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Feasibility report for retreatment of locally recurrent head-and-neck cancers by combined brachy-chemotherapy using frameless image-guided 3D interstitial brachytherapy

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Brachytherapy 2005年第2期4卷 154-162页

作者： Krempien, Robert C. Grehn, Christian Haag, Claudia Straulino, Anika Hensley, Frank W. Kotrikova, Bibiana Hofele, Christof Debus, Juergen Harms, Wolfgang Department of Radiation Oncology University of Heidelberg Heidelberg Germany Clin. for Cranio-Max-fac. Surgery University of Heidelberg Heidelberg Germany Inst. for Proc. Control and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany Department of Radiation Oncology University of Heidelberg INF 400 69120 Heidelberg Germany

PURPOSE: Brachytherapy re-irradiation may offer an alternative re-treatment of recurrent head-and-neck cancer even after previous full dose radiation therapy. The purposes of this study were to determine the feasibility and accuracy of frameless image-guided interstitial needle implantation. METHODS AND MATERIALS: Between January 2000 and March 2003, 14 patients with biopsy-proven locally recurrent head-and-neck-cancer were retreated after previous full dose irradiation with combined external beam-brachytherapy with concomitant chemotherapy. Brachytherapy needle implantation was virtually planned taking into account the surrounding risk structures. Needles were implanted using an adapted frameless navigation system. Chemoradiotherapy was followed by 2-4 courses of chemotherapy every fourth week starting 4 weeks after the end of brachytherapy. RESULTS: The 1- and 2-year local control rates were 78% and 57%, respectively. Local control was obtained in 8/14 patients. The actuarial 1- and 2-year survival rates were 83% and 64%, respectively. The median survival was 28 months after a median follow-up of 21 months (range, 8-53). Six weeks after brachytherapy, 1 patient developed localized soft tissue necrosis which did not require surgical intervention. No additional grade III or IV late toxicity was seen after re-irradiation. Mean deviation of image-guided needle implantation was 3.4 mm for each needle (SD, 1.9 mm;range, 0.5-14 mm). The mean deviation of all needles of an implant was 4.3 mm (range, 2.3-8.6 mm). CONCLUSIONS: These data demonstrate that pulsed-dose-rate brachytherapy in combination with sequential chemotherapy is effective and safe in re-irradiation of locally recurrent oropharyngeal carcinomas and can be offered to patients with curative intent. Image guidance allows virtual planning and navigated implantation of brachytherapy needles with regard to optimized needle distribution and risk structures. © 2005 American Brachytherapy Society. All rights reserv

关键词： Brachytherapy Frameless image guidance Needle placement Oropharyngeal carcinoma Pulsed dose rate Re-irradiation

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Adaptive implicit hybrid force/pose control of industrial manipulators: Compliant motion experiments

Adaptive implicit hybrid force/pose control of industrial ma...

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Kröger, Torsten Finkemeyer, Bernd Heuck, Markus Wahl, Friedrich M. Inst. for Robotics and Proc. Control Technical University of Braunschweig Germany

ISBN: (纸本)0780384636

The major purpose of this paper is to combine results of current robot force control research with scientific approaches in compliant motion, which are based on Mason's Task Frame Formalism. The embedding of adaptive implicit hybrid force/pose control in a robot control architecture for compliant motion control is described. By the usage of adaptive force control, the practicability of compliant motion applications is improved. The applied control concept is constituted in a theoretical as well as in a practical manner. To highlight the meaning for practical implementations, experimental results with industrial manipulators under adaptive force control in three degrees of freedom are finally shown.

关键词： Force control

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Co-operative carrying using pump-like constraints

Co-operative carrying using pump-like constraints

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yigit, S. Burghart, C. Wörn, H. Inst. of Proc. Control and Robotics University of Karlsruhe 76128 Karlsruhe Germany

ISBN: (纸本)0780384636

In this paper we present a new method for the cooperative carrying of a rigid object by a robot and a human. This method is based on tactile sensor input. In the carrying mode the robotic system defines constraints for the user's possible movements when manually guiding the object (and robot arm). Thus, inst.ad of using a complex recognition proc.ss for interpreting the user's intention the robot determines the next action on basis of the defined constraints and the measured tactile sensor data. The defined constraints only allow the human partner to manipulate the carried object during the carrying proc.dure in the manner of a water hand pump. In this way, so-called in-place-translations of the object in all directions are possible, while the human partner maintains full control over orientation and position of the object.

关键词： robotics

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Development of a modular anthropomorphic robot hand using servohydraulic actuators

Development of a modular anthropomorphic robot hand using se...

