Reference respiratory waveforms by minimum jerk model analysis

Medical Physics
Yusuke AnetaiKazuhiko Ogawa

Abstract

CyberKnife(®) robotic surgery system has the ability to deliver radiation to a tumor subject to respiratory movements using Synchrony(®) mode with less than 2 mm tracking accuracy. However, rapid and rough motion tracking causes mechanical tracking errors and puts mechanical stress on the robotic joint, leading to unexpected radiation delivery errors. During clinical treatment, patient respiratory motions are much more complicated, suggesting the need for patient-specific modeling of respiratory motion. The purpose of this study was to propose a novel method that provides a reference respiratory wave to enable smooth tracking for each patient. The minimum jerk model, which mathematically derives smoothness by means of jerk, or the third derivative of position and the derivative of acceleration with respect to time that is proportional to the time rate of force changed was introduced to model a patient-specific respiratory motion wave to provide smooth motion tracking using CyberKnife(®). To verify that patient-specific minimum jerk respiratory waves were being tracked smoothly by Synchrony(®) mode, a tracking laser projection from CyberKnife(®) was optically analyzed every 0.1 s using a webcam and a calibrated grid on a motion ...Continue Reading

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