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[Treatment Couch Path Planning for Proton Therapy Systems]
Rong Xie1, Jianchun Deng1, Hai Ma1
1School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, 430074.
Summary
This study developed a robotic treatment couch for precise patient positioning in proton therapy. The system successfully navigated obstacles, ensuring accurate patient setup for radiation treatment.
Area of Science:
- Robotics in Medicine
- Radiation Oncology
- Biomechanics
Context:
- Proton radiation therapy requires precise patient positioning and immobilization.
- Current patient support systems may have limitations in achieving optimal positioning.
- Robotic systems offer potential for enhanced precision and flexibility.
Purpose:
- To develop and validate a 6R robotic treatment couch for patient positioning in proton therapy.
- To analyze the kinematics and motion planning of the robotic couch within a treatment room environment.
- To ensure safe and efficient patient setup through obstacle avoidance.
Summary:
- A 6R robotic treatment couch was utilized as the patient support system (PSS).
- A 3D model of the treatment room and a collision interference model were created.
- Kinematics were analyzed using an improved Denavit-Hartenberg (D-H) representation.
- Motion planning with an artificial potential field method in MATLAB enabled obstacle avoidance.
Impact:
- The robotic treatment couch demonstrated smooth navigation around obstacles.
- The system successfully met the positioning requirements for proton therapy.
- This technology can enhance the accuracy and efficiency of radiation therapy delivery.
