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首页> 美国卫生研究院文献>PLoS Clinical Trials >Optimization based trajectory planning for real-time 6DoF robotic patient motion compensation systems
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Optimization based trajectory planning for real-time 6DoF robotic patient motion compensation systems

机译：实时6DoF机器人患者运动补偿系统基于优化的轨迹规划

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PurposeRobotic stabilization of a therapeutic radiation beam with respect to a dynamically moving tumor target can be accomplished either by moving the radiation source, the patient, or both. As the treatment beam is on during this process, the primary goal is to minimize exposure of normal tissue to radiation as much as possible when moving the target back to the desired position. Due to the complex mechanical structure of 6 degree-of-freedom (6DoF) robots, it is not intuitive as to what 6 dimensional (6D) correction trajectory is optimal in achieving such a goal. With proportional-integrative-derivative (PID) and other controls, the potential exists that the controller may generate a trajectory that is highly curved, slow, or suboptimal in that it leads to unnecessary exposure of healthy tissue to radiation. This work investigates a novel feedback planning method that takes into account a robot’s mechanical joint structure, patient safety tolerances, and other system constraints, and performs real-time optimization to search the entire 6D trajectory space in each time cycle so it can respond with an optimal 6D correction trajectory.
机译：目的相对于动态移动的肿瘤目标，可以通过移动辐射源，患者或同时移动两者来实现治疗性放射束的机器人稳定。由于在此过程中打开治疗束，主要目的是在将目标物移回到所需位置时，尽可能减少正常组织对放射线的照射。由于6自由度（6DoF）机器人的复杂机械结构，对于实现此目标的最佳6维（6D）校正轨迹是不直观的。使用比例积分微分（PID）和其他控件，控制器可能会产生高度弯曲，缓慢或次优的轨迹，因为这会导致健康组织不必要地暴露于辐射。这项工作研究了一种新颖的反馈计划方法，该方法考虑了机器人的机械关节结构，患者安全公差和其他系统限制，并执行实时优化以在每个时间周期内搜索整个6D轨迹空间，从而可以响应最佳6D校正轨迹。

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