![Page 1: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/1.jpg)
1 Mech. Engineering, Comp. Science, and Rad. Oncology Departments Schools of Engineering and Medicine, Bio-X Program, Stanford University
![Page 2: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/2.jpg)
2
Conflict of Interest
• Nothing to disclose
![Page 3: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/3.jpg)
3
Imaging During Beam Delivery
• Existing solutions are limited: Radiographic x-ray Electromagnetic
Real-time marker-less soft-tissue image guidance during beam delivery is an unmet challenge
![Page 4: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/4.jpg)
4
3D US image stream
Haptic Interface
US-guidance workstation computer
Linear Accelerator
Patient
4D US probe
US Robot
US imaging system
Robot Control
Novel Image Guidance Solution
Accelerator control console
Trea
tmen
t In
terv
entio
n
Probe position data (6 DOF)
Optical tracker
Telerobotic system enables remote probe control
![Page 5: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/5.jpg)
5
Telerobotic Imaging
Remote Haptic Interface Robot
![Page 6: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/6.jpg)
6
Key Issues
• Remote ultrasound imaging during beam delivery ! Robotic manipulator design ! Treatment plan compatibility ! Performance during radiation exposure – Imaging robustness for multiple treatment sites
• Image guidance – Temporal calibration and time delay – Spatial calibration and accuracy
! Details to appear in Medical Physics: Schlosser et al. (2010)
![Page 7: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/7.jpg)
7
Telerobotic Imaging for Multiple Sites
Prostate Volunteer
Liver Volunteer
Kidney Volunteer
Pitch Force
Image quality remotely maintained over 10 minutes
100 200 300 400 500 600 Time [sec] 100 200 300 400 500 600 Time [sec]
![Page 8: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/8.jpg)
8
unknown
Image Guidance: Spatial Calibration
• Goal: find imTpr • Variation of planar fit method from Hartov et. al*
Fimage Fprobe Ftracker Ftreatment
*Hartov et al., “Adaptive spatial calibration of a 3D ultrasound system,” Med. Phys., 2010
prTtr trTw
imTpr
![Page 9: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/9.jpg)
9
Image Guidance: Spatial Calibration
(1) Collect images of plate
(4) Optimize planar data fit
(2) Extract points on plane
(3) Convert to world frame
wp= wTtr* trTpr* prTim* imp
![Page 10: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/10.jpg)
10
Temporal Calibration and System Evaluation: Experimental Method
– Image static target in US phantom – Vary probe pitch or pressure – Track target in real-time using NCC – Use transformation chain to register in world frame
Optical Tracker Robot US probe
Phantom
Guidance Software
![Page 11: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/11.jpg)
11
Optical Tracker Robot US probe
Phantom
Guidance Software
Temporal Calibration and System Evaluation: Experimental Method
– Image static target in US phantom – Vary probe pitch or pressure – Track target in real-time using NCC – Use transformation chain to register in world frame
![Page 12: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/12.jpg)
12
Optical Tracker Robot US probe
Phantom
Guidance Software
Temporal Calibration and System Evaluation: Experimental Method
– Image static target in US phantom – Vary probe pitch or pressure – Track target in real-time using NCC – Use transformation chain to register in world frame
![Page 13: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/13.jpg)
13
Optical Tracker Robot US probe
Phantom
Guidance Software
Temporal Calibration and System Evaluation: Experimental Method
– Image static target in US phantom – Vary probe pitch or pressure – Track target in real-time using NCC – Use transformation chain to register in world frame
![Page 14: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/14.jpg)
14
Optical Tracker Robot US probe
Phantom
Guidance Software
Temporal Calibration and System Evaluation: Experimental Method
– Image static target in US phantom – Vary probe pitch or pressure – Track target in real-time using NCC – Use transformation chain to register in world frame
![Page 15: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/15.jpg)
15
Temporal Calibration • Novel procedure:
– Robot pitches US probe w/ sinusoidal motion – Static target imaged and tracked using NCC – Optical tracker data compared to US pixel data
92ms
Raw Data Sinusoid Model
![Page 16: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/16.jpg)
16
Evaluation: Spatial Localization Error
Variable Pitch Pressure Experimental Parameters
-5 to 5° 0.4 Hz
0 to 12N
Tracking Error 0.4± 0.2 mm
0.6± 0.3mm
Max Tracking Error
0.8 mm 1.3 mm
Real-time phantom localization error < 1mm
Image Space World Space
World Space Magnified
![Page 17: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/17.jpg)
17
Evaluation: Spatial Localization Error
Real-time phantom localization error < 1mm
Image Space World Space
World Space Magnified
Variable Pitch Pressure Experimental Parameters
-5 to 5° 0.4 Hz
0 to 12N
Tracking Error 0.4± 0.2 mm
0.6± 0.3mm
Max Tracking Error
0.8 mm 1.3 mm
![Page 18: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/18.jpg)
18
Evaluation: Spatial Localization Error
Real-time phantom localization error < 1mm
Image Space World Space
World Space Magnified
Variable Pitch Pressure Experimental Parameters
-5 to 5° 0.4 Hz
0 to 12N
Tracking Error 0.4± 0.2 mm
0.6± 0.3mm
Max Tracking Error
0.8 mm 1.3 mm
![Page 19: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/19.jpg)
19
Evaluation: Spatial Localization Error
Real-time phantom localization error < 1mm
Image Space World Space
World Space Magnified
Variable Pitch Pressure Experimental Parameters
-5 to 5° 0.4 Hz
0 to 12N
Tracking Error 0.4± 0.2 mm
0.6± 0.3mm
Max Tracking Error
0.8 mm 1.3 mm
![Page 20: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/20.jpg)
20
Evaluation: Time Lag
179ms
• Experimental method: – Similar to time calibration – Robot trajectory (1000Hz) compared to target
trajectory in ultrasound sequence Raw Data Sinusoid Model
![Page 21: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/21.jpg)
21
Real-Time Guidance at 5 Hz and Sub-millimeter Localization Accuracy
![Page 22: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/22.jpg)
22
Conclusions
• Remotely-controlled soft-tissue imaging in the treatment vault is feasible for multiple abdominal sites
• Sub-millimeter targeting accuracy with 2D imaging indicates feasibility for accurate real-time 3D ultrasound guidance
• Telerobotic US guidance system could offer non-invasive localization for IGRT that truly reflects soft-tissue anatomy
![Page 23: Mech. Engineering, Comp. Science ... - Stanford Universitydhristov/Telerobotic... · Schools of Engineering and Medicine, Bio-X Program, Stanford University . 2 Conflict of Interest](https://reader035.vdocument.in/reader035/viewer/2022063022/5fe7fae79b57ff423752a7fb/html5/thumbnails/23.jpg)
23
Questions?
Investigator Emails: [email protected] [email protected] [email protected]
Mech. Engineering, Comp. Science, and Rad. Oncology Departments Schools of Engineering and Medicine, Bio-X Program, Stanford University