Modeling and performance evaluation of a robotic treatment couch for tumor tracking
-
Alexander Jöhl
, Stephanie Lang , Stefanie Ehrbar , Matthias Guckenberger , Stephan Klöck , Mirko Meboldt and Marianne Schmid Daners
Abstract
Tumor motion during radiation therapy increases the irradiation of healthy tissue. However, this problem may be mitigated by moving the patient via the treatment couch such that the tumor motion relative to the beam is minimized. The treatment couch poses limitations to the potential mitigation, thus the performance of the Protura (CIVCO) treatment couch was characterized and numerically modeled. The unknown parameters were identified using chirp signals and verified with one-dimensional tumor tracking. The Protura tracked chirp signals well up to 0.2 Hz in both longitudinal and vertical directions. If only the vertical or only the longitudinal direction was tracked, the Protura tracked well up to 0.3 Hz. However, there was unintentional yet substantial lateral motion in the former case. And during vertical motion, the extension caused rotation of the Protura around the lateral axis. The numerical model matched the Protura up to 0.3 Hz. Even though the Protura was designed for static positioning, it was able to reduce the tumor motion by 69% (median). The correlation coefficient between the tumor motion reductions of the Protura and the model was 0.99. Therefore, the model allows tumor-tracking results of the Protura to be predicted.
- Nomenclature
- B
base-leg joint location
- B0
initial base-leg joint location
- CG
center of gravity
- DoF
degree(s) of freedom
- E
platform-extension joint
- ECG
center of gravity of extension
- F
input forces of mechanical system
- J
leg-platform joint location
- LCG
center of gravity of leg
- M
generic mass matrix of (1)
- O
inertial origin of system
- PID
proportional-integral-differential
- T
geometrical center of platform of treatment couch
- TCG
center of gravity of platform of treatment couch
- eRMS
root mean squared error
- t
vector from origin to center of platform
- tref
reference platform position
- q
quaternion vector for rotation of platform
- qref
reference quaternion for rotation of platform
- u
one base-leg position (a component of u)
- u
base-leg positions
- uref
reference base-leg positions
- utraj
derivative limited reference base-leg positions
- ϕ
angle of extension relative to platform
- ωIT
rotational velocity of platform
Acknowledgments:
This work was supported by the Swiss National Science Foundation (SNSF) through “Development of prediction models for liver, lung, and breast tumors and implementation and verification of prediction filters for advanced couch tracking in a clinical environment”, Grant No. CR32I3_153491.
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Supplemental Material:
The online version of this article (DOI: 10.1515/bmt-2015-0187) offers supplementary material, available to authorized users.
©2016 Walter de Gruyter GmbH, Berlin/Boston
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- Frontmatter
- Research articles
- Development of antibiotic-loaded silk fibroin/hyaluronic acid polyelectrolyte film coated CoCrMo alloy
- Adhesion and proliferation of cells and bacteria on microchip with different surfaces microstructures
- Hydrophobic forces as a key factor in crystalline biofilm formation on ureteral stents
- Topography and nanostructural evaluation of chemically and thermally modified titanium substrates
- Thermodynamic effects after Diode and Er:YAG laser irradiation of grade IV and V titanium implants placed in bone – an ex vivo study. Preliminary report
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