Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy
Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy
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DOI：
10.1109/tase.2013.2276940
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发表时间：
2013-10-01
影响因子：
5.6
通讯作者：
Goldberg, Ken
中科院分区：
文献类型：
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作者：
Garg, Animesh;Siauw, Timmy;Goldberg, Ken
我们提出了一项以人为中心的自动化研究，该研究有可能减少高剂量率近距离放射治疗（HDR-BT）的患者副作用。为了有效地将辐射传递到前列腺，同时最大限度地减少对阴茎球等敏感结构的创伤，我们修改了Acubot-RND 7轴机器人，以引导金刚石针尖插入到所需的斜线几何排列中。我们扩展并整合了两种算法：针头规划与整数规划（NPIP）和逆规划与整数规划（IPIP）来计算斜线针头和剂量计划。我们使用解剖学正确的幻影模型进行了三个物理实验来研究其性能：两个与机器人一起进行，一个与人类专家医生（合着者Hsu）进行的没有机器人的对照实验。所有患者均能达到RTOG-0321临床剂量目标，且对阴茎球无损伤。我们分析了系统误差和随机误差；在没有反馈的情况下，机器人系统的总RMS误差范围为2.6至4.3 mm，这与早期使用具有3D超声反馈的机器人进行PPI-BT治疗的研究中获得的RMS误差2.7相当。
We present a study in human-centered automation that has potential to reduce patient side effects from high dose rate brachytherapy (HDR-BT). To efficiently deliver radiation to the prostate while minimizing trauma to sensitive structures such as the penile bulb, we modified the Acubot-RND 7-axis robot to guide insertion of diamond-tip needles into desired skew-line geometric arrangements. We extend and integrate two algorithms: Needle Planning with Integer Programming (NPIP) and Inverse Planning with Integer Programming (IPIP) to compute skew-line needle and dose plans. We performed three physical experiments with anatomically correct phantom models to study performance: two with the robot and one control experiment with an expert human physician (coauthor Hsu) without the robot. All were able to achieve needle arrangements that meet the RTOG-0321 clinical dose objectives with zero trauma to the penile bulb. We analyze systematic and random errors in needle placement; total RMS error for the robot system operating without feedback ranged from 2.6 to 4.3 mm, which is comparable to the RMS error of 2.7 mmobtained in an earlier study for PPI-BT treatment using a robot with 3D ultrasound feedback.