Title: Introduction to Robotics in Medicine Part 3: Robotic Motion Tracking
1Introduction to Robotics in MedicinePart 3
Robotic Motion Tracking
2Respiratory motion of tumors
3Safety MarginTumor
4(No Transcript)
5(No Transcript)
6Beam
7Robotic Arm
8Robotic Arm
9Volume of Sphere 4/3 p r3
10Adding a margin of 1 cm to a target of diameter 1
cm will result in 8-fold increase of Treated
Volume
11Problems
- Internal motion and external motion may have
different directions - Hysteresis
- Velocity of target during inhalation and
exhalation may be different
12Hysteresis
13How can we locate the target position with high
accuracy?
14Stereo X-Ray Camera System
Gold fiducial
Camera A
Camera B
15Infrared Tracking
16X-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
17Correlation
18Correlation
19Solution
- Combine external and internal imaging
- Internal motion x-ray
- External motion optical (infrared) tracking
- Compute correlation between internal and external
motion
20Correlation
- 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
21DART
22System Overview
23Correlation external chest vs. external abdomen
24Motion Table Phantom Study(Overall Accuracy)
25Robot Tracking
26Prediction
27Filtering (1D)
- en dn xn
- xn1 wn xn
- wn1 wn (xn/xn2) en
28Phantom Study
29Patient Treatment
30Implanting of Gold Fiducials
31Measured Target Excursionvs. Correlation Error
32Follow-up Study
33Four months follow-up
34Treatment
35Synchrony
36Synchrotron Irradiation
37Ultrasonic Navigation in Radiosurgery
38Overview
- Patient
- Ultrasound-System
- Camera guidance Robot
- Infrared Tracking-System
39Overview
40Laboratory
41Ultrasound-System
- Siemens SONOLINE SL 1
- 3,5 MHz
42Robot guidance
43Force-Torque Sensor
44Phantom Set-up
45Phantom
46Major Challenges
47Respiration
Courtesy Paul Sellars, JHU
48Fiducial-less Tracking
49Fiducial-less Tracking
50Fiducial-less Tracking
51Fiducial-less Tracking
52Fiducial-less Tracking
53Fiducial-less Tracking
54Fiducial-less Tracking
55Fiducial-less Tracking
56Fiducial-less Tracking
57Fiducial-less Tracking
58Fiducial-less Tracking
59Fiducial-less Tracking
60Fiducial-less Tracking
- Record CTs
- Deform CTs
- Compute DRRs from each intermdiate CT
- 7D Registration with live x-ray images
- Combine with correlationprediction
61Principle
4D CT
...
Intermediate CT-Scan 1
CT-Scan Exhalation
Best match determines respiratory state and
therefore tumor position
62(No Transcript)
63Deformation
64Liver Deformation
65Deformation
- Demons
- TPS
- x barycentric
- coordinates
66Liver Deformation
Motion of liver center of gravity x actual
liver Curves synthetic motion
67Results 7D Registration
68Results 7D Registration
69Results single 2D/3D Registration
707D Registration
717D Registration
727D Registration
73Dental Applications of Navigation and Robotics
74Liver motion experiment