Robot-Assisted Ocular Tumour Radiotherapy Positioning and Tracking System

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-08-29 DOI:10.1002/rcs.2668

Xu Wang, Dequan Shi, Kundong Wang, Xue Ming, Xiangzi Shengyin, Shouqiang Jia

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引用次数: 0

Abstract

Background

Precise dose position distribution is crucial for ocular proton therapy.

Methods

A non-invasive eye positioning and tracking system with novel structure is designed to reduce eye movement and facilitate precise dose by guiding the direction of patients' gaze. The system helps to achieve gaze guidance by controlling the light source fixed on two turntables above the patient's face. Tracking of the eye is achieved by cameras attached to the end of a 6DOFs robotic arm to capture the image reflected from a mirror above the patient's face.

Results

After all operation steps, the accuracy of the robotic arm is 0.18 mm (SD 0.25 mm) and the accuracy of the turntables is 0.01° (SD 0.02°). The EPTS is tested to be remotely controlled in real time with sufficient precision and repeatability.

Conclusion

The system is expected to improve the safety and efficiency of ocular proton therapy.

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机器人辅助眼部肿瘤放疗定位和跟踪系统

背景精确的剂量位置分布对眼部质子治疗至关重要。方法设计了一种结构新颖的无创眼部定位和跟踪系统，通过引导患者的注视方向，减少眼球运动，促进剂量的精确分配。该系统通过控制固定在患者面部上方两个转盘上的光源，帮助实现凝视引导。眼球跟踪是通过安装在 6DOFs 机械臂末端的摄像头来实现的，摄像头捕捉患者面部上方镜子反射的图像。结果在完成所有操作步骤后，机械臂的精度为 0.18 毫米（误差为 0.25 毫米），转台的精度为 0.01°（误差为 0.02°）。经测试，EPTS 可进行实时远程控制，并具有足够的精度和可重复性。结论该系统有望提高眼质子治疗的安全性和效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.