A Cooperatively Controlled Robot for Ultrasound Monitoring of Radiation Therapy.
A Cooperatively Controlled Robot for Ultrasound Monitoring of Radiation Therapy.
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DOI：
10.1109/iros.2013.6696791
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发表时间：
2013-11
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：
Tutkun Şen H;Lediju Bell MA;Iordachita I;Wong J;Kazanzides P
图像引导放射治疗（IGRT）涉及两个主要程序，在不同的房间在不同的日子进行：（1）第一天在模拟器室进行治疗计划，（2）随后多天在直线加速器室进行放射治疗。模拟器和直线加速器均具有CT成像功能，可实现治疗计划和可再现的患者设置，但不能提供良好的软组织对比度或在治疗期间监测目标。我们提出了一个协同控制的机器人，可再现地定位在模拟和治疗过程中的患者的超声（US）探头，从而提高软组织的可视化，并允许实时监测的目标。机器人系统的一个关键目标是为CT和US成像产生一致的组织变形，这简化了这两种模式的配准。本文介绍了机器人系统的设计，并描述了一种新的控制算法，采用虚拟弹簧实现指导虚拟夹具在“手”的合作控制。
Image-guided radiation therapy (IGRT) involves two main procedures, performed in different rooms on different days: (1) treatment planning in the simulator room on the first day, and (2) radiotherapy in the linear accelerator room over multiple subsequent days. Both the simulator and the linear accelerator include CT imaging capabilities, which enables both treatment planning and reproducible patient setup, but does not provide good soft tissue contrast or allow monitoring of the target during treatment. We propose a cooperatively-controlled robot to reproducibly position an ultrasound (US) probe on the patient during simulation and treatment, thereby improving soft tissue visualization and allowing real-time monitoring of the target. A key goal of the robotic system is to produce consistent tissue deformations for both CT and US imaging, which simplifies registration of these two modalities. This paper presents the robotic system design and describes a novel control algorithm that employs virtual springs to implement guidance virtual fixtures during “hands on” cooperative control.