Accuracy and efficiency of an infrared based positioning and tracking system for patient set-up and monitoring in image guided radiotherapy

Jia, Jing; Xu, Guoying; Xi, Peng; Cao, Ruifen; Hu, Liqin; Wu, Yican

doi:10.1016/j.infrared.2015.01.001

Cited by 8 publications

(9 citation statements)

References 9 publications

(13 reference statements)

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“…To this end, the tracked surrogates, such as the reflective IR markers used in this study, must be rigidly connected to the internal tracking target. Unfortunately, examination of the accuracies of various 6DOF tracking systems is beyond the goals of this study, which focuses on the robot and the motion control algorithm, however, some clinically suitable head tracking methods include the use of IR markers attached to a patient dental block, or a 3D surface map tracking of the rigid facial structures (Belcher et al, 2016; Cerviño et al, 2010; Jia et al, 2015; Schöffel et al, 2007; Wang et al, 2010; Wiersma et al, 2013). …”

Section: Discussionmentioning

confidence: 99%

“…To address these issues, some solutions consider tracking the patient and altering the radiation source position to respond to their motion (Bichay and Mayville, 2016; Kurup, 2010). Another widespread approach uses external camera tracking systems, often with occasional internal snapshots for position verification, and beam gating to ensure proper dose coverage (Dhabaan et al, 2012; Goyal and Kataria, 2014; Jia et al, 2015; Li et al, 2011). Recently, our group has investigated the use of compact robotics to actively assist patients in maintaining a stable head position for long periods of time (D’Souza et al, 2009, 2005; Wiersma et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

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Towards frameless maskless SRS through real-time 6DoF robotic motion compensation

Belcher¹,

Liu²,

Chmura³

et al. 2017

Phys. Med. Biol.

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Purpose Stereotactic radiosurgery (SRS) uses precise dose placement to treat conditions of the CNS. Frame-based SRS uses a metal head ring fixed to the patient’s skull to provide high treatment accuracy, but patient comfort and clinical workflow may suffer. Frameless SRS, while potentially more convenient, may increase uncertainty of treatment accuracy and be physiologically confining to some patients. By incorporating highly precise robotics and advanced software algorithms into frameless treatments, we present a novel frameless and maskless SRS system where a robot provides real-time 6DOF head motion stabilization allowing positional accuracies to match or exceed those of traditional frame-based SRS. Methods A 6DOF parallel kinematics robot was developed and integrated with a real-time infrared camera in a closed loop configuration. A novel compensation algorithm was developed based on an iterative closest-path correction approach. The robotic SRS system was tested on six volunteers, whose motion was monitored and compensated for in real-time over 15-minute simulated treatments. The system’s effectiveness in maintaining the target’s 6DOF position within preset thresholds was determined by comparing volunteer head motion with and without compensation. Results Comparing corrected and uncorrected motion, the 6DOF robotic system showed an overall improvement factor of 21 in terms of maintaining target position within 0.5 mm and 0.5 degree thresholds. Although the system’s effectiveness varied among the volunteers examined, for all volunteers tested the target position remained within the preset tolerances 99.0% of the time when robotic stabilization was used, compared to 4.7% without robotic stabilization. Conclusion The pre-clinical robotic SRS compensation system was found to be effective at responding to sub-millimeter and sub-degree cranial motions for all volunteers examined. The system’s success with volunteers has demonstrated its capability for implementation with frameless and maskless SRS treatments, potentially able to achieve the same or better treatment accuracies compared to traditional frame-based approaches.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Towards frameless maskless SRS through real-time 6DoF robotic motion compensation

Belcher¹,

Liu²,

Chmura³

et al. 2017

Phys. Med. Biol.

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“…Since many studies have used the OT [ 24 ] and EMT [ 18 – 20 ] approaches for ultrasound simulation systems, the performance of the presented acoustic tracking approach was compared to those of the two other approaches (Table 1 ). Most of the OT and EMT systems used in these studies were developed by the same company (Northern Digital Inc., Waterloo, Canada).…”

Section: Resultsmentioning

confidence: 99%

“…While IT is cheaper than other approaches, the large measurement error that accumulates over time is a major disadvantage for an ultrasound simulation system [ 23 ]. The acoustic method has been also used to track the probe position in a 3D space [ 24 – 32 ]. In this method, sound-emitting devices were mounted on the ultrasound probe, and the fixed microphones were mounted above the patient.…”

