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A Multimodal Point Cloud-Based Method for Tumor Localization in Robotic Ultrasound-Guided Radiotherapy
Lintao Song1,2,3, Qixuan Li1,2,3,4, Zhang Sai1,2,3
1Department of Radiotherapy, The Affiliated Changzhou NO.2 People's Hospital of Nanjing Medical University, Changzhou, China.
Technology in Cancer Research & Treatment
|August 19, 2024
Summary
This study introduces a radiation-free, real-time method for precise tumor localization in radiotherapy using multimodal point clouds. The technique accurately guides robotic systems, enhancing patient safety and treatment efficacy.
Area of Science:
- Medical Physics
- Robotics
- Oncology
Background:
- Current radiotherapy tumor localization methods often lack real-time capabilities and may involve additional radiation exposure.
- Accurate and timely tumor localization is critical for effective radiotherapy planning and delivery.
Purpose of the Study:
- To develop and evaluate a multimodal point cloud-based method for radiation-free, real-time tumor localization in robotic ultrasound-guided radiotherapy.
- To improve the accuracy and safety of tumor targeting during radiotherapy.
Main Methods:
- Utilized computed tomography (CT) point clouds for initial tumor position determination.
- Employed red green blue depth (RGBD) point clouds for body surface scanning and registration with CT data.
- Integrated multi-modal point cloud registration and coordinate transformation for robot-guided localization.
Main Results:
- Achieved high accuracy in tumor localization within the robot's coordinate system (max mean absolute errors: X=0.781mm, Y=1.334mm, Z=1.490mm).
- Demonstrated an average point-to-point translation error of 1.847mm.
- Exhibited a maximum error of 1.77mm in random positioning experiments.
Conclusions:
- The proposed method offers a radiation-free and real-time solution for tumor localization in radiotherapy.
- The achieved accuracy meets the stringent requirements for radiotherapy tumor targeting.
- This advancement has the potential to reduce radiation risks and enhance the efficiency and precision of radiotherapy treatments.
