Forschungs- und Lehreinheit
Bildverstehen und Wissensbasierte Systeme


Forschungsgruppe Kognitive Systeme
FORWISS





Planning for Radiosurgery


Overview

In radiosurgery a moving beam of radiation is used as an ablative surgical instrument to destroy brain tumors. Classical radiosurgery systems rely on rigid skeletal fixation of the anatomic region to be treated. This fixation procedure is very painful for the patient and limits radiosurgical procedures to brain lesions. Furthermore, due to the necessity of rigid fixation, radiosurgical treatment with classical systems cannot be fractionated. A new camera-guided system capable of tracking patient motion during treatment has been built to overcome these problems.





Robotic Radiosurgery System


Treatment Planning


Dose is accumulated in the tumor by cross-firing from many directions. To plan a treatment appropriate beam directions and beam intensities for treating the given tumor must be found.


Sample case (Stanford Medical Center). (a) Axial CT with tumor delineated in black (b) 3D representation of tumor delineation (c) Isodose surface (d) Isodose surface overlaid on tumor reconstruction.

Reports:

Resolution-Complete Inverse Treatment Planning in Radiosurgery, Proc. Computer-Aided Radiology, (CAR), 1997.

Towards accurate x-ray camera calibration in computer assisted robotic surgery, Proc. Computer-Aided Radiology, (CAR), 1996.

Robotic Radiosurgery with Beams of Adaptable Shapes, in: Computer Vision and Robotics in Medicine, N. Ayache (ed.), LNCS 905, 138-149, 1995.

Planning, Calibration and Collision-Avoidance for Image-Guided Radiosurgery, in: Proc. IEEE Workshop Intelligent Robots and Systems, 854-861, 1994.


Video (Patient Treatment) (27MB mpg)

Soundtrack (1MB mpg)


Bloodless Robotic Surgery, in: The Future of Computers in Medicine, C. Pickover (ed.), 123-129, 1995.


Team:

Achim Schweikard
Peter Kneschaurek
Christian Brack
Michael Roth
Akos Czopf
Matthias Hilbig




Links to other projects:

Roboticsurgery in Orthopaedics - CARS98



Miscellaneous links:

German Robotic Server GERMROB
GI-FA "Robotersysteme"
TU München - Department of Computer Science



Matthias Hilbig Last modified: Mon Feb 1 17:09:06 MET 1999