Using an external registration system for daily patient repositioning in protontherapy

Pinault, Samuel; Morel, Guillaume; Auger, Michel; Ferrand, R.; Mabit, C.

doi:10.1109/iros.2007.4398956

Cited by 6 publications

(2 citation statements)

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“…Alternative systems (e.g. [47]) have been proposed to robotically position the patient relative to the radiation beam by means of parallel robotized seats or robotized couches.…”

Section: A Case Study: the Cyberknife® Systemmentioning

confidence: 99%

Computer and Robot-Assisted Medical Intervention

Troccaz

2009

Springer Handbook of Automation

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Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design and control paradigms in the development of medical robots are presented and issues specific to that application domain are discussed. A view of existing systems, on-going developments and future trends is given. A case-study is detailed. Other types of robotic help in the medical environment (such as for assisting a handicapped person, for rehabilitation of a patient or for replacement of some damaged/suppressed limbs or organs) are out of the scope of this chapter. Introduction: clinical context and objectivesInformatics and technology have dramatically transformed the clinical practice over the last decades. This technically oriented evolution was parallel to other specific evolutions of medicine:-Diagnostic and therapy procedures tend to be less and less invasive for the patient aiming at reducing pain, post-operative complications, hospital stay, and recovery time. Minimalinvasiveness results in smaller targets reached through narrow access (natural or not) with no direct sensing (vision, touch) and limited degrees of freedom. -More and more data are handled for each patient (e.g. images, signals) in order to prepare and to monitor the medical action and those multi-modality data have to be shared by several actors participating to this action. -As in many domains, quality control gets more and more important and quantitative indicators have to be made available. -Traceability becomes mandatory especially regarding the always increasing number of legal cases. Traceability is also of primary importance in cost management. These evolutions make the medical action more and more complex for the clinician both at the technical level and at the organisational one. Computer-assisted medical interventions may contribute a lot to those clinical objectives. They may provide quantitative and rational collaborative access to patient information, fusion of multi-modal data and their exploitation for planning and execution of medical actions. Computer-assisted medical interventionsThe development of this area from the early eighties results from converging evolutions in medicine, physics, materials, electronics, informatics, robotics, etc. This field and related subfields are given several names almost synonymous: computer-assisted medical interventions (the most general), augmented surgery, computer-assisted surgery, image-guided surgery, medical robotics, surgical navigation, etc. We will subsequently use "computer-assisted medical interventions" or "CAMI" to name the domain.Definition: CAMI aims at providing tools that allow the clinician to use multi-modality data in a rational and quantitative way in order to plan, to simulate a...

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“…Alternative systems (e.g. [47]) have been proposed to robotically position the patient relative to the radiation beam by means of parallel robotized seats or robotized couches.…”

Section: A Case Study: the Cyberknife® Systemmentioning

confidence: 99%

Computer and Robot-Assisted Medical Intervention

Troccaz

2009

Springer Handbook of Automation

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“…A similar approach of correspondance between current fiducial markers orthogonal images and reference is found in [12], and can be applied in radio-surgery [13]. A refinement step can be provided by an infrared stereovision camera POLARIS that returns 3D locations of five reflecting ball implanted on the plastic mould [6]. Other patient alignment systems use image registration techniques based on skull image, or external markers detected in 3D with several infrared stereovision cameras [9], [8].…”

Section: Introductionmentioning

confidence: 99%

Combination of Image Registration Algorithms for Patient Alignement in Proton Beam Therapy

Belaroussi

Morel

2008

Lecture Notes in Computer Science

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Abstract. We propose a measure of patient alignment in a video by combining different image representations : grey level, edges, and a set of feature points. When patient head is correctly positionned, a reference image with its ellipse is stored as a template of correct alignment. Edges detection results in a second template of the correct head location. Corners inside the ellipse are detected and tracked: a set of N feature points composes a third template. Template matching computes a measure of similarity between a representation of the reference image and a window sliding around the reference location. Similarity with these three models are combined by the product rule. Location of window the most similar to the templates gives the translation T of the reference model in the image plane. This measure of patient misalignment could avoid X-ray verification of patient alignment, reducing patient dose and duration of treatment sessions.

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