Current mobile devices do not leverage the rich haptic channel of information that our hands can sense, and instead focus primarily on touch based graphical interfaces. Our goal is to enrich the user experience of these devices through bidirectional haptic and tactile interactions (display and control) around the edge of hand-held devices. We propose a novel type of haptic interface, a Haptic Edge Display, consisting of actuated pins on the side of a display, to form a linear array of tactile pixels (taxels). These taxels are implemented using small piezoelectric actuators, which can be made cheaply and have ideal characteristics for mobile devices. We developed two prototype Haptic Edge Displays, one with 24 actuated pins (3.75mm in pitch) and a second with 40 pins (2.5mm in pitch). This paper describes several novel haptic interactions for the Haptic Edge Display including dynamic physical affordances, shape display, non-dominant hand interactions, and also in-pocket "pull" style haptic notifications. In a laboratory experiment we investigated the limits of human perception for Haptic Edge Displays, measuring the just-noticeable difference for pin width and height changes for both in-hand and simulated in-pocket conditions.
This study indicates that for VMAT liver SABR, robotic US imaging of a relevant internal target may be possible in 85% of the cases while using treatment plans currently deployed in the clinic. With beam replanning to account for the presence of robotic US guidance, intrafractional US may be an option for 95% of the liver SABR cases.
Purpose: Accuray recently released a new collimator, the InCise™ Multileaf Collimator (MLC), for clinical use with the CyberKnife M6™ System. This work reports the results of acceptance testing and commissioning measurements for this collimator. Methods: The MLC consists of 41 pairs of 2.5 mm wide leaves projecting a clinical maximum field size of 110 mm × 97.5 mm at 800 mm SAD. The leaves are made of tungsten, 90 mm in height and tilted by 0.5 degree. The manufacturer stated leaf positioning accuracy and reproducibility are 0.5 mm and 0.4 mm respectively at 800 mm SAD. The leaf over‐travel is 100% with full interdigitation capability. Acceptance testing included, but are not limited to, the verification of the specifications of various parameters described above, leakage measurements and end‐to‐end tests. Dosimetric measurements included, but not limited to, measurements of output factors, open beam profiles, tissue‐phantom ratios, beam flatness and symmetry, and patient specific QA. Results: All measurements were well within the manufacturer specifications. The values of output factors ranged from 0.804 (smallest field size of 7.6 mm × 7.5 mm) to 1.018 (largest field size of 110.0 mm × 97.5 mm). End‐to‐end test results for the various tracking modes are: Skull (0.27mm), fiducial (0.16mm), Xsight Spine (0.4mm), Xsight Lung (0.93 mm) and Synchrony (0.43mm). Measured maximum and average leakage was 0.37% and 0.3%, respectively. Patient‐specific QA measurements with chamber were all within 5% absolute dose agreement, and film measurements all passed 2%/2mm gamma evaluation for more than 95% of measurement points. Conclusion: The presented results are the first set of data reported on the InCise™ MLC. The MLC proved to be very reliable and is currently in clinical use.
Purpose: The InCise™ Multileaf Collimator (MLC) of CyberKnife M6™ System has been released recently. The purpose of this study was to explore the dosimetric characteristics of the new MLC. In particular, the penumbra characteristics of MLC fields at varying locations are evaluated. Methods: EBT3‐based film measurements were performed with varying MLC fields ranging from 7.5 mm to 27.5 mm. Seventeen regions of interests (ROIs) were identified for irradiation. These are regions located at the central area (denoted as reference field), at the left/right edge areas of reference open field, at an intermediate location between central and edge area. Single beam treatment plans were designed by using the MultiPlan and was delivered using the Blue Phantom. Gafchromic films were irradiated at 1.5 cm depth in the Blue Phantom and analyzed using the Film Pro software. Variation of maximum dose, penumbra of MLC‐defined fields, and symmetry/flatness were calculated as a function of locations of MLC fields. Results: The InCise™ MLC System showed relatively consistent dose distribution and penumbra size with varying locations of MLC fields. The measured maximum dose varied within 5 % at different locations compared to that at the central location and agreed with the calculated data well within 2%. The measured penumbrae were in the range of 2.9 mm and 3.7 mm and were relatively consistent regardless of locations. However, dose profiles in the out‐of‐field and in‐field regions varied with locations and field sizes. Strong variation was seen for all fields located at 55 mm away from the central field. The MLC leakage map showed that the leakage is dependent on position. Conclusion: The size of penumbra and normalized maximum dose for MLC‐defined fields were consistent in different regions of MLC. However, dose profiles in the out‐field region varied with locations and field sizes.
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