Robotic Canal Positioning for Repeatable Radiotherapy Alignment
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Solution Overview
Problem
Existing radiotherapy techniques struggle to accurately position internal bodily tissues relative to the ionizing radiation beam due to their movement, leading to increased treatment volume and higher side effects from large margins to compensate for displacement, especially in the pelvic region.
Innovation Solution
A robotic arm system with a positioning tool that includes a steering guide and inflatable shafts to reproducibly align bodily canals with the radiation beam, using a processing unit to control the robotic arm and positioning tool to achieve precise spatial alignment during radiotherapy sessions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If large treatment margins are used to compensate for tissue displacement, then treatment accuracy is improved, but healthy tissue damage increases due to higher radiation doses to surrounding areas
Solution Approach 1:
The system performs preliminary positioning of internal tissues using a positioning tool inserted into the body canal before radiation delivery. The robotic arm positions the positioning tool to align the tissue target with the radiation beam intersection volume, and this position is reproduced across multiple treatment sessions to prevent tissue displacement during treatment
Solution Approach 2:
The system replaces manual positioning methods with an automated robotic arm that precisely controls the positioning tool. The robotic arm reproduces the treatment pose based on simulation data, eliminating human error and achieving sub-millimeter positioning accuracy consistent with simulation conditions
2Object-affected harmful factors
If treatment margins are reduced to minimize healthy tissue exposure, then side effects are reduced, but treatment accuracy deteriorates due to tissue movement
Solution Approach 1:
The system establishes the precise treatment pose during simulation when tissue position is known and reproducible. This pose is stored and reproduced during actual treatment sessions using the robotic arm, ensuring the tissue target is correctly positioned before radiation delivery, thereby enabling small margins without compromising accuracy
Solution Approach 2:
The system uses simulation data as a reference framework to guide robotic arm positioning. The simulated treatment pose provides feedback information that the robotic arm reproduces during treatment, ensuring consistent alignment between the tissue target and radiation beam intersection volume
3Device complexity
If manual positioning methods are used to align tissues with the radiation beam, then device complexity is reduced, but positioning reproducibility deteriorates due to tissue displacement
Solution Approach 1:
The robotic arm system serves multiple functions: it positions the positioning tool during simulation, reproduces the treatment pose during therapy sessions, and maintains consistent alignment across multiple treatments. The same robotic system handles both simulation and treatment positioning, ensuring reproducibility
Solution Approach 2:
The system creates a digital copy of the treatment pose from simulation data and uses this copied information to guide robotic arm positioning during actual treatment. The robotic arm reproduces the exact spatial configuration established during simulation, achieving sub-millimeter accuracy
Data Source
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AI summary
Provided is a radiotherapy treatment system (100) for assisting treatment of a subject in an external radiotherapy programme comprising one or more external radiotherapy treatment sessions, the system (100) comprising: a robotic arm, RA, (400, 400a) having a base end (422, 422a) and an effector end (424, 424a), wherein the base end (422, 422a) is mounted on or mountable in fixed relation to a radiotherapy treatment table (512) for treating a subject (50), the effector end (424, 424a) is disposed with a RA fitting (430, 430a) for dismountable attachment to a positioning tool (200) having a proximal and distal end, the distal end configured for insertion into a canal of the subject (50); a processing unit (440) comprising at least one processor and a memory, wherein the processing unit (440) is configured to control and fix movement of the robotic arm, RA, (400, 400a) during the external radiotherapy treatment session; and the positioning tool (200) comprising a steering guide (300) having a proximal (40) and distal (20) end, comprising a rigid effector shaft (310) at the distal end (20) configured for insertion into the canal (602) of the subject (50), or for attachment to an inserter (204) configured for insertion into the canal (602) of the subject (50) a rigid handle portion (316) disposed at the proximal end (40) in fixed relation to the effector shaft (310) for controlling the position and/or direction of the effector shaft (310) and configured for attachment to the RA fitting (430, 430a), a rigid transmission (314) joining the handle portion (316) to the effector shaft (310); wherein the positioning tool (200) is configured to move and/or fix the canal (602) for the external radiotherapy treatment session responsive to movements of the robotic arm.