TY - JOUR
T1 - System Integration and in Vivo Testing of a Robot for Ultrasound Guidance and Monitoring during Radiotherapy
AU - Sen, Hasan Tutkun
AU - Lediju Bell, Muyinatu A.
AU - Zhang, Yin
AU - Ding, Kai
AU - Boctor, Emad
AU - Wong, John
AU - Iordachita, Iulian
AU - Kazanzides, Peter
N1 - Publisher Copyright:
© 1964-2012 IEEE.
PY - 2017/7
Y1 - 2017/7
N2 - We are developing a cooperatively controlled robot system for image-guided radiation therapy (IGRT) in which a clinician and robot share control of a 3-D 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 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.
AB - We are developing a cooperatively controlled robot system for image-guided radiation therapy (IGRT) in which a clinician and robot share control of a 3-D 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 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.
KW - Image-guided radiation therapy (IGRT)
KW - interfraction repeatability
KW - robot-assisted radiotherapy
KW - ultrasound-guided radiotherapy
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U2 - 10.1109/TBME.2016.2612229
DO - 10.1109/TBME.2016.2612229
M3 - Article
C2 - 28113225
AN - SCOPUS:85027332043
SN - 0018-9294
VL - 64
SP - 1608
EP - 1618
JO - IEEE Transactions on Biomedical Engineering
JF - IEEE Transactions on Biomedical Engineering
IS - 7
M1 - 7581104
ER -