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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

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
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 background1
Project Background
  • External beam radiation therapy is the most common type of radiation treatment.
project background2
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 background3
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
System Overview







Pan and Tilt





image acquisition
Image Acquisition
  • Two parts to image acquisition:
    • Hardware
      • Logitech Quickcam.
    • Software
      • IMAQ Vision in Labview.
image processing
Image Processing
  • Various edge detection techniques tried:
    • Canny Edge Detection.
    • Different Filter Types.

Canny Edge


Prewitt Filtering

image processing1
Image Processing
  • Moving Objects.
    • Follow moving ball and detect movement around ball.
      • IMAQ Count Objects.
robotic control
Robotic Control
  • The robotic control consists of two sections:
    • Hardware
      • Pan and Tilt assembly and Parallax servo controller.
  • Software
    • Interface with Labview.
demonstration environment
Demonstration Environment
  • Lego Mindstroms NXT Robotic Kit.
  • Controls movement of the ball.
final system
Final System
  • Ball movement is monitored to high degree of accuracy.
  • Pan and Tilt assembly running in real-time from Labview.