Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require is subject drift, cause cumulative errors, especially during measurement of position. To handle cases where some or all markers are occluded, this paper proposes an optical sensor fusion approach bias sensors estimated when tracker full six...

We are developing a cooperatively controlled robot system for image-guided radiation therapy (IGRT) in which clinician and share control of 3-D ultrasound (US) probe. IGRT involves two main steps: 1) planning/simulation 2) treatment delivery. The goals the to provide guidance patient setup real-time target monitoring during fractionated radiotherapy soft tissue targets, especially upper abdomen. To compensate deformations created by probe, we present novel workflow where holds US probe on...

Yalın üretim, kuruluşların verimliliğinin ve düzenliliğinin arttırılması için çok önemli bir araştırma odağı haline gelmiştir. üretim kavramı ile ilgili hem sanayi kuruluşlarında de akademik alanda birçok çalışma yapılmaktadır. Yapılan çalışmada, YÖKTEZ üzerinde, 1990 yılı 2022 yılları arasında yalın gerçekleştirilen 545 adet lisansüstü tez, tarama modeli kullanılarak incelenmiştir. İçerik analizi yöntemi tezler hakkında değerlendirme yapılmıştır. Tezler, arama konusu, gerçekleşen yayın...

Image-guided radiation therapy (IGRT) involves two main procedures, performed in different rooms on days: (1) treatment planning the simulator room first day, and (2) radiotherapy linear accelerator over multiple subsequent days. Both include CT imaging capabilities, which enables both reproducible patient setup, but does not provide good soft tissue contrast or allow monitoring of target during treatment. We propose a cooperatively-controlled robot to reproducibly position an ultrasound...

Stability and performance during rhythmic motor behaviors such as locomotion are critical for survival across taxa: falling down would bode well neither cheetah nor gazelle. Little is known about how haptic feedback, particularly discrete events the heel-strike event walking, enhances behavior. To determine effect of cues on performance, we investigated a virtual paddle juggling behavior, analogous to bouncing table tennis ball paddle. Here, show that force impulse hand at moment ball-paddle...

Ultrasound can provide real-time image guidance of radiation therapy, but the probe-induced tissue deformations cause local deviations from treatment plan. If placed during planning, probe causes streak artifacts in required computed tomography (CT) images. To overcome these challenges, we propose robot-assisted placement an ultrasound probe, followed by replacement with a geometrically identical, CT-compatible model probe. In vivo reproducibility was investigated implanting canine prostate,...

Radiation therapy typically begins with the acquisition of a CT scan patient for planning, followed by multiple days where radiation is delivered according to plan. This requires that be reproducibly positioned (set up) on device (linear accelerator) such beams pass through target. Modern linear accelerators provide cone-beam computed tomography (CBCT) imaging, but this does not sufficient contrast discriminate many abdominal soft-tissue targets and therefore setup often done aligning bony...

Acoustic radiation force (ARF)-based approaches to measure tissue elasticity require transmission of a focused high-energy acoustic pulse from stationary ultrasound probe and ultrasound-based tracking the resulting displacements obtain stiffness images or shear wave speed estimates. The method has established benefits in biomedical applications such as tumor detection fibrosis staging. One limitation, however, is dependence on applied pressure, which difficult control manually prohibits...

Abstract Purpose Stereotactic body radiation therapy (SBRT) allows for high doses to be delivered the pancreatic tumors with limited toxicity. Nevertheless, respiratory motion of pancreas introduces major uncertainty during SBRT. Ultrasound imaging is a non‐ionizing, non‐invasive, and real‐time technique intrafraction monitoring. A configuration not available place ultrasound probe SBRT Methods Materials An arm‐bridge system was designed built. CT scan bridge‐held acquired fused ten...

We are developing a cooperatively-controlled robot system in which clinician and share control of 3D ultrasound (US) probe. The goals the to provide guidance for patient setup real-time target monitoring during fractionated radiotherapy. Currently, there is limited use realtime US image feedback radiotherapy lower abdominal organs it has not yet been clinically applied upper organs. One challenge that placing an probe on produces tissue deformation around organ, leading displacement target....

