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Prototyping a Morphological Positioning Robot for Radiotherapy

R Yang1, 3, K Bao3, L Zheng3, P Guan3, F.Q. Guo1, 2*, (1) Yale University, New Haven, CT, (2) Yale New Haven Hospital, New Haven, CT, (3) South China University of Technology


(Sunday, 7/12/2020)   [Eastern Time (GMT-4)]

Room: AAPM ePoster Library

Purpose: To prototype a morphological positioning robotic system for radiotherapy. The hypothesis is that the arbitrary degree of freedom robot technology can resume the target(s) spatial distribution to the original from the planning stage.

Methods: A prototypical machine was designed. The morphological robot was integrated into the treatment image guided radiotherapy system. The system consists of mechanical component for generating bearing surface, electronic circuits for controlling the mechanical component, and software with user interface for radiation oncologists and other clinical staff to select ideal bearing surface. The system was tested for the performance of patient placement in radiation treatment.

Results: Initial experimental results from simulation suggest that the bearing surface can achieve arbitrary contours of a patient body to a certain degree, thereby restore a patient posture to be identical with the planned, and can also implement adjustment for the local posture. Therefore, it lays the foundation for adapting tumor treatment positions to original designed locations without tedious optimization and verification processes caused by tumor deformation. Dynamic and accurate matching i.e. not only tracking the tumor but also compensating the deformation can be realized at the same time.

Conclusion: It is possible to develop an arbitrary degree of freedom robot technology for precise patient positioning in radiotherapy, especially for stereotactic radiosurgery and stereotactic body radiotherapy.

Funding Support, Disclosures, and Conflict of Interest: Partial support of one of authors by China Scholarship Council.


Adaptive Sampling, Radiosurgery, Autocorrelation Function


TH- External Beam- Photons: adaptive therapy

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