Download or read book Design and Optimization of a Brachytherapy Robot written by Michael A. Meltsner and published by . This book was released on 2007 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robotic Systems written by Ashish Dutta and published by BoD – Books on Demand. This book was released on 2012-02-03 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book brings together some of the latest research in robot applications, control, modeling, sensors and algorithms. Consisting of three main sections, the first section of the book has a focus on robotic surgery, rehabilitation, self-assembly, while the second section offers an insight into the area of control with discussions on exoskeleton control and robot learning among others. The third section is on vision and ultrasonic sensors which is followed by a series of chapters which include a focus on the programming of intelligent service robots and systems adaptations.

Download or read book World Congress on Medical Physics and Biomedical Engineering May 26 31 2012 Beijing China written by Mian Long and published by Springer Science & Business Media. This book was released on 2013-02-11 with total page 2385 pages. Available in PDF, EPUB and Kindle. Book excerpt: The congress’s unique structure represents the two dimensions of technology and medicine: 13 themes on science and medical technologies intersect with five challenging main topics of medicine to create a maximum of synergy and integration of aspects on research, development and application. Each of the congress themes was chaired by two leading experts. The themes address specific topics of medicine and technology that provide multiple and excellent opportunities for exchanges.

Download or read book Robot Design written by Giuseppe Carbone and published by Springer Nature. This book was released on 2022-10-01 with total page 273 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is an attempt to address this wide topic with a multi-disciplinary approach. Nowadays, robotics is developing at a much faster pace than ever in the past, both inside and outside industrial environments. While other publications focus on describing the theoretical basis of robot motion, this book pays special attention to explain the fundamentals through real applications. Thus, it represents a perfect combination for studying this topic along with other theoretical books. Each chapter has been authored by experts in specific areas spanning from the mechanics of machinery to control theory, informatics, mechatronics. Chapters have been divided into two sections. The first one is aiming to give a theoretical background. The second section is focused on applications. This book project can be foreseen as a reference for young professionals/researchers to overview the most significant aspects in robotics.

Download or read book Control Systems Design of Bio Robotics and Bio Mechatronics with Advanced Applications written by Ahmad Taher Azar and published by Academic Press. This book was released on 2019-11-30 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control Systems Design of Bio-Robotics and Bio-Mechatronics with Advanced Applications delivers essential and advanced bioengineering information on the application of control and robotics technologies in the life sciences. Judging by what we have witnessed so far, this exciting field of control systems and robotics in bioengineering is likely to produce revolutionary breakthroughs over the next decade. While this book is intended for senior undergraduate or graduate students in both control engineering and biomedical engineering programs, it will also appeal to medical researchers and practitioners who want to enhance their quantitative understanding of physiological processes. - Focuses on the engineering and scientific principles underlying the extraordinary performance of biomedical robotics and bio-mechatronics - Demonstrates the application of principles for designing corresponding algorithms - Presents the latest innovative approaches to medical diagnostics and procedures, as well as clinical rehabilitation from the point-of-view of dynamic modeling, system analysis and control

Download or read book Emerging Technologies in Brachytherapy written by William Y. Song and published by CRC Press. This book was released on 2017-05-19 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt: Brachytherapy is continuously advancing. Years of accumulated experience have led to clinical evidence of its benefit in numerous clinical sites such as gynecological, prostate, breast, rectum, ocular, and many other cancers. Brachytherapy continues to expand in its scope of practice and complexity, driven by strong academic and commercial research, by advances in competing modalities, and due to the diversity in the political and economic landscape. It is a true challenge for practicing professionals and students to readily grasp the overarching trends of the field, especially of those technologies and innovative practices that are not yet established but are certainly on the rise. Addressing this challenge, Emerging Technologies in Brachytherapy presents a comprehensive collection of chapters on the latest trending/emerging technologies and expert opinions. It is divided into five broad sections: Section I: Physics of Brachytherapy Section II: Imaging for Brachytherapy Guidance Section III: Brachytherapy Suites Section IV: Is Brachytherapy a Competitive Modality? Section V: Vision 20/20: Industry Perspective Each section has a carefully selected collection of chapters, which covers the spectrum of topics in comprehensive detail. By drawing on recognized experts and key opinion leaders from academia and commercial sectors worldwide (100+ contributors), Emerging Technologies in Brachytherapy provides readers with a wealth of relevant information needed to comprehend the rapidly advancing technologies and trends of today and the prospects for the future.

