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Navigation in Robotic Radiosurgery

Navigation in Robotic Radiosurgery. Achim Schweikard. Stereotactic Radiosurgery. beam. Conventional Procedure. Stereotaxic Frame. Arc motion. Local Anesthesia. Concept. Image-Guidance. Robot System. Robot System. Tumors in the chest or abdomen move due to respiration.

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Navigation in Robotic Radiosurgery

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  1. Navigation in Robotic Radiosurgery Achim Schweikard

  2. Stereotactic Radiosurgery beam

  3. Conventional Procedure

  4. Stereotaxic Frame

  5. Arc motion

  6. Local Anesthesia

  7. Concept

  8. Image-Guidance

  9. Robot System

  10. Robot System

  11. Tumors in the chest or abdomen move due to respiration

  12. Respiratory Motion

  13. Respriatory Motion

  14. Safety MarginTumor

  15. Beam

  16. Robotic Arm

  17. Robotic Arm

  18. Volume of Sphere: 4/3 p r3

  19. Hysteresis

  20. Previous Work • HD Kubo, BC Hill: Respiration gated radiotherapy treatment: a technical study. Phys. Med. Biol. 1996; 41: 83-91. • T Tada et. al.:Lung cancer: Intermittent radiation synchronized with respiratory motion. Radiology, 1998; 207:779-783. • MR Sonntag, ZW Lai: Characterization of respiratory motion for pediatric conformal 3D therapy. Med. Phys. 1996: 23: 1082.

  21. Image-Guidance

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

  23. Infrared Tracking

  24. Correlation

  25. Correlation

  26. DART

  27. System Overview

  28. Correlation external chest vs. external abdomen

  29. Motion Table Phantom Study(Overall Accuracy)

  30. Robot Tracking

  31. Prediction

  32. Phantom Study

  33. First Patient Treatment

  34. Measured Target Excursionvs. Correlation Error

  35. Follow-up Study

  36. Four months follow-up

  37. Treatment

  38. Synchrony

  39. Major Challenges • Fiducial-less tracking

  40. Implanting of Gold Fiducials

  41. Respiration Courtesy Paul Sellars, JHU

  42. Fiducial-Less Tracking: Principle • Compute or acquire 4D CT

  43. Principle • Compute or acquire 4D CT • Compute DRRs (2D Projections)

  44. Principle • Compute or acquire 4D CT • Compute DRRs (2D Projections) • Live Shots (2D x-ray pair)

  45. Principle • Compute or acquire 4D CT • Compute DRRs (2D Projections) • Live Shots (2D x-ray pair) • Find the DRR that best matches live shots

  46. Principle „Ground truth“

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