Section: Introductionmentioning

confidence: 99%

An Acoustic Tracking Approach for Medical Ultrasound Image Simulator

2017

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Ultrasound examinations are a standard procedure in the clinical diagnosis of many diseases. However, the efficacy of an ultrasound examination is highly dependent on the skill and experience of the operator, which has prompted proposals for ultrasound simulation systems to facilitate training and education in hospitals and medical schools. The key technology of the medical ultrasound simulation system is the probe tracking method that is used to determine the position and inclination angle of the sham probe, since this information is used to display the ultrasound images in real time. This study investigated a novel acoustic tracking approach for an ultrasound simulation system that exhibits high sensitivity and is cost-effective. Five air-coupled ultrasound elements are arranged as a 1D array in front of a sham probe for transmitting the acoustic signals, and a 5 × 5 2D array of receiving elements is used to receive the acoustic signals from the moving transmitting elements. Since the patterns of the received signals can differ for different positions and angles of the moving probe, the probe can be tracked precisely by the acoustic tracking approach. After the probe position has been determined by the system, the corresponding ultrasound image is immediately displayed on the screen. The system performance was verified by scanning three different subjects as image databases: a simple commercial phantom, a complicated self-made phantom, and a porcine heart. The experimental results indicated that the tracking and angle accuracies of the presented acoustic tracking approach were 0.7 mm and 0.5°, respectively. The performance of the acoustic tracking approach is compared with those of other tracking technologies.Electronic supplementary materialThe online version of this article (doi:10.1007/s40846-017-0258-9) contains supplementary material, which is available to authorized users.

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“…11 Optical 6DOF tracking systems do not require the use of ionizing radiation and can provide continuous real-time patient tracking over long periods of time. 12,13 Two such external optical tracking systems which have observed expanding clinical use in radiotherapy include infrared (IR) marker tracking 14,15 and 3D optical surface imaging. 16,17 Among these external tracking modalities, 3D surface image based imaging offers a potential ease-of-use advantage in that it does not require the addition of IR markers for tracking, which may accelerate patient setup and prevent marker reproducibility issues.…”

Section: Introductionmentioning

confidence: 99%

Spatial and rotational quality assurance of 6DOF patient tracking systems

et al. 2016

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Purpose: External tracking systems used for patient positioning and motion monitoring during radiotherapy are now capable of detecting both translations and rotations. In this work, the authors develop a novel technique to evaluate the 6 degree of freedom 6(DOF) (translations and rotations) performance of external motion tracking systems. The authors apply this methodology to an infrared marker tracking system and two 3D optical surface mapping systems in a common tumor 6DOF workspace. Methods: An in-house designed and built 6DOF parallel kinematics robotic motion phantom was used to perform motions with sub-millimeter and subdegree accuracy in a 6DOF workspace. An infrared marker tracking system was first used to validate a calibration algorithm which associates the motion phantom coordinate frame to the camera frame. The 6DOF positions of the mobile robotic system in this space were then tracked and recorded independently by an optical surface tracking system after a cranial phantom was rigidly fixed to the moveable platform of the robotic stage. The calibration methodology was first employed, followed by a comprehensive 6DOF trajectory evaluation, which spanned a full range of positions and orientations in a 20 × 20 × 16 mm and 5• × 5 • × 5• workspace. The intended input motions were compared to the calibrated 6DOF measured points. Results:The technique found the accuracy of the infrared (IR) marker tracking system to have maximal root-mean square error (RMSE) values of 0.18, 0.25, 0.07 mm, 0.05• , 0.05 • , and 0.09• in left-right (LR), superior-inferior (SI), anterior-posterior (AP), pitch, roll, and yaw, respectively, comparing the intended 6DOF position and the measured position by the IR camera. Similarly, the 6DOF RSME discrepancy for the HD optical surface tracker yielded maximal values of 0.46, 0.60, 0.54 mm, 0.06• , 0.11 • , and 0.08 • in LR, SI, AP, pitch, roll, and yaw, respectively, over the same 6DOF evaluative workspace. An earlier generation 3D optical surface tracking unit was observed to have worse tracking capabilities than both the IR camera unit and the newer 3D surface tracking system with maximal RMSE of 0.69, 0.74, 0.47 mm, 0.28• , 0.19 • , and 0.18 • , in LR, SI, AP, pitch, roll, and yaw, respectively, in the same 6DOF evaluation space. Conclusions: The proposed technique was found to be effective at evaluating the performance of 6DOF patient tracking systems. All observed optical tracking systems were found to exhibit tracking capabilities at the sub-millimeter and subdegree level within a 6DOF workspace. C 2016 American Association of Physicists in Medicine. [http://dx

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Accuracy and efficiency of an infrared based positioning and tracking system for patient set-up and monitoring in image guided radiotherapy

Cited by 8 publications

References 9 publications

Towards frameless maskless SRS through real-time 6DoF robotic motion compensation

Towards frameless maskless SRS through real-time 6DoF robotic motion compensation

An Acoustic Tracking Approach for Medical Ultrasound Image Simulator

Spatial and rotational quality assurance of 6DOF patient tracking systems

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