robotic radiation oncology conor judge electronic and computer engineering national university of...
TRANSCRIPT
Robotic Radiation Oncology
Conor Judge
Electronic and Computer Engineering
National University of Ireland, Galway
Introduction
Project Background Original Aims System Overview
Image Acquisition Image Processing Robotic Control Demonstration Environment
Completed System Possible Future Work Conclusion
Project Background
Radiation oncology is the treatment of cancerous cells using ionising radiation.
External beam radiation therapy is the most common form of radiation therapy.
Project Background
Problems with External Beam Radiation Therapy Movement of tumour Movement of patient
Problems caused by movement The area of radiation around the tumour has to be
increased to account for this movement. The radiation dosage has to be reduced.
Project Background
Image Guided Radiation Therapy (IGRT)
CT Image of Body Readjustment of External Beam Radiation
Original Aims
Prove the concept that a moving tumour can be tracked by a beam of radiation.
A small ball is used to simulate the tumour and a laser beam is used to represent the radiation beam.
System Overview
Image Acquisition
Devices
Software Processing Unit
Image AcquisitionSub-section
Robotic Control Sub-section
Image Processing Sub-section
Pan and Tilt Laser
Image Acquisition Sub-Section
The Image Acquisition consists of two areas Hardware
Two standard USB webcams Software
The Image Acquisition Toolbox in MatLab
Image Processing Sub-Section
Locate centre of ball Canny Edge Detection Edge Linking, Circle Fit Algorithm
Robotic Control
The Robotic Control Sub-section consists of two parts Hardware
Servo motors and USB servo controller Software
Serial interface on MatLab
Demonstration Environment
Lego Mindstorms NXT Robotic Development System
Controls position and movement of ball
Completed System
Ball Moves and is followed by laser on pan and tilt servos
Processes frames at just over one frame per second (Good for MatLab)
Demonstrates
proof of concept (Initial Aim)
Possible Future Work
Port algorithm to C code or embedded system for improved performance
Modify the algorithm to output control commands for conventional linear accelerators
Perform image processing techniques on actual medical images
Questions?