Download or read book Advances in Mechanism and Machine Science written by Masafumi Okada and published by Springer Nature. This book was released on 2023-11-03 with total page 1018 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the proceedings of the 16th IFToMM World Congress, which was held in Tokyo, Japan, on November 5–10, 2023. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.

Download or read book Handbook of Robotic and Image Guided Surgery written by Mohammad Hossein Abedin Nasab and published by Elsevier. This book was released on 2019-09-25 with total page 753 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of Robotic and Image-Guided Surgery provides state-of-the-art systems and methods for robotic and computer-assisted surgeries. In this masterpiece, contributions of 169 researchers from 19 countries have been gathered to provide 38 chapters. This handbook is 744 pages, includes 659 figures and 61 videos. It also provides basic medical knowledge for engineers and basic engineering principles for surgeons. A key strength of this text is the fusion of engineering, radiology, and surgical principles into one book. - A thorough and in-depth handbook on surgical robotics and image-guided surgery which includes both fundamentals and advances in the field - A comprehensive reference on robot-assisted laparoscopic, orthopedic, and head-and-neck surgeries - Chapters are contributed by worldwide experts from both engineering and surgical backgrounds

Download or read book Treatment Planning of High Dose Rate Brachytherapy Mathematical Modelling and Optimization written by Björn Morén and published by Linköping University Electronic Press. This book was released on 2021-01-12 with total page 53 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cancer is a widespread class of diseases that each year affects millions of people. It is mostly treated with chemotherapy, surgery, radiation therapy, or combinations thereof. High doserate (HDR) brachytherapy (BT) is one modality of radiation therapy, which is used to treat for example prostate cancer and gynecologic cancer. In BT, catheters (i.e., hollow needles) or applicators are used to place a single, small, but highly radioactive source of ionizing radiation close to or within a tumour, at dwell positions. An emerging technique for HDR BT treatment is intensity modulated brachytherapy (IMBT), in which static or dynamic shields are used to further shape the dose distribution, by hindering the radiation in certain directions. The topic of this thesis is the application of mathematical optimization to model and solve the treatment planning problem. The treatment planning includes decisions on catheter placement, that is, how many catheters to use and where to place them, as well as decisions for dwell times. Our focus is on the latter decisions. The primary treatment goals are to give the tumour a sufficiently high radiation dose while limiting the dose to the surrounding healthy organs, to avoid severe side effects. Because these aims are typically in conflict, optimization models of the treatment planning problem are inherently multiobjective. Compared to manual treatment planning, there are several advantages of using mathematical optimization for treatment planning. First, the optimization of treatment plans requires less time, compared to the time-consuming manual planning. Secondly, treatment plan quality can be improved by using optimization models and algorithms. Finally, with the use of sophisticated optimization models and algorithms the requirements of experience and skill level for the planners are lower. The use of optimization for treatment planning of IMBT is especially important because the degrees of freedom are too many for manual planning. The contributions of this thesis include the study of properties of treatment planning models, suggestions for extensions and improvements of proposed models, and the development of new optimization models that take clinically relevant, but uncustomary aspects, into account in the treatment planning. A common theme is the modelling of constraints on dosimetric indices, each of which is a restriction on the portion of a volume that receives at least a specified dose, or on the lowest dose that is received by a portion of a volume. Modelling dosimetric indices explicitly yields mixed-integer programs which are computationally demanding to solve. We have therefore investigated approximations of dosimetric indices, for example using smooth non-linear functions or convex functions. Contributions of this thesis are also a literature review of proposed treatment planning models for HDR BT, including mathematical analyses and comparisons of models, and a study of treatment planning for IMBT, which shows how robust optimization can be used to