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Real-time Robotic Radiation Oncology

Real-time Robotic Radiation Oncology. Brian Murphy Electronic and Computer Engineering NUI Galway. Overview. Project Background Aims System Overview: Image Acquisition Image Processing Hardware Demonstration Environment Final System. Project Background.

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Real-time Robotic Radiation Oncology

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  1. Real-time Robotic Radiation Oncology Brian Murphy Electronic and Computer Engineering NUI Galway

  2. Overview • Project Background • Aims • System Overview: • Image Acquisition • Image Processing • Hardware • Demonstration Environment • Final System

  3. Project Background • Radiation oncology is the study of tumors in a body and aims to find out about their development, diagnosis, treatment and prevention.

  4. Project Background • External beam radiation therapy is the most common type of radiation treatment.

  5. Project Background • Problems with external beam radiotherapy: • Tumor prone to movement. • Patient prone to movement. • Problem with movement: • Higher area around the tumor must be exposed to radiation to ensure that any movement of the tumor will lead to it being treated no matter where it moves to. • Reduced dose of radiation.

  6. Project Background • Image Guided Radiation Therapy (IGRT).

  7. Aims • To prove that a radiation beam can track a moving tumor in real-time. • To represent a tumor, a ball will be used and to simulate a radiation beam a laser beam will be used.

  8. System Overview Image Acquisition Image Processing Robotic Control Pan and Tilt Laser Image Acquisition Device

  9. Image Acquisition • Two parts to image acquisition: • Hardware • Logitech Quickcam. • Software • IMAQ Vision in Labview.

  10. Image Processing • Various edge detection techniques tried: • Canny Edge Detection. • Different Filter Types. Canny Edge Detection Prewitt Filtering

  11. Image Processing • Moving Objects. • Follow moving ball and detect movement around ball. • IMAQ Count Objects.

  12. Robotic Control • The robotic control consists of two sections: • Hardware • Pan and Tilt assembly and Parallax servo controller. • Software • Interface with Labview.

  13. Demonstration Environment • Lego Mindstroms NXT Robotic Kit. • Controls movement of the ball.

  14. Final System • Ball movement is monitored to high degree of accuracy. • Pan and Tilt assembly running in real-time from Labview.

  15. Questions?

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