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23 July 2014 In vivo reproducibility of robotic probe placement for a novel ultrasound-guided radiation therapy system
Muyinatu A. Lediju Bell, H. Tutkun Sen, Iulian I. Iordachita, Peter Kazanzides, John Wong
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Journal of Medical Imaging, Vol. 1, Issue 2, 025001 (July 2014). https://doi.org/10.1117/1.JMI.1.2.025001
Abstract
Ultrasound can provide real-time image guidance of radiation therapy, but the probe-induced tissue deformations cause local deviations from the treatment plan. If placed during treatment planning, the probe causes streak artifacts in required computed tomography (CT) images. To overcome these challenges, we propose robot-assisted placement of an ultrasound probe, followed by replacement with a geometrically identical, CT-compatible model probe. In vivo reproducibility was investigated by implanting a canine prostate, liver, and pancreas with three 2.38-mm spherical markers in each organ. The real probe was placed to visualize the markers and subsequently replaced with the model probe. Each probe was automatically removed and returned to the same position or force. Under position control, the median three-dimensional reproducibility of marker positions was 0.6 to 0.7 mm, 0.3 to 0.6 mm, and 1.1 to 1.6 mm in the prostate, liver, and pancreas, respectively. Reproducibility was worse under force control. Probe substitution errors were smallest for the prostate (0.2 to 0.6 mm) and larger for the liver and pancreas (4.1 to 6.3 mm), where force control generally produced larger errors than position control. Results indicate that position control is better than force control for this application, and the robotic approach has potential, particularly for relatively constrained organs and reproducibility errors that are smaller than established treatment margins.
CC BY: © The Authors. Published by SPIE under a Creative Commons Attribution 4.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.
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Muyinatu A. Lediju Bell, H. Tutkun Sen, Iulian I. Iordachita, Peter Kazanzides, and John Wong "In vivo reproducibility of robotic probe placement for a novel ultrasound-guided radiation therapy system," Journal of Medical Imaging 1(2), 025001 (23 July 2014). https://doi.org/10.1117/1.JMI.1.2.025001
Published: 23 July 2014
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Cited by 31 scholarly publications.
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KEYWORDS
Computed tomography
3D modeling
Liver
Prostate
Tissues
In vivo imaging
Pancreas
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