A reference trajectory correction algorithm to improve the tracking accuracy of the robotic phantom system used in the quality assurance of the radiation therapy
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- FUJII Fumitake
- Graduate School of Science and Technology for Innovation, Yamaguchi University
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- SHIINOKI Takehiro
- Graduate School of Medicine, Yamaguchi University
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- SHIBUYA Keiko
- Graduate School of Medicine, Yamaguchi University
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- KASHIBE Naoto
- Graduate School of Science and Technology for Innovation, Yamaguchi University
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- MARUYAMA Akira
- Robot Development Division, NACHI-FUJIKOSHI corporation
Bibliographic Information
- Other Title
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- 放射線治療の品質保証用ロボットファントムシステムの腫瘍軌跡への追従精度向上のための目標軌道補正法の提案
Abstract
<p>This paper proposes an algorithm to generate the augmented reference position trajectory for the realtime 3D robotic phantom system which is used in the quality assurance of the radiation therapy. Quality assuarance is the important clinical part of the radiation therapy which ensures the delivery of the prescribed dose to the tumor of the patient. High precision quality assurance can be a difficult task if the tumor exhibits respiratory induced motion inside the body of the patient, as the motion fluctuates along with time and it suffers large inter-patient difference. This paper presents several algorithms to modify and/or correct the reference tumor trajectory of the patient and generate the augmented reference trajectory sequence for the already existing and tuned control system of the robot manipulator to yield high precision tracking to the original tumor motion trajectory. Experimental validation has been carried out for four lung tumor trajectories in the clinical environment using equipments used in the radiotherapy treatment and it has been shown that the clinical demand on the precision of tumor motion tracking has been satisfied for all the four cases.</p>
Journal
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- Transactions of the JSME (in Japanese)
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Transactions of the JSME (in Japanese) 84 (861), 17-00495-17-00495, 2018
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390001288034186624
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- NII Article ID
- 130006744438
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- ISSN
- 21879761
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed