System Integration and Preliminary In-Vivo Experiments of a Robot for Ultrasound Guidance and Monitoring during Radiotherapy.
System Integration and Preliminary In-Vivo Experiments of a Robot for Ultrasound Guidance and Monitoring during Radiotherapy.
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DOI：
10.1109/icar.2015.7251433
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发表时间：
2015-07
期刊：
影响因子：
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通讯作者：
Kazanzides P
中科院分区：
文献类型：
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作者：
Şen HT;Lediju Bell MA;Zhang Y;Ding K;Wong J;Iordachita I;Kazanzides P
我们正在开发一个协同控制的机器人系统，其中临床医生和机器人共享控制的三维超声（US）探头。该系统的目标是在分割放射治疗期间为患者设置和实时靶点监测提供指导。目前，实时US图像反馈在下腹部器官的放射治疗期间的使用有限，并且其尚未在临床上应用于上腹部器官。一个挑战是将US探头放置在患者身上会产生靶器官周围的组织变形，导致靶的移位。我们的解决方案是对变形的器官进行治疗计划，然后在放射治疗期间再现这种变形。因此，我们引入了一个机器人系统，以保持对病人的US探头。为了创建一致的变形，系统在模拟过程中记录机器人位置、接触力和参考US图像，然后引入虚拟约束（软虚拟夹具）以指导临床医生在分次治疗期间正确放置探头。由于机器人是欠驱动的（5个机动自由度和6个被动自由度），引导还涉及图形用户界面（调整GUI），以实现所需的探头方向。本文介绍了集成系统，建议的临床工作流程，一个初步的体内犬研究的结果与3-DOF机器人，幻影实验的结果与改进的5-DOF机器人系统。结果表明，引导可以使临床医生更一致和准确地放置超声探头。
We are developing a cooperatively-controlled robot system in which a clinician and robot share control of a 3D ultrasound (US) probe. The goals of the system are to provide guidance for patient setup and real-time target monitoring during fractionated radiotherapy. Currently, there is limited use of realtime US image feedback during radiotherapy for lower abdominal organs and it has not yet been clinically applied for upper abdominal organs. One challenge is that placing an US probe on the patient produces tissue deformation around the target organ, leading to displacement of the target. Our solution is to perform treatment planning on the deformed organ and then to reproduce this deformation during radiotherapy. We therefore introduce a robot system to hold the US probe on the patient. In order to create a consistent deformation, the system records the robot position, contact force, and reference US image during simulation and then introduces virtual constraints (soft virtual fixtures) to guide the clinician to correctly place the probe during the fractionated treatments. Because the robot is under-actuated (5 motorized and 6 passive degrees-of-freedom), the guidance also involves a graphical user interface (adjustment GUI) to achieve the desired probe orientation. This paper presents the integrated system, a proposed clinical workflow, the results of an initial in-vivo canine study with a 3-DOF robot, and the results of phantom experiments with an improved 5-DOF robotic system. The results suggest that the guidance may enable the clinician to more consistently and accurately place the US probe.