Robotic Radiation Robotic Radiation Oncology  Oncology 

Conor JudgeConor Judge

44thth BE Electronic and Computer BE Electronic and Computer

Original Objectives Original Objectives

This project aims to develop a proof This project aims to develop a proof of concept system, that will :of concept system, that will :– Track a golf ball using camerasTrack a golf ball using cameras– Control the position of a light so that it Control the position of a light so that it

follows the golf ballfollows the golf ball The golf ball represents a tumour The golf ball represents a tumour

and the light represents the beam of and the light represents the beam of radiation.radiation.

Achieved to date Achieved to date

Image AcquisitionImage Acquisition – Image, Video and live stream have been Image, Video and live stream have been

captured using the Image acquisition captured using the Image acquisition Toolbox in MatLabToolbox in MatLab

Image Processing Image Processing – Performed necessary tasks to work with Performed necessary tasks to work with

the acquired images using the Image the acquired images using the Image Processing Toolbox.Processing Toolbox.

Achieved to dateAchieved to date

Ball trackingBall tracking– Using edge detection, edge linking and a Using edge detection, edge linking and a

circle fit, least mean squared algorithm, circle fit, least mean squared algorithm, the ball has been accurately trackedthe ball has been accurately tracked

Example of image processing pipeline

Achieved to dateAchieved to date

Robotic ControlRobotic Control– Used a Parallax Servo Used a Parallax Servo

controller to control controller to control the pan and tilt turret the pan and tilt turret from MatLabfrom MatLab

– Experienced Issues Experienced Issues with USB to serial with USB to serial converter, solved with converter, solved with a new servo controller a new servo controller controlling a USB controlling a USB controller chip on it.controller chip on it.

Achieved to dateAchieved to date

Implemented a Implemented a camera follow ball camera follow ball scenarioscenario– This setup tests This setup tests

various elements of various elements of the system such as the system such as the image the image processing pipeline processing pipeline and the robotic and the robotic control.control.

Remaining WorkRemaining Work

Image AcquisitionImage Acquisition– Import two live video streamsImport two live video streams– Possible risk of system not being Possible risk of system not being

capable of such a taskcapable of such a task Image ProcessingImage Processing

– Improve Image Processing pipe line by Improve Image Processing pipe line by reducing false positive resultsreducing false positive results

Remaining WorkRemaining Work

Create a self contained Create a self contained demonstration unit, using Lego demonstration unit, using Lego Mindstorms NXT to test and Mindstorms NXT to test and demonstrate the systemdemonstrate the system

Investigate the theoretical Investigate the theoretical integration of Intensity Modulated integration of Intensity Modulated Radiation therapy (IMRT) into the Radiation therapy (IMRT) into the systemsystem

Questions?Questions?