mitigate the risks from rotational errors in the shield placement. Cancer är en grupp av sjukdomar som varje år drabbar miljontals människor. De vanligaste behandlingsformerna är cellgifter, kirurgi, strålbehandling eller en kombination av dessa. I denna avhandling studeras högdosrat brachyterapi (HDR BT), vilket är en form av strålbehandling som till exempel används vid behandling av prostatacancer och gynekologisk cancer. Vid brachyterapibehandling används ihåliga nålar eller applikatorer för att placera en millimeterstor strålkälla antingen inuti eller intill en tumör. I varje nål finns det ett antal så kallade dröjpositioner där strålkällan kan stanna en viss tid för att bestråla den omkringliggande vävnaden, i alla riktningar. Genom att välja lämpliga tider för dröjpositionerna kan dosfördelningen formas efter patientens anatomi. Utöver HDR BT studeras också den nya tekniken intensitetsmodulerad brachyterapi (IMBT) vilket är en variation på HDR BT där skärmning används för att minska strålningen i vissa riktningar vilket gör det möjligt att forma dosfördelningen bättre. Planeringen av en behandling med HDR BT omfattar hur många nålar som ska användas, var de ska placeras samt hur länge strålkällan ska stanna i de olika dröjpositionerna. För HDR BT kan dessa vara flera hundra stycken medan det för IMBT snarare handlar om tusentals möjliga kombinationer av dröjpositioner och inställningar av skärmarna. Planeringen resulterar i en dosplan som beskriver hur hög stråldos som tumören och intilliggande frisk vävnad och riskorgan utsätts för. Dosplaneringen kan formuleras som ett matematiskt optimeringsproblem vilket är ämnet för avhandlingen. De övergripande målsättningarna för behandlingen är att ge en tillräckligt hög stråldos till tumören, för att döda alla cancerceller, samt att undvika att bestråla riskorgan eftersom det kan ge allvarliga biverkningar. Då alla målsättningarna inte samtidigt kan uppnås fullt ut så fås optimeringsproblem där flera målsättningar behöver prioriteras mot varandra. Utöver att dosplanen uppfyller kliniska behandlingsriktlinjer så är också tidsaspekten av planeringen viktig eftersom det är vanligt att den görs medan patienten är bedövad eller sövd. Vid utvärdering av en dosplan används dos-volymmått. För en tumör anger ett dosvolymmått hur stor andel av tumören som får en stråldos som är högre än en specificerad nivå. Dos-volymmått utgör en viktig del av målen för dosplaner som tas upp i kliniska behandlingsriktlinjer och ett exempel på ett sådant mål vid behandling av prostatacancer är att 95% av prostatans volym ska få en stråldos som är minst den föreskrivna dosen. Dos-volymmått utläses ur de kliniskt betydelsefulla dos-volym histogrammen som för varje stråldosnivå anger motsvarande volym som erhåller den dosen. En fördel med att använda matematisk optimering för dosplanering är att det kan spara tid jämfört med manuell planering. Med väl utvecklade modeller så finns det också möjlighet att skapa bättre dosplaner, till exempel genom att riskorganen nås av en lägre dos men med bibehållen dos till tumören. Vidare så finns det även fördelar med en process som inte är lika personberoende och som inte kräver erfarenhet i lika stor utsträckning som manuell dosplanering i dagsläget gör. Vid IMBT är det dessutom så många frihetsgrader att manuell planering i stort sett blir omöjligt. I avhandlingen ligger fokus på hur dos-volymmått kan användas och modelleras explicit i optimeringsmodeller, så kallade dos-volymmodeller. Detta omfattar såväl analys av egenskaper hos befintliga modeller, utvidgningar av tidigare använda modeller samt utveckling av nya optimeringsmodeller. Eftersom dos-volymmodeller modelleras som heltalsproblem, vilka är beräkningskrävande att lösa, så är det också viktigt att utveckla algoritmer som kan lösa dem tillräckligt snabbt för klinisk användning. Ett annat mål för modellutvecklingen är att kunna ta hänsyn till fler kriterier som är kliniskt relevanta men som inte ingår i dos-volymmodeller. En sådan kategori av mått är hur dosen är fördelad rumsligt, exempelvis att volymen av sammanhängande områden som får en alldeles för hög dos ska vara liten. Sådana områden går dock inte att undvika helt eftersom det är typiskt för dosplaner för brachyterapi att stråldosen fördelar sig ojämnt, med väldigt höga doser till små volymer precis intill strålkällorna. Vidare studeras hur små fel i inställningarna av skärmningen i IMBT påverkar dosplanens kvalitet och de olika utvärderingsmått som används kliniskt. Robust optimering har använts för att säkerställa att en dosplan tas fram som är robust sett till dessa möjliga fel i hur skärmningen är placerad. Slutligen ges en omfattande översikt över optimeringsmodeller för dosplanering av HDR BT och speciellt hur optimeringsmodellerna hanterar de motstridiga målsättningarna.

