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1、ModellingandPlanningforSensor-BasedIntelligentRobotSystems(Bunke,Noltemeier,Kanade,ed.),WorldScientific,1995Image-GuidedRoboticRadiosurgeryJohnR.AdlerAchimSchweikardRheaTombropoulosJean-ClaudeLatombeRoboticsLaboratory,DepartmentofComputerScienceDepartmentofNeurosurgeryStanfordUni
2、versity,Stanford,CA94305,USA,as@cs.stanford.eduAbstract:Wedescribearadiosurgicalsystembasedtheframeholdsthepatient'sheadrigidlyduringtreat-onanovelmedicallinearacceleratorofparticularlylightment.Usinghigh-speedworkstations,imagingstud-weight,asixdegree-of-freedomroboticarmandanon
3、-iesareprocessedtherebypermittingatumor'sspatiallinex-rayvisionsystem.Thesystemintroducesaclasscoordinatesandaradiationtreatmentplantobecal-ofradiosurgicalprocedures,termednon-stereotactic,orculated.Withtheframeholdingthepatient'sheadimage-guidedradiosurgery.Atreatmentplanningsub
4、sys-securely,ahigh-energylinearacceleratordestroysthetembasedonnewparadigmsforinverseplanningwasde-tumorbycross- ringfromalargenumberofdirec-velopedinaninterdisciplinaryprojectatStanfordUniver-tions.Theactualradiationtimefortypicalradiosur-sityinconjunctionwithAccurayInc.,SantaCl
5、ara.Twogicaltreatmentis30minutes,buttheframemustre-patientshavebeentreatedwithafullyintegratedsystemmaininplacefor5-7hours.ThisisnecessarybecauseprototypeatStanfordUniversityMedicalCenter.ThenewtheframemustmustbevisibleontheCAT/MRIim-systemhasthepotentialforrevolutionarychangesin
6、radio-ages.Aftertreatmenttheframeisremoved,andinsurgerybyallowingforhighaccuracytargeting,fraction-mostcasesthepatientcanbereleasedfromthehos-atedtreatmentandhighlyconformalradiosurgicaltreat-pitalthesameday.mentofnon-sphericallesions.Furthermore,itisexpectedAlthoughthetreatmenti
7、sassociatedwithfewrisksthatimage-guidedprocedureswillreplaceradiotherapeu-andishighlye ective,therearelimitationstowhatticalmethodsformanyextra-craniallesions.canbeaccomplished.Forexample,whentreatingtu-morslargerthan3.5cmindiameter,thecomplica-tionrateincreases.Ideally,suchlarge
8、rtumorsshould1Introductionbetreatedover2
