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Realtime Robotic Radiation Oncology

Realtime Robotic Radiation Oncology. Brian Murphy 4 th Electronic & Computer Engineering. Project Background. Oncology is the study of tumours in a body and aims to find out about their development, diagnosis, treatment and prevention. Image of Radiation concentrating on Tumour.

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Realtime Robotic Radiation Oncology

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  1. Realtime Robotic Radiation Oncology Brian Murphy 4th Electronic & Computer Engineering

  2. Project Background • Oncology is the study of tumours in a body and aims to find out about their development, diagnosis, treatment and prevention.

  3. Image of Radiation concentrating on Tumour • Radiation oncology is the treatment of tumours using radiation.

  4. Radiation • As of now radiation is controlled by technicians who calculate the position of the tumour and then setup radiation beams to converge on the tumour

  5. Project Background • What we want to do is to set up a robotic system which will accurately target a tumour within the body to a high degree of accuracy. • The system should also be able to cope with the movement of the body and then re-focus the radiation beams accordingly.

  6. Project Aims • This project is based on a partially completed previous project to develop a real time system to optically track a ball in the field of view of a camera. • Once the ball was identified, a robotic arm with a torch attached will point towards the ball. • We want to develop this system to operate in real time to track a moving target.

  7. What do we mean by a moving Target?

  8. Project Milestones • Implement algorithms from previous project in Matlab. • Set up hardware test platform and calibrate the system so that the Matlab code can accurately estimate the position of the tumour (ball). • Commission Labview for image processing applications and set up cameras for image capture directly into Labview.

  9. Project Milestones • Import image processing algorithms implemented in Matlab into Labview. • Create Labview program to control two servo-motors using the NIDAQ interface card. Two small pen-torches will be connected to the servo-motors to act as energy beams. • Make this system as efficient as possible to allow the two cameras and two servo-motors run in real time.

  10. Project Approach • Hardware: • Look over previous code and determine what the code is doing and why it is doing it. • Set up hardware and be able to use Matlab to send basic control commands to it. • Calibrate the system so Matlab code can accurately estimate the position of the ball.

  11. Project Approach • Labview • Achieve familiarity and gain confidence with Labview. • Import Matlab algorithms into Labview. • As Matlab is code based and Labview is graphical based – need to validate Matlab results with Labview results. • Create program to control two-servo motors using NIDAQ card.

  12. Project Approach • Finally: • Integrate the servo-motor controllers to allow system to estimate the location of the ball and move servo-motors to point beams directly to the ball. • Set up system to allow the two cameras and two servo-motors run in real time.

  13. Questions?

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