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2004 4th IEEE-RAS International Conference on Humanoid Robots

作者： Weiss, Karsten Woern, Heinz Inst. for Proc. Control and Robotics Technical University of Karlsruhe Karlsruhe 76128 Germany

ISBN: (纸本)0780388631

Today's service robotics require humanlike handling systems to interact with our everyday use items. In this paper we introduce the concept of a new modular anthropomorphic robot hand and describe our current work on its realization. Due to its modular architecture of a hand which shall be easily customizable to different applications ranging from handling systems for household helpers to robust finger grippers in factory automation. To drive the fingers, a servohydraulic approach for power transmission is used. Dedicated micro hydraulic cylinders are integrated in the finger segments to actuate the joints. They are driven by a position controlled piston pump. Due to the use of a PTFE enhanced surface coating, slip stick effects and friction are significantly reduced. Our prototype has shown, that the fingers are very robust and even water resistant. The low level control of the robot hand will be done by a reconfigurable system on chip, making future changes of the hardware's functionality possible without changing any printed circuits boards. © 2004 IEEE.

关键词： Robotic arms

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Specific combined control mechanisms for human robot co-operation

Specific combined control mechanisms for human robot co-oper...

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proc.edings of the IASTED International Conference on Intelligent Systems and control

作者： Yigit, Sadi Burghart, Catherina Woern, Heinz Inst. of Proc. Control and Robotics University of Karlsruhe D-76128 Karlsruhe Germany

ISBN: (纸本)0889863555

Human robot co-operation strongly requires flexibility and reactivity of a robotic system. This leads to disappearing distinctions between planning, reactive planning and reactive control, as intuitive control of a robot is not possible without considering the actual task, which already touches an aspect of task planning. We have created a set of different control mechanisms inst.ad of three to four standard control modes in order to regain a strict distinction between reactive planning, which selects control modes and delivers corresponding parameters, and actual control. In this paper we present the designed control modes necessary for human robot co-operation, their usage by distributed planning modules and the switching between different control modes.

关键词： Robot applications

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Image fusion of CT and MRI data enables improved target volume definition in 3D-brachytherapy treatment planning

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Brachytherapy 2003年第3期2卷 164-171页

作者： Krempien, Robert C. Daeuber, Sascha Hensley, Frank W. Wannenmacher, Michael Harms, Wolfgang Clinic for Radiology Department of Clinical Radiology University of Heidelberg Heidelberg Germany Inst. for Proc. Control and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany Clinic for Radiology Department of Clinical Radiology University of Heidelberg 69120 Heidelberg Germany

Purpose: To integrate MRI into CT-based 3D-brachytherapy treatment planning using a software system for image registration and fusion. Methods and Materials: Sixteen patients with recurrent head-and-neck cancer, vulvar cancer, liposarcoma, and cervical cancer were treated with interstitial (n = 12) and endocavitary (n = 4) brachytherapy. CT and MRI scans were performed after implantation and prior to treatment planning. Image registration to integrate the CT and MR information into a single geometric framework was performed using a software algorithm based on mutual information. Conventional 3D-brachytherapy planning based on CT-information alone was compared to brachytherapy planning based on fused CT and MRI data. The accuracy of the image fusion was measured using predefined corresponding landmarks in the CT and MRI data. Results: The presented automated algorithm proved to be robust and reliable (mean registration error 1.8 mm, range 0.8-4.1 mm, SD 0.9 mm). Tumor visualization was difficult using CT alone in all cases. Brachytherapy treatment planning based on fused CT and MRI data enabled better definition of target volume and risk structures as compared to treatment planning based on CT alone. Conclusions: Image registration and fusion is feasible for afterloading brachytherapy treatment planning. Treatment planning based on fused CT and MRI data resulted in improved target volume and risk structure definition. © 2003 American Brachytherapy Society. All rights reserved.

关键词： Brachytherapy Image fusion Treatment planning

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Safe human-robot cooperation in industrial production

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VDI Berichte 2002年第1679期 197-204页

作者： Heiligensetzer, P. Wörn, H. Kuka Roboter GmbH Augsburg Inst. for Proc. Control and Robotics Karlsruhe

In this paper the possibilities of cooperation between humans and robots in industrial production are analyzed. Different forms are classified and their requirements pointed out. Based on different concepts, a system ... 详细信息

关键词： Industrial robots

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Automated assembly system for a microassembly station

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Computers in Industry 1999年第2期38卷 93-102页

作者： Mardanov, A. Seyfried, J. Fatikow, S. Inst. for Proc. Control and Robotics Univ. Karlsruhe K. Karlsruhe Germany Ufa State Aviat. Tech. University Dept. Tech. Cybernet. 12 K. M. Ufa Russia

The production of complex microsystems from a number of microcomponents made of different materials requires flexible, precise mechanisms, which can finely manipulate different types of objects. The microassembly has its specifics caused by the tiny dimensions of the robots, high accuracy and complicated vision and control systems required. This paper presents a concept of an intelligent microassembly planning system. This system has been implemented in a micromanipulation station with mobile piezoelectric microrobots, which has been developed at the inst.tute for proc.ss control and robotics (IPR) at the University of Karlsruhe. This research considers the assembly system as a complex system and represents a microassembly environment for the microassembly station. The information flow, interacting and functioning of separate parts of the micromanipulation station are determined and the integration of the assembly subsystem into the station are presented. The principal approaches for each part of the system are given.

关键词： Computer integrated manufacturing

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