دانلود مقاله ISI انگلیسی شماره 118171
ترجمه فارسی عنوان مقاله

جبران جابجایی رادیوتراپی تومور رباتیک در نقاط دورافتاده: یک روش پزشکی شخصی

عنوان انگلیسی
Motion compensation for robotic lung tumour radiotherapy in remote locations: A personalised medicine approach
کد مقاله سال انتشار تعداد صفحات مقاله انگلیسی
118171 2017 8 صفحه PDF
منبع

Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)

Journal : Acta Astronautica, Volume 132, March 2017, Pages 59-66

پیش نمایش مقاله
پیش نمایش مقاله  جبران جابجایی رادیوتراپی تومور رباتیک در نقاط دورافتاده: یک روش پزشکی شخصی

چکیده انگلیسی

The purpose of this work is to integrate the concept of patient-in-the-closed-loop application with tumour treatment of cancer-diagnosed patients in remote areas. The generic closed loop control objective is effective synchronisation of the radiation focus to the movement of a lung tissue tumour during actual breathing of the patient. This is facilitated by accurate repositioning of a robotic arm manipulator, i.e. we emulate the Cyberknife Robotic Radiosurgery system. Predictive control with disturbance filter is used in this application in a minimalistic model design. Performance of the control structure is validated by means of simulation using real recorded breathing patterns from patients measured in 3D space. Latency in communication protocol is taken into account, given telerobotics involve autonomous operation of a robot interacting with a human being in different location. Our results suggest that the proposed closed loop control structure has practical potential to individualise the treatment and improves accuracy by at least 15%.