Download or read book Comprehensive Brachytherapy written by Jack Venselaar and published by Taylor & Francis. This book was released on 2012-11-08 with total page 523 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modern brachytherapy is one of the most important oncological treatment modalities requiring an integrated approach that utilizes new technologies, advanced clinical imaging facilities, and a thorough understanding of the radiobiological effects on different tissues, the principles of physics, dosimetry techniques and protocols, and clinical expertise. A complete overview of the field, Comprehensive Brachytherapy: Physical and Clinical Aspects is a landmark publication, presenting a detailed account of the underlying physics, design, and implementation of the techniques, along with practical guidance for practitioners. Bridging the gap between research and application, this single source brings together the technological basis, radiation dosimetry, quality assurance, and fundamentals of brachytherapy. In addition, it presents discussion of the most recent clinical practice in brachytherapy including prostate, gynecology, breast, and other clinical treatment sites. Along with exploring new clinical protocols, it discusses major advances in imaging, robotics, dosimetry, Monte Carlo-based dose calculation, and optimization.

Download or read book ROMANSY 23 Robot Design Dynamics and Control written by Gentiane Venture and published by Springer Nature. This book was released on 2020-09-15 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights the latest innovations and applications in robotics, as presented by leading international researchers and engineers at the ROMANSY 2020, the 23rd CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators. The ROMANSY symposium is the first established conference that focuses on robotics theory and research, rather than industrial aspects. Bringing together researchers from a broad range of countries, the symposium is held bi-annually and plays a vital role in the development of the theory and practice of robotics, as well as the mechanical sciences. ROMANSY 2020 marks the 23rd installment in a series that began in 1973. The event was also the first topic-specific conference of the IFToMM, though not exclusively intended for the IFToMM community.

Download or read book Motion Planning in Medicine Optimization and Simulation Algorithms for Image Guided Procedures written by Ron Alterovitz and published by Springer Science & Business Media. This book was released on 2008-07-23 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by Ron Alterovitz and Ken Goldberg, this monograph combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures.

Download or read book Advances in Robotics and Virtual Reality written by Tauseef Gulrez and published by Springer Science & Business Media. This book was released on 2011-11-13 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: A beyond human knowledge and reach, robotics is strongly involved in tackling challenges of new emerging multidisciplinary fields. Together with humans, robots are busy exploring and working on the new generation of ideas and problems whose solution is otherwise impossible to find. The future is near when robots will sense, smell and touch people and their lives. Behind this practical aspect of human-robotics, there is a half a century spanned robotics research, which transformed robotics into a modern science. The Advances in Robotics and Virtual Reality is a compilation of emerging application areas of robotics. The book covers robotics role in medicine, space exploration and also explains the role of virtual reality as a non-destructive test bed which constitutes a premise of further advances towards new challenges in robotics. This book, edited by two famous scientists with the support of an outstanding team of fifteen authors, is a well suited reference for robotics researchers and scholars from related disciplines such as computer graphics, virtual simulation, surgery, biomechanics and neuroscience.

Download or read book New Trends in Medical and Service Robots written by Doina Pisla and published by Springer Science & Business Media. This book was released on 2013-09-06 with total page 239 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains mainly the selected papers of the First International Workshop on Medical and Service Robots, held in Cluj-Napoca, Romania, in 2012. The high quality of the scientific contributions is the result of a rigorous selection and improvement based on the participants’ exchange of opinions and extensive peer-review. This process has led to the publishing of the present collection of 16 independent valuable contributions and points of view and not as standard symposium or conference proceedings. The addressed issues are: Computational Kinematics, Mechanism Design, Linkages and Manipulators, Mechanisms for Biomechanics, Mechanics of Robots, Control Issues for Mechanical Systems, Novel Designs, Teaching Methods, all of these being concentrated around robotic systems for medical and service applications. The results are of interest to researchers and professional practitioners as well as to Ph.D. students in the field of mechanical and electrical engineering. This volume marks the start of a subseries entitled “New Trends in Medical and Service Robots” within the Machine and Mechanism Science Series, presenting recent trends, research results and new challenges in the field of medical and service robotics.

