서브메뉴
검색
상세정보
Robotic System and Co-manipulation Strategy for Ultrasound Guided Radiotherapy- [electronic resource]
Robotic System and Co-manipulation Strategy for Ultrasound Guided Radiotherapy- [electronic resource]
상세정보
- 자료유형
- 학위논문(국외)
- 자관 청구기호
- 기본표목-개인명
- 표제와 책임표시사항
- Robotic System and Co-manipulation Strategy for Ultrasound Guided Radiotherapy - [electronic resource] / Sen, H. Tutkun.
- 발행, 배포, 간사 사항
- 형태사항
- 1 online resource(212 p)
- 일반주기
- Source: Dissertation Abstracts International, Volume: 78-06(E), Section: B.
- 일반주기
- Adviser: Peter Kazanzides.
- 학위논문주기
- Thesis (Ph.D.)--The Johns Hopkins University, 2016.
- 요약 등 주기
- 요약In this thesis, we propose a cooperative robot control methodology that provides real-time ultrasound-based guidance in the direct manipulation paradigm for the planning and the treatment delivery phases of the image-guided radiation therapy (IGRT) in which a clinician and robot share control of a 3D ultrasound (US) probe. The proposed US probe co-manipulation methodology has two goals. The first goal is to provide guidance to the therapists for patient setup on the treatment delivery days utilizing the robot position, contact force, and reference US image recorded during planning. We provide the guidance in the form of virtual fixtures, which are software-generated force and position signals applied to human operators that permit the operators to perform physical interactions, yet retain direct control of the task. The second goal is the real-time target monitoring during fractionated radiotherapy of soft tissue targets, especially in the upper abdomen. The co-manipulation technique is used to locate soft-tissue targets with US imaging for radiotherapy, enabling inexperienced therapists to find an US image which has previously been identified by an expert sonographer on the planning day. Moreover, to compensate for soft tissue deformations created by the probe, we propose a novel clinical workflow where a robot holds the US probe on the patient during acquisition of the planning computerized tomography (CT) image, thereby ensuring that planning is performed on the deformed tissue. Our results show that the proposed co-manipulation technique with virtual fixtures and US image feedback can significantly reduce the time it takes to find the reference US images, it can provide more accurate US probe placement compared to finding the images free hand, and finally, it can increase the accuracy of the patient setup, and thus, the radiation therapy.
- 주제명부출표목-일반주제명
- 부출표목-단체명
- 기본자료저록
- Dissertation Abstracts International. 78-06B(E).
- 기본자료저록
- Dissertation Abstract International
- 전자적 위치 및 접속
- 원문정보보기
- 소장사항
-
20170404 2017
MARC
008170601s2016 us esm 001c eng■001MOKWON01254966
■00520170418120931
■007cr
■020 ▼a9781369476156
■035 ▼a(MiAaPQ)AAI10302305
■040 ▼aMiAaPQ▼cMiAaPQ
■090 ▼a전자도서(박사논문)
■1001 ▼aSen, H. Tutkun.
■24510▼aRobotic System and Co-manipulation Strategy for Ultrasound Guided Radiotherapy▼h[electronic resource]▼cSen, H. Tutkun.
■260 ▼a[Sl]▼bThe Johns Hopkins University▼c2016
■300 ▼a1 online resource(212 p)
■500 ▼aSource: Dissertation Abstracts International, Volume: 78-06(E), Section: B.
■500 ▼aAdviser: Peter Kazanzides.
■5021 ▼aThesis (Ph.D.)--The Johns Hopkins University, 2016.
■520 ▼aIn this thesis, we propose a cooperative robot control methodology that provides real-time ultrasound-based guidance in the direct manipulation paradigm for the planning and the treatment delivery phases of the image-guided radiation therapy (IGRT) in which a clinician and robot share control of a 3D ultrasound (US) probe. The proposed US probe co-manipulation methodology has two goals. The first goal is to provide guidance to the therapists for patient setup on the treatment delivery days utilizing the robot position, contact force, and reference US image recorded during planning. We provide the guidance in the form of virtual fixtures, which are software-generated force and position signals applied to human operators that permit the operators to perform physical interactions, yet retain direct control of the task. The second goal is the real-time target monitoring during fractionated radiotherapy of soft tissue targets, especially in the upper abdomen. The co-manipulation technique is used to locate soft-tissue targets with US imaging for radiotherapy, enabling inexperienced therapists to find an US image which has previously been identified by an expert sonographer on the planning day. Moreover, to compensate for soft tissue deformations created by the probe, we propose a novel clinical workflow where a robot holds the US probe on the patient during acquisition of the planning computerized tomography (CT) image, thereby ensuring that planning is performed on the deformed tissue. Our results show that the proposed co-manipulation technique with virtual fixtures and US image feedback can significantly reduce the time it takes to find the reference US images, it can provide more accurate US probe placement compared to finding the images free hand, and finally, it can increase the accuracy of the patient setup, and thus, the radiation therapy.
■590 ▼aSchool code: 0098.
■650 4▼aComputer science
■690 ▼a0984
■71020▼aThe Johns Hopkins University▼bComputer Science.
■7730 ▼tDissertation Abstracts International▼g78-06B(E).
■773 ▼tDissertation Abstract International
■790 ▼a0098
■791 ▼aPh.D.
■792 ▼a2016
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T14490767▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
■980 ▼a20170404▼f2017
한글
ENG
日本
中文
Việt Nam