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In this study we develop and characterise a six degree-of-freedom (6DoF) robotic motion system for quality assurance of real-time image-guided radiotherapy techniques. The system consists of a commercially available robotic arm, an acrylic phantom with embedded Calypso markers, a custom base plate to mount the robot to the treatment couch, and control software implementing the appropriate sequence of transformations to reproduce measured tumour motion traces. The robotic motion system was evaluated in terms of the set-up and motion trace repeatability, static localization accuracy and dynamic localization accuracy. Four prostate, two liver and three lung motion traces, representing a range of tumor motion trajectories recorded in real patient treatments, were executed using the robotic motion system and compared with motion measurements from the clinical Calypso motion tracking system. System set-up and motion trace repeatability was better than 0.5° and 0.3 mm for rotation and translation, respectively. The static localization accuracy of the robotic motion system in the LR, SI and AP directions was 0.09 mm, 0.08 mm and 0.02 mm for translations, respectively, and 0.2°, 0.06° and 0.06° for rotations, respectively. The dynamic localization accuracy of the robotic motion system was <0.2 mm and <0.6° for translations and rotations, respectively. Thus, we have demonstrated the ability to accurately mimic rigid-body tumor motion using a robotically controlled phantom to provide precise geometric QA for advanced radiotherapy delivery approaches.
This article was published in the following journal.
Name: Physics in medicine and biology
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Activities and programs intended to assure or improve the quality of care in either a defined medical setting or a program. The concept includes the assessment or evaluation of the quality of care; identification of problems or shortcomings in the delivery of care; designing activities to overcome these deficiencies; and follow-up monitoring to ensure effectiveness of corrective steps.
A sampling methodology using small sample sizes when conducting surveys in small geographical or population-based areas or lots.
The real or apparent movement of objects through the visual field.
Instruments for RETINOSCOPY that determines the refractive state of the EYE, such as the degree of NEARSIGHTEDNESS; FARSIGHTEDNESS; or ASTIGMATISM. In principle, a retinoscope provides a light source to illuminate the RETINA, and then locates the aerial image of the retina in space to obtain an index of the refractive quality of the patient's lens system.
A system for verifying and maintaining a desired level of quality in a product or process by careful planning, use of proper equipment, continued inspection, and corrective action as required. (Random House Unabridged Dictionary, 2d ed)
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