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Introduction to Robotics in Medicine Part 3: Robotic Motion Tracking

Introduction to Robotics in Medicine Part 3: Robotic Motion Tracking. Achim Schweikard. Respiratory motion of tumors. Safety Margin Tumor. Beam. Robotic Arm. Robotic Arm. Volume of Sphere: 4/3 p r 3.

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Introduction to Robotics in Medicine Part 3: Robotic Motion Tracking

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  1. Introduction to Robotics in MedicinePart 3: Robotic Motion Tracking Achim Schweikard

  2. Respiratory motion of tumors

  3. Safety MarginTumor

  4. Beam

  5. Robotic Arm

  6. Robotic Arm

  7. Volume of Sphere: 4/3 p r3

  8. Adding a margin of 1 cm to a target of diameter 1 cm will result in 8-fold increase of Treated Volume

  9. Problems • Internal motion and external motion may have different directions • Hysteresis • Velocity of target during inhalation and exhalation may be different

  10. Hysteresis

  11. How can we locate the target position with high accuracy?

  12. Stereo X-Ray Camera System Gold fiducial Camera A Camera B

  13. Infrared Tracking

  14. X-Ray with Infrared Tracking • X-ray imaging alone is not fast enough to track respiration in real time • Infrared tracking is very fast, but only reports motion of surface

  15. Correlation

  16. Correlation

  17. Solution • Combine external and internal imaging • Internal motion: x-ray • External motion: optical (infrared) tracking • Compute correlation between internal and external motion

  18. Correlation • Model for correlation between internal target motion and surface motion is computed at the beginning of the treatment • Correlation model is updated continuously during treatment

  19. DART

  20. System Overview

  21. Correlation external chest vs. external abdomen

  22. Motion Table Phantom Study(Overall Accuracy)

  23. Robot Tracking

  24. Prediction

  25. Filtering (1D) • en= dn – xn • xn+1= wn xn • wn+1= wn + (xn/xn2) en

  26. Phantom Study

  27. Patient Treatment

  28. Implanting of Gold Fiducials

  29. Measured Target Excursionvs. Correlation Error

  30. Follow-up Study

  31. Four months follow-up

  32. Treatment

  33. Synchrony

  34. Synchrotron Irradiation

  35. Ultrasonic Navigation in Radiosurgery

  36. Overview • Patient • Ultrasound-System • Camera guidance Robot • Infrared Tracking-System

  37. Overview

  38. Laboratory

  39. Ultrasound-System • Siemens SONOLINE SL 1 • 3,5 MHz

  40. Robot guidance

  41. Force-Torque Sensor

  42. Phantom Set-up

  43. Phantom

  44. Major Challenges • Fiducial-less tracking

  45. Respiration Courtesy Paul Sellars, JHU

  46. Fiducial-less Tracking

  47. Fiducial-less Tracking

  48. Fiducial-less Tracking

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