The Robot System for Brachytherapy

摘要

The manual puncture surgery has low precision and stability, and the external irradiation in the surgery is harmful to human's tissue. This paper establishes the robot system for brachytherapy, which is based on the optical registration. This paper introduces the surgical requirements and procedure, composition of the system. Then the surgical space registration method was described and a follow functional experiment was performed. The system has the advantages of high stability, precision and efficiency, which can decrease the risk of surgery.