Transactions on Robotics and Automation 1 Planning for Camera - Guided Robotic
نویسندگان
چکیده
| Radiosurgery is a treatment for brain tumors and other lesions which employs a moving beam of photon radiation. In robotic radiosurgery, the radiation source is moved by a six degree-of-freedom robotic arm. A treatment planning system for robotic radiosurgery was developed. This planning system combines collision avoidance techniques and geometric algorithms for nding appropriate robot paths and beam activation prooles. The following design goals characterize our application: (1) ability to generate conformal three-dimensional dose distributions, (2) transparency of the planning process, (3) full use of the motion exibility provided by the robotic arm. The new planning system is in clinical use in several leading medical institutions. Results obtained from studies suggest that highly conformal distributions can be generated in a very eeective way.
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