In this paper we describe a new robotic brachytherapy needle-insertion system that is designed to replace the template used in the manual technique. After a brief review of existing robotic systems, we describe the requirements that we based our design upon. A detailed description of the proposed system follows. Our design is capable of positioning and inclining a needle within the same workspace as the manual template. To help improve accuracy, the needle can be rotated about its axis during insertion into the prostate. The system can be mounted on existing steppers and also easily accommodates existing seed dispensers, such as the Mick Applicator.
The OncoReach Stylet for Brachytherapy: Design Evaluation and Pilot Study
Telesurgery (HeaRT) Laboratory, J. B. Speed School of Engineering, University of Louisville, Louisville, Kentucky, USA.（远程手术（HeaRT）实验室，J. B. Speed工程学院，路易斯维尔大学，路易斯维尔，肯塔基州，美国。）；Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA.（机械工程与材料科学系，杜克大学，杜克斯，北卡罗来纳州，美国。）；Surgical Education and Activities Lab (SEAL), Duke University Department of Surgery, Durham, NC, USA.（手术教育与活动实验室（SEAL），杜克大学外科系，杜克斯，北卡罗来纳州，美国。）；Department of Radiation Oncology, University of Louisville School of Medicine, Louisville, KY, USA.（放射肿瘤学系，路易斯维尔大学医学院，路易斯维尔，肯塔基州，美国。）；Department of Radiation Oncology, Duke University School of Medicine, Durham, NC, USA.（放射肿瘤学系，杜克大学医学院，杜克斯，北卡罗来纳州，美国。）
Needle Segmentation Using GAN: Restoring Thin Instrument Visibility in Robotic Ultrasound
Technical University of Munich（慕尼黑工业大学）；Klinikum rechts der Isar（右侧伊萨尔医院）；DZHK (German Centre for Cardiovascular Research)（德国心血管研究中心）；Shanghai Tongji Hospital（上海同济医院）；Tongji University School of Medicine（同济大学医学院）；The Chinese University of Hong Kong（香港中文大学）；Multi-scale Medical Robotics Centre（多尺度医学机器人中心）
Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound
Multi-scale Medical Research Center（多尺度医学研究中心）；Department of Translational Surgical Oncology（转化外科肿瘤学系）；Technical University of Munich（慕尼黑技术大学）；The Chinese University of Hong Kong（香港中文大学）；Centre for Tactile Internet with Human-in-the-Loop（人机协同触觉互联网中心）；Munich Center for Machine Learning（慕尼黑机器学习中心）；TUD Dresden University of Technology（德累斯顿技术大学）；Federal Ministry of Research, Technology and Space of Germany（德国联邦研究、技术和空间部）；Bavarian Ministry of Science and the Arts（巴伐利亚科学与艺术部）；Saxon Ministry for Science, Culture, and Tourism（萨克森科学、文化和旅游部）
A Vision-Language-Action Model for Adaptive Ultrasound-Guided Needle Insertion and Needle Tracking
Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系）；Department of Computer Science and Engineering, The Hong Kong University of Science and Technology（香港科学与技术大学计算机科学与工程系）；Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院）；Department of Mechanical and Automation Engineering, T Stone Robotics Institute, Shun Hing Institute of Advanced Engineering, Multi-Scale Medical Robotics Center, and Institute of Medical Intelligence and XR, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系、T Stone机器人研究所、Shun Hing先进工程研究所、多尺度医疗机器人中心以及医学智能与XR研究所）
MambaXCTrack: Mamba-based Tracker with SSM Cross-correlation and Motion Prompt for Ultrasound Needle Tracking
The Chinese University of Hong Kong（香港中文大学）；State Grid Xin Jiang Electric Power Co., Ltd. Supervoltage Branch（国家电网新疆电力有限公司超高压分公司）；Duke Kunshan University（昆山杜克大学）
DAISS: Phase-Aware Imitation Learning for Dual-Arm Robotic Ultrasound-Guided Interventions
Chair for Computer Aided Medical Procedures(CAMP), Technical University of Munich(TUM)（计算机辅助医疗程序主席职位（CAMP），慕尼黑技术大学）；Munich Center for Machine Learning (MCML)（慕尼黑机器学习中心）；The University of Hong Kong(HKU)（香港大学）
Feasibility of Augmented Reality-Guided Robotic Ultrasound with Cone-Beam CT Integration for Spine Procedures
Chair for Computer Aided Medical Procedures(CAMP), Technical University of Munich(TUM)（计算机辅助医疗程序系（CAMP），慕尼黑技术大学）；Munich Center for Machine Learning (MCML)（慕尼黑机器学习中心）
Ultrasound-Guided Robotic Blood Drawing and In Vivo Studies on Submillimetre Vessels of Rats
Tongji University（同济大学）；Chengdu Aixam Medical Technology Co., Ltd.（成都 Aixam 医疗科技有限公司）；Katholieke Universiteit Leuven（鲁汶大学）；Scuola Superiore Sant’Anna（圣安娜高等学校）；Shanghai East Hospital, School of Medicine, Tongji University（同济大学医学院附属上海东方医院）；State Key Laboratory of Cardiovascular Diseases（心血管疾病国家重点实验室）
A Digital Twin for Robotic Post Mortem Tissue Sampling using Virtual Reality
Institute of Medical Technology and Intelligent Systems, Hamburg University of Technology（医学技术与智能系统研究所，汉堡技术大学）；Institute of Legal Medicine, University Medical Center Hamburg-Eppendorf（法医学研究所，汉堡艾本达大学医学中心）；Interdisciplinary Competence Center for Interface Research（界面研究跨学科能力建设中心）；SustAInLivWork Center of Excellence, Kaunas, Lithuania（可持续性与生活工作卓越中心，考纳斯，立陶宛）
Robotic Ultrasound-Guided Femoral Artery Reconstruction of Anatomically-Representative Phantoms
Department of Mechanical Engineering and the Laboratory of Computational Sensing and Robotics（机械工程系和计算感知与机器人实验室）；Malone Center for Engineering in Healthcare（工程与医疗中心）；Ross and Carol Nese College of Nursing（罗斯和卡罗尔·内斯护理学院）；R. Cowley Shock Trauma Center, Department of Diagnostic Radiology, School of Medicine（R. Cowley创伤中心、诊断放射科、医学院）
