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2012 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Compensating for Quasi-periodic Motion in Robotic Radiosurgery

verfasst von: Floris Ernst

Verlag: Springer New York

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik" , Springer Professional "Wirtschaft"

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SUCHEN

Über dieses Buch

Compensating for Quasi-periodic Motion in Robotic Radiosurgery outlines the techniques needed to accurately track and compensate for respiratory and pulsatory motion during robotic radiosurgery. The algorithms presented within the book aid in the treatment of tumors that move during respiration.

In Chapters 1 and 2, the book introduces the concept of stereotactic body radiation therapy, motion compensation strategies and the clinical state-of-the-art. In Chapters 3 through 5, the author describes and evaluates new methods for motion prediction, for correlating external motion to internal organ motion, and for the evaluation of these algorithms’ output based on an unprecedented amount of real clinical data. Finally, Chapter 6 provides a brief introduction into currently investigated, open questions and further fields of research.

Compensating for Quasi-periodic Motion in Robotic Radiosurgery targets researchers working in the related fields of surgical oncology, artificial intelligence, robotics and more. Advanced-level students will also find this book valuable.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Introduction
Abstract
Interest in motion compensation in radiotherapy was sparked in the 1990s, when a new device for intracranial radiosurgery, the CyberKnife_R, was invented. This machine, described in more detail in section 2.2, makes use of a standard industrial robot carrying a light-weight linear accelerator. While, at first, it was solely intended for stereotactic treatment of intracranial tumours, it has been extended to be the world’s first system capable of compensating respiratory motion in radiotherapy. For the first time, this system allowed the creation and delivery of highly conformal treatment plans for moving tumours, i.e., it became possible to precisely irradiate a moving tumour with a high dose while sparing adjacent healthy tissue. Clearly, this is only possible if both the location of the tumour is known at any time and the delivery system can compensate for this motion in real time.
Floris Ernst
Chapter 2. Motion Compensation in Robotic Radiosurgery
Abstract
This chapter describes the principles of motion compensation in radiotherapy with a focus on robotic radiosurgery, starting with a brief description of the medical implications. Throughout, special emphasis will be placed on the CyberKnife_R system and we will outline the problems originating from the aim of real-time motion compensation. The main current application of robotic radiotherapy is the treatment of malignant tumours while a second, very promising field is the therapy of cardiac arrhythmia, especially of atrial fibrillation. An outline of this project called CyberHeart, and the challenges emanating from it, will be given in section 2.5.a
Floris Ernst
Chapter 3. Signal Processing
Abstract
Actively compensating for respiratory and pulsatory motion-as outlined in section 2.5-requires real time tracking of marker positions on the patient’s chest and subsequent prediction (see chapter 4) and correlation (see chapter 5). It is clear that we deal with some kind of control process: the robot is moved in real time according to processed sensory input from the tracking system. To quantify the accuracy of the individual processing steps, new evaluation metrics are introduced (section 3.2), a new method to reduce measurement noise will be discussed (section 3.3, published in [7, 10]), the noise level of different tracking systems will be evaluated (section 3.4) and motion artefacts inherent to active optical cameras will be analysed (section 3.5, published in [8]).
Floris Ernst
Chapter 4. On the Outside: Prediction of Human Respiratory and Pulsatory Motion
Abstract
As outlined in section 1.1, there will be an inevitable difference between the current target position and the position of the treatment beam. This difference originates from the latency in acquiring and computing the target position and from moving the robot. The goal clearly is to compensate for this delay and try to send the robot to a predicted position. In practice, several methods for the compensation of this delay are implemented and used clinically. These are a pattern-matching algorithm, called Zero Error Prediction (ZEP), an adaptive filter based on Least Mean Squares (LMS), a fuzzy prediction algorithm and a hybrid combination of these [35, 36].
Floris Ernst
Chapter 5. Going Inside: Correlation between External and Internal Respiratory Motion
Abstract
In an ideal setting, the target area could be located directly using a non-invasive, high resolution, high speed tracking or imaging modality. Currently, however, there is no single device capable of meeting all these demands. Options available are either invasive, like biplanar fluoroscopy [34-38] or EM tracking [2, 20, 41], are still under development, like US tracking [13, 29, 42], live Magnetic Resonance Imaging (MRI) [17, 21, 26, 27] or monoscopic fluoroscopy [3, 4], or require correlation between external signals and sparsely recorded internal data [23, 25, 32, 33]. Since most of these technologies are not yet available clinically (like live MRI, US tracking, or monoscopic fluoroscopy), cannot be used universally (like EMtracking) or are too invasive (like real-time biplanar fluoroscopy), the main focus is placed on hybrid methods which require external surrogates to fill the gaps between less frequently acquired internal data.
Floris Ernst
Chapter 6. Conclusion
Abstract
The paramount goal of this work is the strive towards improving the technological aspects of treating tumours that move with respiration. We believe that, for optimal medical outcome, optimal technological support is required and improving the tracking and targeting accuracy of current radiotherapeutic devices is necessary. Although many different methods for on-line tumour tracking exist (see chapter 2), focus was placed on the CyberKnife system and the CyberHeart project (see section 2.5), an extension to the CyberKnife currently under development. In this context, the current technological problems were investigated. Amongst others, these are
Floris Ernst
Backmatter
Metadaten
Titel
Compensating for Quasi-periodic Motion in Robotic Radiosurgery
verfasst von
Floris Ernst
Copyright-Jahr
2012
Verlag
Springer New York
Electronic ISBN
978-1-4614-1912-9
Print ISBN
978-1-4614-1911-2
DOI
https://doi.org/10.1007/978-1-4614-1912-9

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