NDLI: Treatment planning for a radiosurgical system with general kinematics

Content Provider	IEEE Xplore Digital Library
Author	Schweikard, A. Tombropoulos, R. Kavraki, L. Adler, J.R. Latombe, J.-C.
Copyright Year	1994
Description	Author affiliation: Robotics Lab., Stanford Univ., CA, USA (Schweikard, A.; Tombropoulos, R.; Kavraki, L.)
Abstract	In radiosurgery a beam of radiation is used as an ablative surgical instrument to destroy brain tumors. Treatment planning consists of computing a sequence of beam configurations for delivering a necrotic dose to the tumor, without damaging healthy tissue or particularly critical structures. In current systems, kinematic limitations severely constrain beam motion. This often results in inappropriate dose distributions. A new radiosurgical system has been implemented to overcome this disadvantage. In this system, a compact radiation source of high energy is moved by a 6-dof robotic arm. We describe algorithms for computing a motion with specified characteristics for this new system. Treatment plans used at test sites with earlier systems are compared to plans computed with the described algorithms. The experience reported shows that full kinematic flexibility combined with treatment planning algorithms allows for better protection of healthy tissue and higher dosage in tumors.
Starting Page	1720
Ending Page	1727
File Size	740609
Page Count	8
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351344
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Neoplasms High energy physics instrumentation computing Biomedical imaging Robots Motion planning Anatomical structure Biomedical optical imaging Optical sensors Laboratories
Content Type	Text
Resource Type	Article

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