{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,14]],"date-time":"2025-06-14T05:24:54Z","timestamp":1749878694082,"version":"3.40.5"},"reference-count":71,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2024,8,27]],"date-time":"2024-08-27T00:00:00Z","timestamp":1724716800000},"content-version":"unspecified","delay-in-days":26,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Prostate cancer is the second most common malignancy in American men. High-dose-rate brachytherapy is a popular treatment technique in which a large, localized radiation dose is used to kill cancer. Utilization of curvilinear catheter implantation inside the prostate gland to provide access channels to host the radiation source has shown superiority in terms of improved dosimetric constraints compared to straight needles. To this aim, we have introduced an active needle to curve inside the prostate conformal to the patient\u2019s specific anatomical relationship for improved dose distribution to the prostate and reduced toxicity to the organs at risk. This work presents closed-loop control of our tendon-driven active needle in water medium and air using the position feedback of the tip obtained in real time from an ultrasound (US) or an electromagnetic (EM) tracking sensor, respectively. The active needle consists of a compliant flexure section to realize bending in two directions via actuation of two internal tendons. Tracking errors using US and EM trackers are estimated and compared. Results show that the bending angle of the active needle could be controlled using position feedback of the US or the EM tracking system with a bending angle error of less than 1.00 degree when delay is disregarded. It is concluded that the actuation system and controller, presented in this work, are able to realize a desired bending angle at the active needle tip with reasonable accuracy paving the path for tip tracking and manipulation control evaluations in a prostate brachytherapy.<\/jats:p>","DOI":"10.1017\/s0263574724000900","type":"journal-article","created":{"date-parts":[[2024,8,27]],"date-time":"2024-08-27T08:31:15Z","timestamp":1724747475000},"page":"2511-2527","source":"Crossref","is-referenced-by-count":1,"title":["Closed-loop control of a tendon-driven active needle for tip tracking at desired bending angle for high-dose-rate prostate brachytherapy"],"prefix":"10.1017","volume":"42","author":[{"given":"Samuel","family":"Lafreniere","sequence":"first","affiliation":[]},{"given":"Blayton","family":"Padasdao","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9700-8751","authenticated-orcid":false,"given":"Bardia","family":"Konh","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,8,27]]},"reference":[{"key":"S0263574724000900_ref37","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X23400020"},{"key":"S0263574724000900_ref14","doi-asserted-by":"publisher","DOI":"10.1002\/cncr.29743"},{"key":"S0263574724000900_ref60","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2016.7576934"},{"key":"S0263574724000900_ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2011.2134096"},{"key":"S0263574724000900_ref66","doi-asserted-by":"publisher","DOI":"10.1115\/1.4047737"},{"key":"S0263574724000900_ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"S0263574724000900_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ISMR48347.2022.9807548"},{"key":"S0263574724000900_ref55","doi-asserted-by":"publisher","DOI":"10.1007\/s11701-024-01900-2"},{"key":"S0263574724000900_ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139499"},{"key":"S0263574724000900_ref38","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3004782"},{"key":"S0263574724000900_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s11307-010-0373-2"},{"key":"S0263574724000900_ref43","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2011.6091845"},{"key":"S0263574724000900_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.radonc.2005.09.002"},{"key":"S0263574724000900_ref29","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000705"},{"key":"S0263574724000900_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/S0360-3016(00)00434-X"},{"key":"S0263574724000900_ref10","doi-asserted-by":"publisher","DOI":"10.1200\/JOP.2016.011320"},{"key":"S0263574724000900_ref24","first-page":"14 pages","article-title":"Curvilinear catheter implantation in HDR prostate brachytherapy: feasibility study","author":"Padasdao","year":"2024","journal-title":"Medical Physics"},{"key":"S0263574724000900_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S1538-4721(02)00058-2"},{"key":"S0263574724000900_ref35","doi-asserted-by":"publisher","DOI":"10.1177\/1553350620945564"},{"key":"S0263574724000900_ref42","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X16400079"},{"key":"S0263574724000900_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijrobp.2011.10.012"},{"key":"S0263574724000900_ref51","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2009.07.007"},{"key":"S0263574724000900_ref27","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574722001345"},{"key":"S0263574724000900_ref70","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2013.07.004"},{"key":"S0263574724000900_ref57","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-016-1736-x"},{"key":"S0263574724000900_ref21","doi-asserted-by":"crossref","unstructured":"[21] Padasdao, B. , Batsaikhan, Z. , Lafreniere, S. , Rabiei, M. and Konh, B. , \u201cModeling and Operator Control of a Robotic Tool for Bidirectional Manipulation in Targeted Prostate Biopsy,\u201d In: International Symposium on Medical Robotics (ISMR), (2022) pp. 1\u20137.","DOI":"10.1109\/ISMR48347.2022.9807514"},{"key":"S0263574724000900_ref61","doi-asserted-by":"crossref","unstructured":"[61] Konh, B. , Batsaikhan, Z. and Padasdao, B. , \u201c3D Shape Estimation of an Active Needle Inside Tissue Using 2D Ultrasound Images,\u201d In: Design of Medical Devices Conference, (2021) pp. 