Development and Error Analysis of a Novel Robotic System for Photodynamic Therapy
2020 International Symposium on Medical Robotics, ISMR 2020
automatic light delivery; image guided robotics; photodynamic therapy
Photodynamic therapy has the potential to not only treat tumors directly but also to reduce incidental damage caused by large surgical margins and radiation therapy. In this study, a novel robotic system of delivering light was developed using a cartesian robot. Human input was limited to a computer input and no physical positioning of the light delivery system was required during testing. Error analysis was conducted to ensure the system's applicability to a clinical environment. Error involved in both the outlining and coverage of the targeted areas was examined. The average outlining error and standard deviation were 0.23 +/-0.16mm, and the coverage time error was below 4%. These results indicate that a robotic light delivery system for photodynamic therapy can consistently provide light delivery with sub-millimeter errors when testing with ex-vivo phantoms.
Sheft, M., Kulkarni, P., Ge, J., Saeidi, H., Opfermann, J., Joshi, A., Schnermann, M., & Krieger, A. (2020). Development and Error Analysis of a Novel Robotic System for Photodynamic Therapy. 2020 International Symposium on Medical Robotics, ISMR 2020, (). http://dx.doi.org/10.1109/ISMR48331.2020.9312954