Robotic motion compensation for respiratory movement during radiosurgery.

Biomedical Paper Robotic Motion Compensation for Respiratory Movement during Radiosurgery

Tumors in the chest and abdomen move during respiration. The ability of conventional radiation therapy systems to compensate for respiratory motion by moving the radiation source is inherently limited. Since safety margins currently used in radiation therapy increase the radiation dose by a very large amount, an accurate tracking method for following the motion of the tumor is of the utmost cli...

Algorithms for Compensation of Quasi-periodic Motion in Robotic Radiosurgery

Respiration tracking in radiosurgery.

Respiratory motion is difficult to compensate for with conventional radiotherapy systems. An accurate tracking method for following the motion of the tumor is of considerable clinical relevance. We investigate methods to compensate for respiratory motion using robotic radiosurgery. In this system the therapeutic beam is moved by a robotic arm, and follows the moving target through a combination...

Predicting Respiratory Motion for Active Canceling during Percutaneous Needle Insertion

– Prediction of bodily motion due to respiration was investigated preparatory to implementation of active compensation for respiration in a robot-assisted system for percutaneous kidney surgery. Data for preliminary testing were recorded from the chest wall of a subject using an optical displacement sensor. The weighted-frequency Fourier linear combiner algorithm, an adaptive modeling algorithm...

Evaluating and comparing algorithms for respiratory motion prediction.

In robotic radiosurgery, it is necessary to compensate for systematic latencies arising from target tracking and mechanical constraints. This compensation is usually achieved by means of an algorithm which computes the future target position. In most scientific works on respiratory motion prediction, only one or two algorithms are evaluated on a limited amount of very short motion traces. The p...