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Introduction to Robotics in Medicine Part 3: Robotic Motion Tracking

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Introduction to Robotics in Medicine Part 3: Robotic Motion Tracking Achim Schweikard Liver Deformation Motion of liver center of gravity x: actual liver Curves ... – PowerPoint PPT presentation

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Title: Introduction to Robotics in Medicine Part 3: Robotic Motion Tracking


1
Introduction to Robotics in MedicinePart 3
Robotic Motion Tracking
  • Achim Schweikard

2
Respiratory motion of tumors
3
Safety MarginTumor
4
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6
Beam
7
Robotic Arm
8
Robotic Arm
9
Volume of Sphere 4/3 p r3
10
Adding a margin of 1 cm to a target of diameter 1
cm will result in 8-fold increase of Treated
Volume
11
Problems
  • Internal motion and external motion may have
    different directions
  • Hysteresis
  • Velocity of target during inhalation and
    exhalation may be different

12
Hysteresis
13
How can we locate the target position with high
accuracy?
14
Stereo X-Ray Camera System
Gold fiducial
Camera A
Camera B
15
Infrared Tracking
16
X-Ray with Infrared Tracking
  • X-ray imaging alone is not fast enough to track
    respiration in real time
  • Infrared tracking is very fast, but only reports
  • motion of surface

17
Correlation
18
Correlation
19
Solution
  • Combine external and internal imaging
  • Internal motion x-ray
  • External motion optical (infrared) tracking
  • Compute correlation between internal and external
    motion

20
Correlation
  • Model for correlation between internal target
  • motion and surface motion is computed
  • at the beginning of the treatment
  • Correlation model is updated continuously during
    treatment

21
DART
22
System Overview
23
Correlation external chest vs. external abdomen
24
Motion Table Phantom Study(Overall Accuracy)
25
Robot Tracking
26
Prediction
27
Filtering (1D)
  • en dn xn
  • xn1 wn xn
  • wn1 wn (xn/xn2) en

28
Phantom Study
29
Patient Treatment
30
Implanting of Gold Fiducials
31
Measured Target Excursionvs. Correlation Error
32
Follow-up Study
33
Four months follow-up
34
Treatment
35
Synchrony
36
Synchrotron Irradiation
37
Ultrasonic Navigation in Radiosurgery
38
Overview
  • Patient
  • Ultrasound-System
  • Camera guidance Robot
  • Infrared Tracking-System

39
Overview
40
Laboratory
41
Ultrasound-System
  • Siemens SONOLINE SL 1
  • 3,5 MHz

42
Robot guidance
43
Force-Torque Sensor
44
Phantom Set-up
45
Phantom
46
Major Challenges
  • Fiducial-less tracking

47
Respiration
Courtesy Paul Sellars, JHU
48
Fiducial-less Tracking
49
Fiducial-less Tracking
50
Fiducial-less Tracking
51
Fiducial-less Tracking
52
Fiducial-less Tracking
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Fiducial-less Tracking
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Fiducial-less Tracking
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Fiducial-less Tracking
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Fiducial-less Tracking
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Fiducial-less Tracking
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Fiducial-less Tracking
59
Fiducial-less Tracking
60
Fiducial-less Tracking
  • Record CTs
  • Deform CTs
  • Compute DRRs from each intermdiate CT
  • 7D Registration with live x-ray images
  • Combine with correlationprediction

61
Principle
4D CT
...
Intermediate CT-Scan 1
CT-Scan Exhalation
Best match determines respiratory state and
therefore tumor position
62
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63
Deformation
64
Liver Deformation
65
Deformation
  • Demons
  • TPS
  • x barycentric
  • coordinates

66
Liver Deformation
Motion of liver center of gravity x actual
liver Curves synthetic motion
67
Results 7D Registration
68
Results 7D Registration
69
Results single 2D/3D Registration
70
7D Registration
71
7D Registration
72
7D Registration
73
Dental Applications of Navigation and Robotics
74
Liver motion experiment
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