High-precision quality assurance of robotic couches with six degrees of freedom |
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| Affiliation: | 1. Department of Health Sciences and Technology, SAIHST, Sungkyunkwan University, Seoul 06351, Republic of Korea;2. Department of Radiation Oncology, Samsung Medical Center, Sungkyunkwan University, School of Medicine, Seoul 06351, Republic of Korea;1. Humanitas C.C.O., Medical Physics Department, Catania, Italy;2. IEO, European Institute of Oncology IRCCS, Radiation Research Unit, Milan, Italy;3. Dipartimento di Fisica, Università degli Studi di Milano and Istituto Nazionale di Fisica Nucleare – Sezione di Milano, Via Celoria 16, 20133 Milano, Italy;4. Department of Medical Physics, ASST Niguarda, Milan, Italy;5. Medical Physics Unit, Azienda USL Toscana Centro, Florence, Italy;6. Medical Physics Department, A.O. Ordine Mauriziano, Turin, Italy;7. Medical Physics Unit of Radiation Oncology Dept., Humanitas Clinical and Research Hospital, Rozzano-Milano, Italy;1. Graduate School of Health Sciences, Kumamoto University, Kumamoto, Japan;2. Department of Radiology, Kumamoto University Hospital, Kumamoto, Japan;3. Department of Medical Physics, Faculty of Life Sciences, Kumamoto University, Kumamoto, Japan;4. The Russell H. Morgan Department of Radiology and Radiological Science, The Johns Hopkins University School of Medicine, Baltimore, USA;5. Department of Diagnostic Radiology, Faculty of Life Sciences, Kumamoto University, Kumamoto, Japan;1. Department of Medical Physics, BC Cancer – Abbotsford Centre, Abbotsford, British Columbia, Canada;2. Department of Physics, University of British Columbia, Vancouver, British Columbia, Canada;1. Proton Therapy Center, National Cancer Center, Goyang, Republic of Korea;2. Center for Uterine Cancer, National Cancer Center, Goyang, Republic of Korea |
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| Abstract: | A robotic couch capable of six degrees of freedom (6-DoF) of motion was introduced for state-of-the-art radiation therapy. Patient treatment requires precise quality assurance (QA) of 6-DoF. Unfortunately, conventional methods do not provide the requisite accuracy and precision. Therefore, we developed a high-precision automated QA system using a visual tracking system (VTS). The VTS comprises four motion-sensing cameras, a cube with infrared reflective markers. To acquire data in treatment room coordinates, a transformation matrix from VTS coordinates to treatment room coordinates was determined.The mean error and standard deviation of linear and rotational motions, as well as couch sagging were analyzed from continuously acquired images in the moving couch. The accuracy of VTS was 0.024 mm deviation for the sinusoidal motion, and the accuracy of the transformation matrix was 0.02 mm. In a cross-comparison, the difference between Laser Tracker (FARO) measurements was 0.14 ± 0.12 mm for translation and 0.032 ± 0.026° on average for yaw rotation. The new system provides QA of yaw, pitch and roll motion as well as sagging of the couch and sub-millimeter/degree accuracy together with precision. |
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| Keywords: | Automatic quality assurance Machine quality assurance Robotic couch Proton therapy Stereotactic radiosurgery |
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