Acoustic radiation force (ARF)-based measurements of tissue elasticity require transmission an acoustic pulse and ultrasound image-based tracking the resulting displacements. This technique provides diagnostic information about various disease states tissue. One limitation, however, is dependency on applied probe pressure, which difficult to control manually prohibits standardization quantitative measurements. To overcome this we introduce a custom-built robot that controls contact forces....

Tracking systems are essential components for many computer assisted interventions because they enable the doctor to visualize anatomical information, derived from preoperative or intraoperative images, registered with respect actual patient anatomy. This paper presents two applications of Bayesian filters: Particle Filter (PF) and Extended Kalman (EKF) obtain accurate dynamic tracking performance an electromagnetic (EMT) system, even if EMT cannot provide full measurement state at each...

Natural orifice transluminal endoscopic surgery (N.O.T.E.S) is a minimally invasive surgical technique that could benefit greatly from additional methods for intraoperative detection of tissue malignancies (using elastography) along with more precise control tools. Ultrasound elastography has proven itself as an invaluable imaging modality. However, elasticity images typically suffer low contrast when organs the surface body. In addition, palpation motions needed to generate useful...

Tracking systems play a crucial role in many computer-assisted interventions by providing precise tool position and orientation with respect to the patient anatomy. In this study, we focus on Particle Filtering (PF) approach enhance dynamic tracking performance of an electromagnetic (EMT) system, even when transmit coils are driven sequentially and/or receive not sampled simultaneously (indeed, it is applicable any EMT system). The PF applied custom that consists array transmitting one (or...

Purpose: Ultrasound is ideal for real-time monitoring in radiotherapy with high soft tissue contrast, non-ionization, portability, and cost effectiveness. Few studies investigated clinical application of ultrasound abdominal stereotactic body radiation therapy (SBRT). This study aims to demonstrate the feasibility 3D target motion using 4D ultrasound. Methods: An probe holding system was designed allow clinician freely move lock probe. For phantom study, an secured on a 2D programmable...

Purpose Ultrasound tracking of target motion relies on visibility vascular and/or anatomical landmark. However this is challenging when the located far from structures or in organs that lack ultrasound landmark structure, such as case pancreas cancer. The purpose study to evaluate visibility, artifacts and distortions fusion coils solid gold markers ultrasound, CT, CBCT kV images identify suitable for real‐time tumor SBRT treatment. Methods Two (1mm × 5mm 1mm 10 mm) a marker (0.8mm 10mm)...

Purpose: Ultrasound (US) has potential to provide real-time monitoring of radiotherapy, but the tissue deformations and CT artifacts caused by US probes limit clinical utility. This work investigates repeatability robot-assisted placement geometically-identical imaging model probes. The CT-compatible is proposed for use during treatment planning. Methods: An <i>ex vivo</i> bovine liver was fixed in gelatin. Six 2mm-diameter spherical metallic fiducials were embedded at depths 1– 2cm 4–5cm....

Radiation therapy is used to treat cancer by delivering high-dose radiation a pre-defined target volume. Ultrasound (US) has the potential provide real-time, image-guidance of identify when moves outside treatment volume (e.g. due breathing), but associated probe-induced tissue deformation causes local anatomical deviations from plan. If US probe placed achieve similar deformations in CT images required for planning, its presence streak artifacts that will interfere with planning...

Purpose: Currently there is an urgent need in Radiation Therapy for noninvasive and nonionizing soft tissue target guidance such as localization before treatment continuous monitoring during treatment. Ultrasound a portable, low cost option that can be easily integrated with the LINAC room. We are developing cooperatively controlled robot arm has high intrafraction reproducibility repositioning of ultrasound probe. In this study, we introduce virtual springs (VS) to assist interfraction...

Purpose: Ultrasound is ideal for real‐time monitoring with high soft tissue contrast, non‐ionization, portability, and cost effectiveness. No studies have investigated clinical feasibility of ultrasound abdominal stereotactic body radiation therapy (SBRT) under active breath control (ABC). We are able to monitor target motion using 4D speckle tracking. Methods: An arm‐bridge system (ABS) was designed allow clinician freely move lock probe. A ceiling mounted infrared camera calibrated track...