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Robotic Radiation Oncology

Robotic Radiation Oncology. Conor Judge Electronic and Computer Engineering National University of Ireland, Galway. Introduction. Project Background Original Aims System Overview Image Acquisition Image Processing Robotic Control Demonstration Environment Completed System

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Robotic Radiation Oncology

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  1. Robotic Radiation Oncology Conor Judge Electronic and Computer Engineering National University of Ireland, Galway

  2. Introduction • Project Background • Original Aims • System Overview • Image Acquisition • Image Processing • Robotic Control • Demonstration Environment • Completed System • Possible Future Work • Conclusion

  3. Project Background • Radiation oncology is the treatment of cancerous cells using ionising radiation. • External beam radiation therapy is the most common form of radiation therapy.

  4. Project Background • Problems with External Beam Radiation Therapy • Movement of tumour • Movement of patient • Problems caused by movement • The area of radiation around the tumour has to be increased to account for this movement. • The radiation dosage has to be reduced.

  5. Project Background • Image Guided Radiation Therapy (IGRT) CT Image of Body Readjustment of External Beam Radiation

  6. Original Aims • Prove the concept that a moving tumour can be tracked by a beam of radiation. • A small ball is used to simulate the tumour and a laser beam is used to represent the radiation beam.

  7. System Overview

  8. Image Acquisition Sub-Section • The Image Acquisition consists of two areas • Hardware • Two standard USB webcams • Software • The Image Acquisition Toolbox in MatLab

  9. Image Processing Sub-Section • Locate centre of ball • Canny Edge Detection • Edge Linking, Circle Fit Algorithm

  10. Robotic Control • The Robotic Control Sub-section consists of two parts • Hardware • Servo motors and USB servo controller • Software • Serial interface on MatLab

  11. Demonstration Environment • Lego Mindstorms NXT Robotic Development System • Controls position and movement of ball

  12. Completed System • Ball Moves and is followed by laser on pan and tilt servos • Processes frames at just over one frame per second (Good for MatLab) • Demonstrates proof of concept (Initial Aim)

  13. Possible Future Work • Port algorithm to C code or embedded system for improved performance • Modify the algorithm to output control commands for conventional linear accelerators • Perform image processing techniques on actual medical images

  14. Questions?

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