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Verfasst von:Seitz, Peter Karl [VerfasserIn]   i
 Karger, Christian [VerfasserIn]   i
 Bendl, Rolf [VerfasserIn]   i
 Schwahofer, Andrea [VerfasserIn]   i
Titel:Strategy for automatic ultrasound (US) probe positioning in robot-assisted ultrasound guided radiation therapy
Verf.angabe:Peter Karl Seitz, Christian P Karger, Rolf Bendl and Andrea Schwahofer
E-Jahr:2023
Jahr:6 February 2023
Umfang:15 S.
Fussnoten:Gesehen am 18.04.2023
Titel Quelle:Enthalten in: Physics in medicine and biology
Ort Quelle:Bristol : IOP Publ., 1956
Jahr Quelle:2023
Band/Heft Quelle:68(2023), 4, Artikel-ID 045007, Seite 1-15
ISSN Quelle:1361-6560
Abstract:Objective. As part of image-guided radiotherapy, ultrasound-guided radiotherapy is currently already in use and under investigation for robot assisted systems Ipsen 2021. It promises a real-time tumor localization during irradiation (intrafractional) without extra dose. The ultrasound probe is held and guided by a robot. However, there is a lack of basic safety mechanisms and interaction strategies to enable a safe clinical procedure. In this study we investigate potential positioning strategies with safety mechanisms for a safe robot-human-interaction. Approach. A compact setup of ultrasound device, lightweight robot, tracking camera, force sensor and control computer were integrated in a software application to represent a potential USgRT setup. For the realization of a clinical procedure, positioning strategies for the ultrasound head with the help of the robot were developed, implemented, and tested. In addition, basic safety mechanisms for the robot have been implemented, using the integrated force sensor, and have been tested by intentional collisions. Main results. Various positioning methods from manual guidance to completely automated procedures were tested. Robot-guided methods achieved higher positioning accuracy and were faster in execution compared to conventional hand-guided methods. The developed safety mechanisms worked as intended and the detected collision force were below 20 N. Significance. The study demonstrates the feasibility of a new approach for safe robotic ultrasound imaging, with a focus on abdominal usage (liver, prostate, kidney). The safety measures applied here can be extended to other human-robot interactions and present the basic for further studies in medical applications.
DOI:doi:10.1088/1361-6560/acaf46
URL:Bitte beachten Sie: Dies ist ein Bibliographieeintrag. Ein Volltextzugriff für Mitglieder der Universität besteht hier nur, falls für die entsprechende Zeitschrift/den entsprechenden Sammelband ein Abonnement besteht oder es sich um einen OpenAccess-Titel handelt.

Volltext: https://doi.org/10.1088/1361-6560/acaf46
 Volltext: https://dx.doi.org/10.1088/1361-6560/acaf46
 DOI: https://doi.org/10.1088/1361-6560/acaf46
Datenträger:Online-Ressource
Sprache:eng
K10plus-PPN:1843067285
Verknüpfungen:→ Zeitschrift

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