[Brachytherapy needle steering using intra-tissue real-time ultrasound 3d visualization].

AIM: To explore in a model experiment the capability of the developed software for 3D- ultrasound imaging of tumors in the pelvic tissue phantom to steer a brachytherapy needle using 6-axis robotic arm. MATERIALS AND METHODS: The experiment employed a six-axis robotic arm with a device for moving the needle, a phantom with a tumor model and ultrasound scanner with biplane transducer. Controlled by the developed software, the robotic arm automatically inserted the needle in the phantom. At all stages of inserting the needle, its position in the phantom was continuously tracked using data obtained by the ultrasonic transducer. RESULTS: The software was developed and tested for intra-tissue ultrasound imaging to steer a brachytherapy needle using US-scanner coupled with the robotic system providing 3D tumor modeling within the pelvic tissue phantom. In the course of the operation, the program corrects the existing model using current US images considering any shifting and swelling of the prostate. CONCLUSION: The model experiment proved the operational capability of the proposed method of 3D tumor modeling within the pelvic tissue phantom and tracking needle movement in the phantom in real time using US scanner coupled with a robotic system for brachytherapy. Further development of the software, providing ultrasound image processing and automatically correcting the brachytherapy needle trajectory, will complete preclinical studies of a robotic arm and warrant clinical trials.

[Rationale for development of new domestic appliances theranostic apparatus for photodynamic therapy and fluorescent diagnostics in oncology].

The review discusses the relevance of creating original theranostic apparatus for photodynamic therapy (PDT) and fluorescent diagnostics (FD) to fulfill the needs and meet the objectives of oncology field specialists. Increased accuracy of diagnosis and improvement of treatment outcomes is possible only in case of the right combination of photosensitizer (PS) with the light source with a wavelength at which the maximum absorption of the PS is observed. The absence of medical devices combining functions of PDT and FD makes the development of the domestic theranostic apparatus for oncology an extremely important task.

[Use of flexible needles and ways to control their placement in robot-assisted prostate brachytherapy].

The article provides an overview of developments in the field of flexible needles and methods of control over their behavior in the human body as a part of modern robotic systems for prostate cancer brachytherapy. The authors describe the advantages of flexible needles over standard ones, features of their design, and results of their tests in phantom models.