1\u20134.","DOI":"10.1115\/DMD2021-1053"},{"key":"S0263574724000900_ref28","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723000115"},{"key":"S0263574724000900_ref7","doi-asserted-by":"publisher","DOI":"10.1259\/bjr\/15403217"},{"key":"S0263574724000900_ref9","doi-asserted-by":"publisher","DOI":"10.1200\/JCO.2004.10.062"},{"key":"S0263574724000900_ref45","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2009.2036856"},{"key":"S0263574724000900_ref46","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob.2012.6290829"},{"key":"S0263574724000900_ref63","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969934"},{"key":"S0263574724000900_ref62","doi-asserted-by":"crossref","unstructured":"[62] Brumfiel, T. A. , Sarma, A. and Desai, J. P. , \u201cTowards FBG-based End-Effector Force Estimation for a Steerable Continuum Robot,\u201d In: 2022 International Symposium on Medical Robotics (ISMR), (2022) pp. 1\u20137.","DOI":"10.1109\/ISMR48347.2022.9807503"},{"key":"S0263574724000900_ref36","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2016.7576931"},{"key":"S0263574724000900_ref64","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2022.103846"},{"key":"S0263574724000900_ref44","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2010.5627676"},{"key":"S0263574724000900_ref53","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353998"},{"key":"S0263574724000900_ref49","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2527065"},{"key":"S0263574724000900_ref20","doi-asserted-by":"crossref","unstructured":"[20] Konh, B. , Padasdao, B. , Batsaikhan, Z. and Lederer, J. , \u201cSteering a Tendon-Driven Needle in High-Dose-Rate Prostate Brachytherapy for Patients with Pubic Arch Interference,\u201d In: International Symposium on Medical Robotics (ISMR), (2021) pp. 1\u20137.","DOI":"10.1109\/ISMR48346.2021.9661565"},{"key":"S0263574724000900_ref40","doi-asserted-by":"crossref","unstructured":"[40] Lafreniere, S. , Sprouse, O. L. , Padilla, R. J. and Konh, B. , \u201cDesign of an MRI-Compatible Robot for Image-Guided Needle Insertion Procedures Using Active Tendon-Driven needles,\u201d In: Frontiers in Biomedical Devices, BIOMED - 2023 Design of Medical Devices Conference, (2023).","DOI":"10.1115\/DMD2023-2247"},{"key":"S0263574724000900_ref8","doi-asserted-by":"publisher","DOI":"10.5114\/wo.2013.38557"},{"key":"S0263574724000900_ref23","doi-asserted-by":"crossref","unstructured":"[23] Podder, R. , Zheng, Y. , Konh, B. , Lyons, K. , Biswas, T. , Ove, R. , Traughber, B. and Podder, T. K. , \u201cCurvilinear-Needle Implantation: A New Technique for Prostate HDR Brachytherapy,\u201d In: AAPM 65th Annual Meeting & Exhibition, (2023).","DOI":"10.1016\/j.ijrobp.2023.06.556"},{"key":"S0263574724000900_ref30","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721001314"},{"key":"S0263574724000900_ref41","unstructured":"[41] Lafreniere, S. , \u201cDesign Consideration and Development of an MRI-Compatible Robot for Prostate Interventions,\u201d In: Frontiers in Biomedical Devices, BIOMED - 2024 Design of Medical Devices Conference, (2024) pp. 1\u20135."},{"key":"S0263574724000900_ref52","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065388"},{"key":"S0263574724000900_ref56","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X21500033"},{"key":"S0263574724000900_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/S0360-3016(98)00466-0"},{"key":"S0263574724000900_ref68","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X23400020"},{"key":"S0263574724000900_ref26","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574718000772"},{"key":"S0263574724000900_ref4","unstructured":"[4] Explore Cancer Statistics, American Cancer Society (ACS), cancer statistics center (2023). https:\/\/cancerstatisticscenter.cancer.org\/?_ga=1.176033250.196666305.1484171292#!\/."},{"key":"S0263574724000900_ref65","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X20919971"},{"key":"S0263574724000900_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/S0360-3016(00)00655-6"},{"key":"S0263574724000900_ref34","doi-asserted-by":"publisher","DOI":"10.1115\/1.4049398"},{"key":"S0263574724000900_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/S0360-3016(98)00459-3"},{"key":"S0263574724000900_ref71","doi-asserted-by":"publisher","DOI":"10.1118\/1.2218061"},{"key":"S0263574724000900_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.brachy.2012.04.002"},{"key":"S0263574724000900_ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2598701"},{"key":"S0263574724000900_ref5","doi-asserted-by":"publisher","DOI":"10.1118\/1.3187224"},{"key":"S0263574724000900_ref25","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574713001161"},{"key":"S0263574724000900_ref3","unstructured":"[3] \u201cUSCS Data Visualizations\u201d Centers for Disease Control; and Prevention (2023).\u00a0https:\/\/gis.cdc.gov\/Cancer\/USCS\/#\/AtAGlance\/."},{"key":"S0263574724000900_ref33","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-019-02325-x"},{"key":"S0263574724000900_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.eururo.2016.06.046"},{"key":"S0263574724000900_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s00066-009-2009-5"},{"key":"S0263574724000900_ref50","doi-asserted-by":"publisher","DOI":"10.3109\/10929080601089997"},{"key":"S0263574724000900_ref54","doi-asserted-by":"publisher","DOI":"10.1115\/1.4063205"},{"key":"S0263574724000900_ref67","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob49111.2020.9224462"},{"key":"S0263574724000900_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijrobp.2016.12.014"},{"key":"S0263574724000900_ref58","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914526627"},{"key":"S0263574724000900_ref69","doi-asserted-by":"publisher","DOI":"10.1115\/1.4038254"},{"key":"S0263574724000900_ref59","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2272"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574724000900","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,12]],"date-time":"2024-11-12T06:21:06Z","timestamp":1731392466000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574724000900\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,8]]},"references-count":71,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2024,8]]}},"alternative-id":["S0263574724000900"],"URL":"https:\/\/doi.org\/10.1017\/s0263574724000900","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2024,8]]}}}