{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T04:09:13Z","timestamp":1778645353958,"version":"3.51.4"},"reference-count":28,"publisher":"World Scientific Pub Co Pte Ltd","issue":"01n02","funder":[{"DOI":"10.13039\/100000070","name":"NIBIB","doi-asserted-by":"crossref","award":["K25EB030562"],"award-info":[{"award-number":["K25EB030562"]}],"id":[{"id":"10.13039\/100000070","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Med. Robot. Res."],"published-print":{"date-parts":[[2026,6]]},"abstract":"<jats:p>High-dose-rate (HDR) brachytherapy is an effective treatment for prostate and gynecologic cancers, yet current rigid catheter systems constrain trajectories to straight paths, limiting conformity to patient-specific anatomy and compromising dose distribution. To address this, we developed and preliminarily evaluated a semi-automated robotic platform for curvilinear catheter implantation. The system integrates (i) a handheld tendon-driven active needle manipulator with joystick-based control, (ii) an innovative template for initial angulation and (iii) a novel gynecologic applicator incorporating concentric tube robotics for steerable tandem delivery. Patient-specific curvilinear trajectories were preplanned from anonymized MRI\/CT datasets, and experimental evaluations were conducted in air and tissue-mimicking phantoms. The handheld manipulator achieved tip displacement errors below 2.89[Formula: see text]mm in air and 2.22[Formula: see text]mm in phantom, while the combined device\u2013template system reproduced prostate curvilinear trajectories with root mean squared deviations (RMSDs) under 3.67[Formula: see text]mm. Integration of the concentric tube robot with the gynecologic applicator achieved uterine trajectories with RMSDs below 1.17[Formula: see text]mm. These results demonstrate, for the first time, the feasibility of semi-automated active needle manipulation and concentric tube\u2013assisted applicator design for anatomically conformal HDR brachytherapy. This approach has the potential to improve catheter placement accuracy, enable patient-specific dose escalation and reduce toxicity to organs at risk in both prostate and cervical cancer treatment.<\/jats:p>","DOI":"10.1142\/s2424905x26400040","type":"journal-article","created":{"date-parts":[[2026,1,10]],"date-time":"2026-01-10T03:46:03Z","timestamp":1768016763000},"source":"Crossref","is-referenced-by-count":0,"title":["A Semi-Automated Robotic Platform for Curvilinear Catheter Implantation in HDR Prostate and GYN Brachytherapy"],"prefix":"10.1142","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-9982-9846","authenticated-orcid":false,"given":"Joshua","family":"Kinder","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-2421-8859","authenticated-orcid":false,"given":"Blayton","family":"Padasdao","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-6827-0944","authenticated-orcid":false,"given":"Rex","family":"Imanaka","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1744-6271","authenticated-orcid":false,"given":"Mitchell","family":"Kamrava","sequence":"additional","affiliation":[{"name":"Department of Radiation Oncology Cedars-Sinai Medical Center, Los Angeles, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9700-8751","authenticated-orcid":false,"given":"Bardia","family":"Konh","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2026,2,5]]},"reference":[{"issue":"1","key":"S2424905X26400040BIB001","first-page":"10","volume":"75","author":"Siegel R. 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