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

We present the CoBra (Cooperative Brachytherapy) project 2018 - 2022. The CoBra purposes an integrated concept to perform localized cancer treatment and biopsy of soft-tissues under real-time (RT) MRI guidance [1]. The robot executes needle insertion within the MRI-scanner, performing adaptive prostate brachytherapy under RT-imaging. An active steerable-needle under closed-loop control is used to achieve precise positioning of the seeds with the increased reach of the needle to pubic arch and organs-at-risk occluded areas. 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 (BIP) is designed for concept validation. The CoBra project is funded by the EU Interreg 2 Seas programme, led by the University of Lille partnering with multiple institutions and industrial observers