Toward adaptive stereotactic robotic brachytherapy for prostate cancer: demonstration of an adaptive workflow incorporating inverse planning and an MR stealth robot.
Toward adaptive stereotactic robotic brachytherapy for prostate cancer: demonstration of an adaptive workflow incorporating inverse planning and an MR stealth robot.
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DOI：
10.3109/13645706.2010.497000
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发表时间：
2010-08
期刊：
影响因子：
--
通讯作者：
Stoianovici D
中科院分区：
文献类型：
--
作者：
Cunha JA;Hsu IC;Pouliot J;Roach Iii M;Shinohara K;Kurhanewicz J;Reed G;Stoianovici D
要将任何机器人应用于临床环境，机器人必须能够与现代诊所的所有技术无缝集成。MRBot是一种MR隐形近距离放射治疗输送设备，用于闭孔3T MRI和临床近距离放射治疗锥束CT套件。目标包括陶瓷模拟种子、MR光谱敏感代谢物和前列腺体模。将采集的DICOM图像导出到计划软件中，以在成像仪的框架中配准机器人坐标，绘制轮廓并验证目标位置，创建剂量计划，并将针和种子位置导出到机器人。每个系统元件（成像设备、近距离放射治疗计划系统、机器人控制、机器人）的协调均通过体模和软组织中2 mm以内的粒子输送精度进行了验证。通过在针插入后和种子沉积前采集图像，证明了自适应工作流程。这允许在针处于错误位置时进行调整。使用逆向规划（IPSA）生成种子放置计划，并将10个针和29个种子的坐标转移到机器人。每放置两根针后，采集图像。在将种子放置在接下来的两个针中之前，对放置的种子进行识别和验证。证明了机器人将种子输送到IPSA确定的位置的能力以及该系统结合新型针图案的能力。这里显示的是克服这一关键步骤的能力。自适应近距离放射治疗工作流程的证明，它集成了基于临床解剖的种子位置优化引擎和机器人近距离放射治疗设备。该工作流程的演示是MRI隐形机器人输送系统MRBot成功应用于临床的关键要素。
To translate any robot into a clinical environment, it is critical that the robot can seamlessly integrate with all the technology of a modern clinic. MRBot, an MR-stealth brachytherapy delivery device, was used in a closed-bore 3T MRI and a clinical brachytherapy cone beam CT suite. Targets included ceramic dummy seeds, MR-Spectroscopy-sensitive metabolite, and a prostate phantom. Acquired DICOM images were exported to planning software to register the robot coordinates in the imager’s frame, contour and verify target locations, create dose plans, and export needle and seed positions to the robot. The coordination of each system element (imaging device, brachytherapy planning system, robot control, robot) was validated with a seed delivery accuracy of within 2 mm in both a phantom and soft tissue. An adaptive workflow was demonstrated by acquiring images after needle insertion and prior to seed deposition. This allows for adjustment if the needle is in the wrong position. Inverse planning (IPSA) was used to generate a seed placement plan and coordinates for ten needles and 29 seeds were transferred to the robot. After every two needles placed, an image was acquired. The placed seeds were identified and validated prior to placing the seeds in the next two needles. The ability to robotically deliver seeds to locations determined by IPSA and the ability of the system to incorporate novel needle patterns were demonstrated. Shown here is the ability to overcome this critical step. An adaptive brachytherapy workflow is demonstrated which integrates a clinical anatomy-based seed location optimization engine and a robotic brachytherapy device. Demonstration of this workflow is a key element of a successful translation to the clinic of the MRI stealth robotic delivery system, MRBot.
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影响因子：
3.9
作者：
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通讯作者：
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