System Integration and In Vivo Testing of a Robot for Ultrasound Guidance and Monitoring During Radiotherapy.
System Integration and In Vivo Testing of a Robot for Ultrasound Guidance and Monitoring During Radiotherapy.
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DOI：
10.1109/tbme.2016.2612229
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发表时间：
2017-07
期刊：
影响因子：
--
通讯作者：
Kazanzides P
中科院分区：
文献类型：
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作者：
Sen HT;Bell MAL;Zhang Y;Ding K;Boctor E;Wong J;Iordachita I;Kazanzides P
我们正在开发一种用于图像引导放射治疗（IGRT）的协作控制机器人系统，其中临床医生和机器人共享3D超声（US）探头的控制。IGRT包括两个主要步骤：（1）计划/模拟和（2）治疗实施。该系统的目标是为软组织靶区（特别是上腹部）的分次放疗期间的患者设置和实时靶区监测提供指导。为了补偿探头产生的软组织变形，我们提出了一种新的工作流程，其中机器人在采集计划计算机断层扫描（CT）图像期间将US探头固定在患者身上，从而确保在变形组织上执行计划。机器人系统引入了约束（虚拟夹具），以帮助根据机器人位置、接触力和模拟期间记录的参考US图像在模拟和治疗日之间产生一致的软组织变形。本文介绍了系统集成和拟议的临床工作流程，在体内犬研究验证。结果表明，虚拟夹具使临床医生能够偏离记录的位置，以更好地再现参考US图像，这与更一致的软组织变形以及更准确的患者设置和辐射输送的可能性相关。
We are developing a cooperatively-controlled robot system for image-guided radiation therapy (IGRT) in which a clinician and robot share control of a 3D ultrasound (US) probe. IGRT involves two main steps: (1) planning/simulation and (2) treatment delivery. The goals of the system are to provide guidance for patient setup and real-time target monitoring during fractionated radiotherapy of soft tissue targets, especially in the upper abdomen. To compensate for soft tissue deformations created by the probe, we present a novel workflow where the robot holds the US probe on the patient during acquisition of the planning computerized tomography (CT) image, thereby ensuring that planning is performed on the deformed tissue. The robot system introduces constraints (virtual fixtures) to help to produce consistent soft tissue deformation between simulation and treatment days, based on the robot position, contact force, and reference US image recorded during simulation. This paper presents the system integration and the proposed clinical workflow, validated by an in-vivo canine study. The results show that the virtual fixtures enable the clinician to deviate from the recorded position to better reproduce the reference US image, which correlates with more consistent soft tissue deformation and the possibility for more accurate patient setup and radiation delivery.