Planning for camera-guided robotic radiosurgery

Achim Schweikard; Mohan Bodduluri; John R. Adler

doi:10.1109/70.736778

Planning for camera-guided robotic radiosurgery

Achim Schweikard^*, Mohan Bodduluri, John R. Adler

^*Corresponding author for this work

Institute of Robotics and Cognitive Systems

41 Citations (Scopus)

Abstract

Radiosurgery is a treatment for brain tumors and other lesions which employs a moving beam of photon radiation. In robotic radiosurgery, the radiation source is moved by a six degree-of-freedom robotic arm. A treatment planning system for robotic radiosurgery was developed. This planning system combines collision avoidance techniques and geometric algorithms for finding appropriate robot paths and beam activation profiles. The following design goals characterize our application: 1) ability to gener ate conformal three-dimensional (3-D) dose distributions; 2) transparency of the planning process; 3) full use of the motion flexibility provided by the robotic arm. The new planning system is in clinical use in several leading medical institutions. Results obtained from studies suggest that highly conformal distributions can be generated in a very effective way.

Original language	English
Journal	IEEE Transactions on Robotics and Automation
Volume	14
Issue number	6
Pages (from-to)	951-962
Number of pages	12
ISSN	1042-296X
DOIs	https://doi.org/10.1109/70.736778
Publication status	Published - 01.12.1998

Funding

Manuscript received January 6, 1997; revised May 23, 1998. This work was supported in part by the Sheik Enany Fund and the Lorraine Ulshafer Fund. This paper was recommended for publication by Editor R. H. Taylor upon evaluation of the reviewers’ comments. A. Schweikard is with the Department of Computer Science, Technical University of Munich, Munich 81667, Germany (e-mail: [email protected]). M. Bodduluri is with Accuray Inc., Sunnyvale, CA 94086 USA. J. R. Adler is with the Department of Neurosurgery, Stanford University, Stanford, CA 94305 USA (e-mail: [email protected]). Publisher Item Identifier S 1042-296X(98)09350-1.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being
SDG 9 Industry, Innovation, and Infrastructure

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10.1109/70.736778

Cite this

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title = "Planning for camera-guided robotic radiosurgery",

abstract = "Radiosurgery is a treatment for brain tumors and other lesions which employs a moving beam of photon radiation. In robotic radiosurgery, the radiation source is moved by a six degree-of-freedom robotic arm. A treatment planning system for robotic radiosurgery was developed. This planning system combines collision avoidance techniques and geometric algorithms for finding appropriate robot paths and beam activation profiles. The following design goals characterize our application: 1) ability to gener ate conformal three-dimensional (3-D) dose distributions; 2) transparency of the planning process; 3) full use of the motion flexibility provided by the robotic arm. The new planning system is in clinical use in several leading medical institutions. Results obtained from studies suggest that highly conformal distributions can be generated in a very effective way.",

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AU - Adler, John R.

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N2 - Radiosurgery is a treatment for brain tumors and other lesions which employs a moving beam of photon radiation. In robotic radiosurgery, the radiation source is moved by a six degree-of-freedom robotic arm. A treatment planning system for robotic radiosurgery was developed. This planning system combines collision avoidance techniques and geometric algorithms for finding appropriate robot paths and beam activation profiles. The following design goals characterize our application: 1) ability to gener ate conformal three-dimensional (3-D) dose distributions; 2) transparency of the planning process; 3) full use of the motion flexibility provided by the robotic arm. The new planning system is in clinical use in several leading medical institutions. Results obtained from studies suggest that highly conformal distributions can be generated in a very effective way.

AB - Radiosurgery is a treatment for brain tumors and other lesions which employs a moving beam of photon radiation. In robotic radiosurgery, the radiation source is moved by a six degree-of-freedom robotic arm. A treatment planning system for robotic radiosurgery was developed. This planning system combines collision avoidance techniques and geometric algorithms for finding appropriate robot paths and beam activation profiles. The following design goals characterize our application: 1) ability to gener ate conformal three-dimensional (3-D) dose distributions; 2) transparency of the planning process; 3) full use of the motion flexibility provided by the robotic arm. The new planning system is in clinical use in several leading medical institutions. Results obtained from studies suggest that highly conformal distributions can be generated in a very effective way.

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Planning for camera-guided robotic radiosurgery

Abstract

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UN SDGs

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