Robotic Radiosurgery with Beams of Adaptable Shapes

Achim Schweikard; Rhea Tombropoulos; John R. Adler

doi:10.1007/978-3-540-49197-2_16

Robotic Radiosurgery with Beams of Adaptable Shapes

Achim Schweikard, Rhea Tombropoulos, John R. Adler

Institute of Robotics and Cognitive Systems

Stanford University

Abstract

In radiosurgery, a moving beam of radiation acts as an ablative surgical instrument. Conventional systems for radiosurgery use a cylindrical radiation beam of fixed cross-section. The radiation source can only be moved along simple standardized paths. A new radiosurgical system based on a six degree-of-freedom robotic arm has been developed to overcome limitations of conventional systems. We address the following question: Can dose distributions generated by robotic radiosurgery be improved by using non-cylindrical radiation beams of adaptable cross-section? Geometric methods for planning the shape of the beam in addition to planning beam motion are developed. Design criteria considered in this context are: treatment time, radiation penumbra as well as transparency of interactive treatment planning. An experimental evaluation compares distributions generated with our new radiosurgical system using cylindrical beams to distributions generated with beams of adaptable shapes.

Original language	English
Title of host publication	CVRMed 1995: Computer Vision, Virtual Reality and Robotics in Medicine
Number of pages	12
Volume	905
Publisher	Springer Verlag
Publication date	01.01.1995
Pages	138-149
ISBN (Print)	978-3-540-59120-7
ISBN (Electronic)	978-3-540-49197-2
DOIs	https://doi.org/10.1007/978-3-540-49197-2_16
Publication status	Published - 01.01.1995
Event	1st International Conference on Computer Vision, Virtual Reality, and Robotics in Medicine - Nice, France Duration: 03.04.1995 → 06.04.1995 Conference number: 147869

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10.1007/978-3-540-49197-2_16

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@inproceedings{65120ac9bb354d738e3df7c440e35112,

title = "Robotic Radiosurgery with Beams of Adaptable Shapes",

abstract = "In radiosurgery, a moving beam of radiation acts as an ablative surgical instrument. Conventional systems for radiosurgery use a cylindrical radiation beam of fixed cross-section. The radiation source can only be moved along simple standardized paths. A new radiosurgical system based on a six degree-of-freedom robotic arm has been developed to overcome limitations of conventional systems. We address the following question: Can dose distributions generated by robotic radiosurgery be improved by using non-cylindrical radiation beams of adaptable cross-section? Geometric methods for planning the shape of the beam in addition to planning beam motion are developed. Design criteria considered in this context are: treatment time, radiation penumbra as well as transparency of interactive treatment planning. An experimental evaluation compares distributions generated with our new radiosurgical system using cylindrical beams to distributions generated with beams of adaptable shapes.",

author = "Achim Schweikard and Rhea Tombropoulos and Adler, {John R.}",

year = "1995",

month = jan,

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doi = "10.1007/978-3-540-49197-2_16",

language = "English",

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pages = "138--149",

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note = "1st International Conference on Computer Vision, Virtual Reality, and Robotics in Medicine , CVRMed 1995 ; Conference date: 03-04-1995 Through 06-04-1995",

}

Schweikard, A, Tombropoulos, R & Adler, JR 1995, Robotic Radiosurgery with Beams of Adaptable Shapes. in CVRMed 1995: Computer Vision, Virtual Reality and Robotics in Medicine . vol. 905, Lecture Notes in Computer Science , vol. 905, Springer Verlag, pp. 138-149, 1st International Conference on Computer Vision, Virtual Reality, and Robotics in Medicine , Nice, France, 03.04.95. https://doi.org/10.1007/978-3-540-49197-2_16

Robotic Radiosurgery with Beams of Adaptable Shapes. / Schweikard, Achim; Tombropoulos, Rhea; Adler, John R.
CVRMed 1995: Computer Vision, Virtual Reality and Robotics in Medicine . Vol. 905 Springer Verlag, 1995. p. 138-149 (Lecture Notes in Computer Science ; Vol. 905).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

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T1 - Robotic Radiosurgery with Beams of Adaptable Shapes

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AU - Tombropoulos, Rhea

AU - Adler, John R.

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PY - 1995/1/1

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N2 - In radiosurgery, a moving beam of radiation acts as an ablative surgical instrument. Conventional systems for radiosurgery use a cylindrical radiation beam of fixed cross-section. The radiation source can only be moved along simple standardized paths. A new radiosurgical system based on a six degree-of-freedom robotic arm has been developed to overcome limitations of conventional systems. We address the following question: Can dose distributions generated by robotic radiosurgery be improved by using non-cylindrical radiation beams of adaptable cross-section? Geometric methods for planning the shape of the beam in addition to planning beam motion are developed. Design criteria considered in this context are: treatment time, radiation penumbra as well as transparency of interactive treatment planning. An experimental evaluation compares distributions generated with our new radiosurgical system using cylindrical beams to distributions generated with beams of adaptable shapes.

AB - In radiosurgery, a moving beam of radiation acts as an ablative surgical instrument. Conventional systems for radiosurgery use a cylindrical radiation beam of fixed cross-section. The radiation source can only be moved along simple standardized paths. A new radiosurgical system based on a six degree-of-freedom robotic arm has been developed to overcome limitations of conventional systems. We address the following question: Can dose distributions generated by robotic radiosurgery be improved by using non-cylindrical radiation beams of adaptable cross-section? Geometric methods for planning the shape of the beam in addition to planning beam motion are developed. Design criteria considered in this context are: treatment time, radiation penumbra as well as transparency of interactive treatment planning. An experimental evaluation compares distributions generated with our new radiosurgical system using cylindrical beams to distributions generated with beams of adaptable shapes.

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SN - 978-3-540-59120-7

VL - 905

T3 - Lecture Notes in Computer Science

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EP - 149

BT - CVRMed 1995: Computer Vision, Virtual Reality and Robotics in Medicine

PB - Springer Verlag

T2 - 1st International Conference on Computer Vision, Virtual Reality, and Robotics in Medicine

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ER -

Robotic Radiosurgery with Beams of Adaptable Shapes

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