Publikationen Mitarbeiter
- Achim Schweikard
- Ralf Bruder
- Sven Böttger
- Floris Ernst
- Timo Hackbarth
- Jannis Hagenah
- Felix von Haxthausen
- Svenja Ipsen
- Phillip Jauer
- Ivo Kuhlemann
- Elmar Rückert
- Verónica García Vázquez
Publikationen ehemalige Mitarbeiter
- Mohammed Al-Badri
- Rehman Ansari
- Norbert Binder
- Christoph Bodensteiner
- Robert Dürichen
- Markus Finke
- Fernando Gasca
- Hamid Hadjar
- Maximilian Heinig
- Volker Martens
- Lars Matthäus
- Christoph Metzner
- Lukas Ramrath
- Lars Richter
- Alexander Schlaefer
- Osama Shahin
- Birgit Stender
- Patrick Stüber
- Tiberiu Viulet
- Benjamin Wagner
- Christian Wilde
- Tobias Wissel
SU-G-JeP3-03: Effect of Robot Pose On Beam Blocking for Ultrasound Guided SBRT of the Prostate
| Type of publication: | Artikel |
| Zeitschrift: | Medical Physics |
| Band: | 43 |
| Nummer: | 6 |
| Jahr: | 2016 |
| Seiten: | 3670-3671 |
| DOI: | 10.1118/1.4957068 |
| Abriss: | Purpose: Ultrasound presents a fast, volumetric image modality for real-time tracking of abdominal organ motion. How-ever, ultrasound transducer placement during radiation therapy is challenging. Recently, approaches using robotic arms for intra-treatment ultrasound imaging have been proposed. Good and reliable imaging requires placing the transducer close to the PTV. We studied the effect of a seven degrees of freedom robot on the fea-sible beam directions. Methods: For five CyberKnife prostate treatment plans we established viewports for the transducer, i.e., points on the patient surface with a soft tissue view towards the PTV. Choosing a feasible transducer pose and using the kinematic redundancy of the KUKA LBR iiwa robot, we considered three robot poses. Poses 1 to 3 had the elbow point anterior, superior, and inferior, respectively. For each pose and each beam starting point, the pro-jections of robot and PTV were computed. We added a 20 mm margin accounting for organ / beam motion. The number of nodes for which the PTV was partially of fully blocked were established. Moreover, the cumula-tive overlap for each of the poses and the minimum overlap over all poses were computed. Results: The fully and partially blocked nodes ranged from 12% to 20% and 13% to 27%, respectively. Typically, pose 3 caused the fewest blocked nodes. The cumulative overlap ranged from 19% to 29%. Taking the minimum overlap, i.e., considering moving the robot’s elbow while maintaining the transducer pose, the cumulative over-lap was reduced to 16% to 18% and was 3% to 6% lower than for the best individual pose. Conclusion: Our results indicate that it is possible to identify feasible ultrasound transducer poses and to use the kinematic redundancy of a 7 DOF robot to minimize the impact of the imaging subsystem on the feasible beam directions for ultrasound guided and motion compensated SBRT. |
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