Skip to main content
main-content
Top

Hint

Swipe to navigate through the articles of this issue

06-06-2019 | Original Article | Issue 8/2019

International Journal of Computer Assisted Radiology and Surgery 8/2019

Analysis and optimization of the robot setup for robotic-ultrasound-guided radiation therapy

Journal:
International Journal of Computer Assisted Radiology and Surgery > Issue 8/2019
Authors:
Matthias Schlüter, Stefan Gerlach, Christoph Fürweger, Alexander Schlaefer
Important notes

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Abstract

Purpose

Robotic ultrasound promises continuous, volumetric, and non-ionizing tracking of organ motion during radiation therapy. However, placement of the robot is critical because it is radio-opaque and might severely influence the achievable dose distribution.

Methods

We propose two heuristic optimization strategies for automatic placement of an ultrasound robot around a patient. Considering a kinematically redundant robot arm, we compare a generic approach based on stochastic search and a more problem-specific segmentwise construction approach. The former allows for multiple elbow configurations while the latter is deterministic. Additionally, we study different objective functions guiding the search. Our evaluation is based on data for ten actual prostate cancer cases and we compare the resulting plan quality for both methods to manually chosen robot configurations previously proposed.

Results

The mean improvements in the treatment planning objective value with respect to the best manually selected robot position and a single elbow configuration range from 8.2 to 32.8% and 8.5 to 15.5% for segmentwise construction and stochastic search, respectively. Considering three different elbow configurations, the stochastic search results in better objective values in 80% of the cases, with 30% being significantly better. The optimization strategies are robust with respect to beam sampling and transducer orientation and using previous optimization results as starting point for stochastic search typically results in better solutions compared to random starting points.

Conclusion

We propose a robust and generic optimization scheme, which can be used to optimize the robot placement for robotic ultrasound guidance in radiation therapy. The automatic optimization further mitigates the impact of robotic ultrasound on the treatment plan quality.

Please log in to get access to this content

To get access to this content you need the following product:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 69.000 Bücher
  • über 500 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Umwelt
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Testen Sie jetzt 30 Tage kostenlos.

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 58.000 Bücher
  • über 300 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Testen Sie jetzt 30 Tage kostenlos.

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 50.000 Bücher
  • über 380 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Umwelt
  • Maschinenbau + Werkstoffe​​​​​​​




Testen Sie jetzt 30 Tage kostenlos.

Literature
About this article

Other articles of this Issue 8/2019

International Journal of Computer Assisted Radiology and Surgery 8/2019 Go to the issue

Premium Partner

    Image Credits