Design of a seed implantation robot with puncture force and image feedback mechanism for prostate cancer brachytherapy

Abstract

This article focuses on the structural design of a surgical robot for radioactive prostate seed implantation and the position detection algorithm for the puncture needle. A seed implantation robot with the ability to pierce with force and receive image feedback is created to increase the positioning precision and puncture stability of the robot as well as to determine the real-time position of the puncture needle. Compared with existing puncture schemes, we use a statistical model approach for classification and a deep learning-based target detection algorithm. Since different human tissues have different structural properties, we conducted quantitative puncture experiments, and the experimental results demonstrated that this puncture scheme can effectively discriminate the punctured tissue and position the puncture needle tip, significantly improving the success rate of surgical radioactive seed implantation procedures.