ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2022
MR-Tracked Deflectable Stylet for Gynecologic Brachytherapy.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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The trial behind it
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Who cites it
8 citing papers in PubMed, 17 citations in OpenAlex.
- Marker-to-Object Calibration Using Landmark Touch.IEEE sensors journal · 2025Article
- Development of a Low-Profile, Piezoelectric Robot for MR-Guided Abdominal Needle Interventions.Annals of biomedical engineering · 2025Article
- Modeling and Control of an MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME).IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2024Article
- Non-Metallic MR-Guided Concentric Tube Robot for Intracerebral Hemorrhage Evacuation.IEEE transactions on bio-medical engineering · 2023Article
- MRI-Conditional Eccentric-Tube Injection Needle: Design, Fabrication, and Animal Trial.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2023Article
- Review of Robot-Assisted HIFU Therapy.Sensors (Basel, Switzerland) · 2023Review
- Open Source MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME): Design and Manufacturing Guidelines.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2023Article
- Design of a 6-DoF Parallel Robotic Platform for MRI Applications.Journal of medical robotics researchArticle
Corrections and comments
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Authors and funding
8 authors at 4 institutions in 1 country.
Funding
Abstract
Brachytherapy is a radiation based treatment that is implemented by precisely placing focused radiation sources into tumors. In advanced interstitial cervical cancer bracytherapy treatment, this is performed by placing a metallic rod ("stylet") inside a hollow cylindrical tube ("catheter") and advancing the pair to the desired target. The stylet is removed once the target is reached, followed by the insertion of radiation sources into the catheter. However, manually advancing an initially straight stylet into the tumor with millimeter spatial accuracy has been a long-standing challenge, which requires multiple insertions and retractions, due to the unforeseen stylet deflection caused by the stiff muscle tissue that is traversed. In this paper, we develop a novel tendon-actuated deflectable stylet equipped with MR active-tracking coils that may enhance brachytherapy treatment outcomes by allowing accurate stylet trajectory control. Herein we present the design concept and fabrication method, followed by the kinematic and mechanics models of the deflectable stylet. The hardware and theoretical models are extensively validated via benchtop and MRI-guided characterization. At insertion depths of 60 mm, benchtop phantom targeting tests provided a targeting error of 1. 23 ± 0. 47 mm, and porcine tissue targeting tests provided a targeting error of 1. 65 ± 0. 64 mm, after only a single insertion. MR-guided experiments indicate that the stylet can be safely and accurately located within the MRI environment.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.