Universität zu Köln

Schlueter, Matthias, Fuerweger, Christoph and Schlaefer, Alexander (2019). Optimizing robot motion for robotic ultrasound-guided radiation therapy. Phys. Med. Biol., 64 (19). BRISTOL: IOP PUBLISHING LTD. ISSN 1361-6560

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Abstract

An important aspect of robotic radiation therapy is active compensation of target motion. Recently, ultrasound has been proposed to obtain real-time volumetric images of abdominal organ motion. One approach to realize flexible probe placement throughout the treatment fraction is based on a robotic arm holding the ultrasound probe. However, the probe and the robot holding it may obstruct some of the beams with a potentially adverse effect on the plan quality. This can be mitigated by using a kinematically redundant robot, which allows maintaining a steady pose of the ultrasound probe while moving its elbow in order to minimize beam blocking. Ultimately, the motion of both the beam source carrying and the ultrasound probe holding robot contributes to the overall treatment time, i.e. beam delivery and robot motion. We propose an approach to optimize the motion and coordination of both robots based on a generalized traveling salesman problem. Furthermore, we study an application of the model to a prostate treatment scenario. Because the underlying optimization problem is hard, we compare results from a state-of-the-art heuristic solver and an approximation scheme with low computational effort. Our results show that integration of the robot holding the ultrasound probe is feasible with acceptable overhead in overall treatment time. For clinically realistic velocities of the robots, the overhead is less than 4% which is a small cost for the added benefit of continuous, volumetric, and non-ionizing tracking of organ motion over periodic x-ray-based tracking.

Item Type:	Journal Article
Creators:	Creators Email ORCID ORCID Put Code Schlueter, Matthias UNSPECIFIED UNSPECIFIED UNSPECIFIED Fuerweger, Christoph UNSPECIFIED UNSPECIFIED UNSPECIFIED Schlaefer, Alexander UNSPECIFIED UNSPECIFIED UNSPECIFIED
URN:	urn:nbn:de:hbz:38-131688
DOI:	10.1088/1361-6560/ab3bfb
Journal or Publication Title:	Phys. Med. Biol.
Volume:	64
Number:	19
Date:	2019
Publisher:	IOP PUBLISHING LTD
Place of Publication:	BRISTOL
ISSN:	1361-6560
Language:	English
Faculty:	Unspecified
Divisions:	Unspecified
Subjects:	no entry
Uncontrolled Keywords:	Keywords Language MULTILEAF COLLIMATOR; TRACKING; OPTIMIZATION; CYBERKNIFE; ALGORITHM; GUIDANCE; SYSTEM; COMPENSATION; RADIOTHERAPY; DESIGN Multiple languages Engineering, Biomedical; Radiology, Nuclear Medicine & Medical Imaging Multiple languages
Refereed:	Yes
URI:	http://kups.ub.uni-koeln.de/id/eprint/13168