TY - GEN
T1 - A cooperatively controlled robot for ultrasound monitoring of radiation therapy
AU - Sen, H. Tutkun
AU - Bell, Muyinatu A.Lediju
AU - Iordachita, Iulian
AU - Wong, John
AU - Kazanzides, Peter
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84893722016&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893722016&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696791
DO - 10.1109/IROS.2013.6696791
M3 - Conference contribution
C2 - 26823988
AN - SCOPUS:84893722016
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3071
EP - 3076
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -