A virtual reality brachytherapy simulator with haptic feedback
MetadataShow full item record
Brachytherapy is a prostate cancer treatment which involves permanent implantation of low dose radioactive pallets (seeds) in the prostate region with the help of needles guided through a template grid. Radiation oncologists performing brachytherapy rely largely on the "haptic" feedback in conjunction to the visual medical imaging modality to estimate the current needle position and perception of cancerous tissues. This skill needs time to mature and the success rate of the surgery is directly related to the performing surgeon's expertise. In this thesis, a virtual reality simulator with haptic feedback is proposed to train residents for brachytherapy. Using Virtual Reality Toolbox in MATLAB, a simulation of the surgeon's view of the process is developed. Motion-force profiles of a prostate phantom are generated using a 6-DOF force/torque transducer mounted on a 6-DOF robot platform. Forces were recorded while inserting the needle at three different velocities, 2mm/s, 4mm/s and 10mm/s. Haptic implementation was conducted by integrating a haptic device to the 2-D Simulink block to which these force profiles were fed.