Treatment planning for a radiosurgical system with general kinematics

Achim Schweikard; Rhea Tombropoulos; Lydia Kavraki; John R. Adler; Jean Claude Latombe

doi:10.1109/ROBOT.1994.351344

Treatment planning for a radiosurgical system with general kinematics

Achim Schweikard, Rhea Tombropoulos, Lydia Kavraki, John R. Adler, Jean Claude Latombe

Institute of Robotics and Cognitive Systems

Stanford University

Abstract

In radiosurgery a beam of radiation is used as an ablative surgical instrument to destroy brain tumors. Treatment planning consists of computing a sequence of beam configurations for delivering a necrotic dose to the tumor, without damaging healthy tissue or particularly critical structures. In current systems, kinematic limitations severely constrain beam motion. This often results in inappropriate dose distributions. A new radiosurgical system has been implemented to overcome this disadvantage. In this system, a compact radiation source of high energy is moved by a 6-dof robotic arm. We describe algorithms for computing a motion with specified characteristics for this new system. Treatment plans used at test sites with earlier systems are compared to plans computed with the described algorithms. The experience reported shows that full kinematic flexibility combined with treatment planning algorithms allows for better protection of healthy tissue and higher dosage in tumors.

Original language	English
Title of host publication	Proceedings of the 1994 IEEE International Conference on Robotics and Automation
Number of pages	8
Publisher	IEEE
Publication date	01.01.1994
Pages	1720-1727
ISBN (Print)	0-8186-5330-2
DOIs	https://doi.org/10.1109/ROBOT.1994.351344
Publication status	Published - 01.01.1994
Event	Proceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, United States Duration: 08.05.1994 → 13.05.1994 Conference number: 20668

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Schweikard, A., Tombropoulos, R., Kavraki, L., Adler, J. R., & Latombe, J. C. (1994). Treatment planning for a radiosurgical system with general kinematics. In Proceedings of the 1994 IEEE International Conference on Robotics and Automation (pp. 1720-1727). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE. https://doi.org/10.1109/ROBOT.1994.351344

@inproceedings{02dc58b6ffe14c289ec818bd4d555360,

title = "Treatment planning for a radiosurgical system with general kinematics",

abstract = "In radiosurgery a beam of radiation is used as an ablative surgical instrument to destroy brain tumors. Treatment planning consists of computing a sequence of beam configurations for delivering a necrotic dose to the tumor, without damaging healthy tissue or particularly critical structures. In current systems, kinematic limitations severely constrain beam motion. This often results in inappropriate dose distributions. A new radiosurgical system has been implemented to overcome this disadvantage. In this system, a compact radiation source of high energy is moved by a 6-dof robotic arm. We describe algorithms for computing a motion with specified characteristics for this new system. Treatment plans used at test sites with earlier systems are compared to plans computed with the described algorithms. The experience reported shows that full kinematic flexibility combined with treatment planning algorithms allows for better protection of healthy tissue and higher dosage in tumors.",

author = "Achim Schweikard and Rhea Tombropoulos and Lydia Kavraki and Adler, {John R.} and Latombe, {Jean Claude}",

year = "1994",

month = jan,

day = "1",

doi = "10.1109/ROBOT.1994.351344",

language = "English",

isbn = "0-8186-5330-2",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

pages = "1720--1727",

booktitle = "Proceedings of the 1994 IEEE International Conference on Robotics and Automation",

note = "Proceedings of the 1994 IEEE International Conference on Robotics and Automation ; Conference date: 08-05-1994 Through 13-05-1994",

}

Schweikard, A, Tombropoulos, R, Kavraki, L, Adler, JR & Latombe, JC 1994, Treatment planning for a radiosurgical system with general kinematics. in Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, IEEE, pp. 1720-1727, Proceedings of the 1994 IEEE International Conference on Robotics and Automation , San Diego, California, United States, 08.05.94. https://doi.org/10.1109/ROBOT.1994.351344

Treatment planning for a radiosurgical system with general kinematics. / Schweikard, Achim; Tombropoulos, Rhea; Kavraki, Lydia et al.
Proceedings of the 1994 IEEE International Conference on Robotics and Automation. IEEE, 1994. p. 1720-1727 (Proceedings - IEEE International Conference on Robotics and Automation).

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

TY - GEN

T1 - Treatment planning for a radiosurgical system with general kinematics

AU - Schweikard, Achim

AU - Tombropoulos, Rhea

AU - Kavraki, Lydia

AU - Adler, John R.

AU - Latombe, Jean Claude

N1 - Conference code: 20668

PY - 1994/1/1

Y1 - 1994/1/1

N2 - In radiosurgery a beam of radiation is used as an ablative surgical instrument to destroy brain tumors. Treatment planning consists of computing a sequence of beam configurations for delivering a necrotic dose to the tumor, without damaging healthy tissue or particularly critical structures. In current systems, kinematic limitations severely constrain beam motion. This often results in inappropriate dose distributions. A new radiosurgical system has been implemented to overcome this disadvantage. In this system, a compact radiation source of high energy is moved by a 6-dof robotic arm. We describe algorithms for computing a motion with specified characteristics for this new system. Treatment plans used at test sites with earlier systems are compared to plans computed with the described algorithms. The experience reported shows that full kinematic flexibility combined with treatment planning algorithms allows for better protection of healthy tissue and higher dosage in tumors.

AB - In radiosurgery a beam of radiation is used as an ablative surgical instrument to destroy brain tumors. Treatment planning consists of computing a sequence of beam configurations for delivering a necrotic dose to the tumor, without damaging healthy tissue or particularly critical structures. In current systems, kinematic limitations severely constrain beam motion. This often results in inappropriate dose distributions. A new radiosurgical system has been implemented to overcome this disadvantage. In this system, a compact radiation source of high energy is moved by a 6-dof robotic arm. We describe algorithms for computing a motion with specified characteristics for this new system. Treatment plans used at test sites with earlier systems are compared to plans computed with the described algorithms. The experience reported shows that full kinematic flexibility combined with treatment planning algorithms allows for better protection of healthy tissue and higher dosage in tumors.

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M3 - Conference contribution

SN - 0-8186-5330-2

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 1720

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BT - Proceedings of the 1994 IEEE International Conference on Robotics and Automation

PB - IEEE

T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation

Y2 - 8 May 1994 through 13 May 1994

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Treatment planning for a radiosurgical system with general kinematics

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