The international journal of medical robotics + computer assisted surgery : MRCAS · 2024
Robot-Assisted Ocular Tumour Radiotherapy Positioning and Tracking System.
СтатьяНазвание и аннотация: Перевод пока не подготовлен
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Wang Xu, Shi Dequan, Wang Kundong, Ming Xue, Shengyin Xiangzi, Jia Shouqiang
Аннотация
BACKGROUND: Precise dose position distribution is crucial for ocular proton therapy.
METHODS: A non-invasive eye positioning and tracking system with novel structure is designed to reduce eye movement and facilitate precise dose by guiding the direction of patients' gaze. The system helps to achieve gaze guidance by controlling the light source fixed on two turntables above the patient's face. Tracking of the eye is achieved by cameras attached to the end of a 6DOFs robotic arm to capture the image reflected from a mirror above the patient's face.
RESULTS: After all operation steps, the accuracy of the robotic arm is 0.18 mm (SD 0.25 mm) and the accuracy of the turntables is 0.01° (SD 0.02°). The EPTS is tested to be remotely controlled in real time with sufficient precision and repeatability.
CONCLUSION: The system is expected to improve the safety and efficiency of ocular proton therapy.
METHODS: A non-invasive eye positioning and tracking system with novel structure is designed to reduce eye movement and facilitate precise dose by guiding the direction of patients' gaze. The system helps to achieve gaze guidance by controlling the light source fixed on two turntables above the patient's face. Tracking of the eye is achieved by cameras attached to the end of a 6DOFs robotic arm to capture the image reflected from a mirror above the patient's face.
RESULTS: After all operation steps, the accuracy of the robotic arm is 0.18 mm (SD 0.25 mm) and the accuracy of the turntables is 0.01° (SD 0.02°). The EPTS is tested to be remotely controlled in real time with sufficient precision and repeatability.
CONCLUSION: The system is expected to improve the safety and efficiency of ocular proton therapy.