Download or read book Brachytherapy written by Phillip M. Devlin, MD, FACR and published by Springer Publishing Company. This book was released on 2015-10-14 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: The only comprehensive guide to the latest knowledge and techniques in brachytherapy Since the first edition was published in 2006, Phillip M. Devlinís Brachytherapy has been acknowledged as the essential book on the practice. Inthis updated new edition, all chapters covering cancer sites have been significantly revised. Organized for specialists in several fields, Brachytherapy contains site-specific chapters that discuss how the evolving role of advanced image guidance has demonstrated greater efficacy and less toxicity. Clinical vignettes with images now accompany all site-specific chapters. The chapter on prostate brachytherapy has been expanded to include other indications in the genitourinary system, and there are two entirely new chaptersóone chronicling the history of brachytherapy and the other detailing the emergence of skin brachytherapy. Dr. Devlin, a leading world authority on brachytherapy, has assembled other leaders in the field from world-renowned radiation oncology programs to enrichthis comprehensive text. From new data on medical outcomes to the costs and benefits of running a brachytherapy practice, Brachytherapy, Second Edition is the first and last word on what still is considered the most conformal radiotherapy technique in the field. In the new edition: Over 300 images accompany the chapter text and clinical vignettes Essential tables and spreadsheets enhance the chapter on running a brachytherapy practice Ten years of technological advancements are assimilated and reviewed in each site-specific chapter Includes access to the fully-searchable downloadable ebook From the Foreword: ìAs education is essential to advance awareness of and proficiency in the full spectrum of brachytherapy applications, the appearance of the second edition of this highly regarded text is both a timely and most welcome event. The distinguished list of contributors to this work reads like a veritable ìWhoís Whoî of international brachytherapy expertise making this an indispensable resource for students and practitioners of this complex and challenging modality[Ö]A particularly welcome feature is the clinical vignettes at the close of every chapter that bring seemingly remote concepts to life in real world practical applications[Ö]With the second edition of Brachytherapy: Applications and Techniques, Dr. Devlin and colleagues give us a text that instills a profound appreciation for the critical value of this essential modality. This book makes it clear that brachytherapy not only works, it is an irreplaceable component of contemporary cancer care.î --David Wazer, MD, FACRO, FACR, FASTRO, Professor and Chairman, Departments of Radiation Oncology, Alpert Medical School of Brown University, Providence, RI

Download or read book New Trends in Medical and Service Robots written by Aleksandar Rodić and published by Springer Science & Business Media. This book was released on 2014-04-08 with total page 379 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume describes new frontiers in medical and service robotics in the light of recent developments in technology to advance robot design and implementation. In particular, the work looks at advances in design, development and implementation of contemporary surgical, rehabilitation and biorobots. Surgical robots allow surgeons greater access to areas under operation using more precise and less invasive methods. Rehabilitation robots facilitate and support the lives of the infirm, elderly people, or those with dysfunction of body parts affecting movement. These robots are also used for rehabilitation and related procedures, such as training and therapy. Biorobots are designed to imitate the cognition of humans and animals. The need to substitute humans working on delicate, tiresome and monotonous tasks, or working with potentially health-damaging toxic materials, requires intelligent, high-performance service robots with the ability to cooperate, advanced communication and sophisticated perception and cognitive capabilities. Progress in this field is fast and results need to be disseminated to stimulate both practical applications and further research. Thus, these papers are a valuable addition to existing literature.

Download or read book New Advances in Mechanisms Mechanical Transmissions and Robotics written by Burkhard Corves and published by Springer. This book was released on 2016-09-30 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume presents the proceedings of the Joint International Conference of the XII International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXIII International Conference on Robotics (Robotics ’16), that was held in Aachen, Germany, October 26th-27th, 2016. It contains applications of mechanisms and transmissions in several modern technical fields such as mechatronics, biomechanics, machines, micromachines, robotics and apparatus. In connection with these fields, the work combines the theoretical results with experimental testing. The book presents reviewed papers developed by researchers specialized in mechanisms analysis and synthesis, dynamics of mechanisms and machines, mechanical transmissions, biomechanics, precision mechanics, mechatronics, micromechanisms and microactuators, computational and experimental methods, CAD in mechanism and machine design, mechanical design of robot architecture, parallel robots, mobile robots, micro and nano robots, sensors and actuators in robotics, intelligent control systems, biomedical engineering, teleoperation, haptics, and virtual reality.