CoBra robot for localized cancer treatment and diagnosis under real-time MRI

Sepaldeep Singh Dhaliwal, Sarah Louise Wilby, Sina Firouzy, Luigi Boni, M. de Vries, S. E. Navarro, A. Belarouci, V. Coelen, O. Lakhal, D. Pasquier, A. L. Palmer, W. Polak, Dylan Jones, Ashraf Labib, J. J. Dobbelsteen, C. Duriez, R. Merzouki

Research output: Contribution to conferencePaper


Cooperative Brachytherapy (CoBra) project intends to perform localized cancer treatment and biopsy of soft-tissues. The robot executes needle insertion within the MRI-scanner, performing adaptive prostate brachytherapy under real-time (RT) imaging. An active steerable-needle under closed-loop control is used to achieve precise positioning of the seed. Dose calculation under RT-MRI is achieved by the generation of synthetic-CT datasets based on a Machine-learning algorithm. Needle trajectory planning based on a steerable needle with minimal entry points is optimized by an algorithm depending upon the target, seed plan, and prostate contours attained from MRI. A bio-inspired active phantom is designed for concept validation.
Original languageEnglish
Number of pages2
Publication statusPublished - 17 Jun 2021
EventAutomation in Medical Engineering 2021 - University Hospital Basel, Basel, Switzerland
Duration: 8 Jun 20219 Jun 2021


ConferenceAutomation in Medical Engineering 2021
Abbreviated titleAUTOMED


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