Real time robotic radiation oncology
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Real-time Robotic Radiation Oncology. Brian Murphy Electronic and Computer Engineering NUI Galway. Overview. Project Background Aims System Overview: Image Acquisition Image Processing Hardware Demonstration Environment Final System. Project Background.

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Real-time Robotic Radiation Oncology

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Real-time Robotic Radiation Oncology

Brian Murphy

Electronic and Computer Engineering

NUI Galway


  • Project Background

  • Aims

  • System Overview:

    • Image Acquisition

    • Image Processing

    • Hardware

    • Demonstration Environment

  • Final System

Project Background

  • Radiation oncology is the study of tumors in a body and aims to find out about their development, diagnosis, treatment and prevention.

Project Background

  • External beam radiation therapy is the most common type of radiation treatment.

Project Background

  • Problems with external beam radiotherapy:

    • Tumor prone to movement.

    • Patient prone to movement.

  • Problem with movement:

    • Higher area around the tumor must be exposed to radiation to ensure that any movement of the tumor will lead to it being treated no matter where it moves to.

    • Reduced dose of radiation.

Project Background

  • Image Guided Radiation Therapy (IGRT).


  • To prove that a radiation beam can track a moving tumor in real-time.

  • To represent a tumor, a ball will be used and to simulate a radiation beam a laser beam will be used.

System Overview







Pan and Tilt





Image Acquisition

  • Two parts to image acquisition:

    • Hardware

      • Logitech Quickcam.

    • Software

      • IMAQ Vision in Labview.

Image Processing

  • Various edge detection techniques tried:

    • Canny Edge Detection.

    • Different Filter Types.

Canny Edge


Prewitt Filtering

Image Processing

  • Moving Objects.

    • Follow moving ball and detect movement around ball.

      • IMAQ Count Objects.

Robotic Control

  • The robotic control consists of two sections:

    • Hardware

      • Pan and Tilt assembly and Parallax servo controller.

  • Software

    • Interface with Labview.

Demonstration Environment

  • Lego Mindstroms NXT Robotic Kit.

  • Controls movement of the ball.

Final System

  • Ball movement is monitored to high degree of accuracy.

  • Pan and Tilt assembly running in real-time from Labview.


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