{"id":302,"date":"2019-11-03T12:42:00","date_gmt":"2019-11-03T11:42:00","guid":{"rendered":"http:\/\/new.cartcas.polimi.it\/?page_id=302"},"modified":"2019-12-19T17:26:12","modified_gmt":"2019-12-19T16:26:12","slug":"in-room-systems","status":"publish","type":"page","link":"http:\/\/www.cartcas.polimi.it\/in-room-systems\/","title":{"rendered":"In-room Systems"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\"><strong>Patient Positioning System<\/strong><\/h3>\n\n\n\n<p>Development of a robotic 6 DOF patient positioning system (<a href=\"https:\/\/www.ncbi.nlm.nih.gov\/pmc\/articles\/PMC3700512\/\">PPS<\/a>) based on  pantographic architecture  featuring high positional open-loop accuracy with varying weight. This is combined with infra-red optical tracking for set-up and immobility verification and  double X-ray projection systems for 2D-3D registration. This system is installed at the National Centre of Oncological Hadrontherapy (<a href=\"https:\/\/fondazionecnao.it\/it\/\">CNAO<\/a>, Pavia, Italy).<\/p>\n\n\n\n<div class=\"wp-block-media-text alignwide\"><figure class=\"wp-block-media-text__media\"><video controls src=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/PPS2-online-video-cutter.com_.mp4\"><\/video><\/figure><div class=\"wp-block-media-text__content\">\n<p class=\"has-large-font-size\"><img decoding=\"async\" loading=\"lazy\" width=\"264\" height=\"196\" class=\"wp-image-879\" style=\"width: 300px;\" src=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/PPS1.png\" alt=\"\"><\/p>\n<\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>In-room imaging<\/strong><\/h3>\n\n\n\n<p>Implementation of an ad-hoc <a href=\"https:\/\/www.ncbi.nlm.nih.gov\/pubmed\/25455440\">in-room imaging system<\/a> for patient set-up verification and possible treatment adaptation. The system is installed at <a href=\"https:\/\/fondazionecnao.it\/it\/\">CNAO<\/a> and clinically adopted since 2013, and consists of:<\/p>\n\n\n\n<ul><li>C-arm with kV X-ray tube and flat panel mounted on a 6-DOF robotic serial manipulator<\/li><li>Dedicated software for multiple&nbsp; imaging and 2D-3D image registration, and cone-beam CT (CBCT)<\/li><\/ul>\n\n\n\n<p>The development of a similar system is currently ongoing &#8211; to be installed in the lateral (N\u00b01) room of CNAO. It will feature:<\/p>\n\n\n\n<ul><li>C-arm with kV X-ray tube, custom collimator and a displaceable flat panel mounted on a 7-DOF robotic serial manipulator<\/li><li>Dedicated software for multiple&nbsp; imaging and 2D-3D image registration,  cone-beam CT (CBCT) and 3D-3D registration<\/li><li>Upgrades to the Field Of View (FOV), safety of the acquisition protocol and registration framework<\/li><\/ul>\n\n\n\n<div class=\"wp-block-media-text alignwide\"><figure class=\"wp-block-media-text__media\"><video controls src=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/CBCT_SIM-online-video-cutter.com_.mp4\"><\/video><\/figure><div class=\"wp-block-media-text__content\">\n<p class=\"has-large-font-size\"><img decoding=\"async\" loading=\"lazy\" width=\"318\" height=\"201\" class=\"wp-image-617\" style=\"width: 300px;\" src=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/11\/CBCT_SIM_static.png\" alt=\"\" srcset=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/11\/CBCT_SIM_static.png 318w, http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/11\/CBCT_SIM_static-300x190.png 300w\" sizes=\"(max-width: 318px) 100vw, 318px\" \/><\/p>\n<\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Eye Tracking system<\/strong><\/h3>\n\n\n\n<p>Implementation of an eye tracking system (<a href=\"https:\/\/www.ncbi.nlm.nih.gov\/pubmed\/25979013\">ETS<\/a>) for the treatment of ocular melanoma with proton therapy. This system allows one to:<\/p>\n\n\n\n<ul><li>localize cornea and pupil centers on stereo images captured by two calibrated infra-red video cameras,  exploiting eye reflections produced by infrared illumination.<\/li><li>estimate the 3D position and orientation of the eye <\/li><li>map the position of the lesion to be treated by combining ETS measurements with volumetric imaging for treatment planning (CT, MRI), enabling real-time tumor referencing during treatment setup and irradiation  <\/li><\/ul>\n\n\n\n<p>A <a href=\"https:\/\/www.ncbi.nlm.nih.gov\/pubmed\/30928066\">technological platform<\/a> based on active robotic manipulators and optical tracking-based guidance  is currently used at <a href=\"https:\/\/fondazionecnao.it\/it\/\">CNAO<\/a> for patient gaze direction control and monitoring. A research collaboration is ongoing with the Paul Scherrer Institute (<a href=\"https:\/\/www.psi.ch\/de\">PSI<\/a>, Villigen, Switzerland) for further improvements of the ETS.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-1 is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img decoding=\"async\" loading=\"lazy\" width=\"727\" height=\"730\" src=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS1.png\" alt=\"\" data-id=\"901\" data-full-url=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS1.png\" data-link=\"http:\/\/www.cartcas.polimi.it\/in-room-systems\/ets1-2\/\" class=\"wp-image-901\" srcset=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS1.png 727w, http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS1-300x300.png 300w, http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS1-150x150.png 150w, http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS1-100x100.png 100w\" sizes=\"(max-width: 727px) 100vw, 727px\" \/><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img decoding=\"async\" loading=\"lazy\" width=\"660\" height=\"415\" src=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS2.jpg\" alt=\"\" data-id=\"902\" data-full-url=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS2.jpg\" data-link=\"http:\/\/www.cartcas.polimi.it\/in-room-systems\/ets2-2\/\" class=\"wp-image-902\" srcset=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS2.jpg 660w, http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS2-300x189.jpg 300w\" sizes=\"(max-width: 660px) 100vw, 660px\" \/><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img decoding=\"async\" loading=\"lazy\" width=\"765\" height=\"431\" src=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS3.png\" alt=\"\" data-id=\"903\" data-full-url=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS3.png\" data-link=\"http:\/\/www.cartcas.polimi.it\/in-room-systems\/ets3-2\/\" class=\"wp-image-903\" srcset=\"http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS3.png 765w, http:\/\/www.cartcas.polimi.it\/wp-content\/uploads\/2019\/12\/ETS3-300x169.png 300w\" sizes=\"(max-width: 706px) 89vw, (max-width: 767px) 82vw, 740px\" \/><\/figure><\/li><\/ul><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Patient Positioning System Development of a robotic 6 DOF patient positioning system (PPS) based on pantographic architecture featuring high positional open-loop accuracy with varying weight. This is combined with infra-red optical tracking for set-up and immobility verification and double X-ray projection systems for 2D-3D registration. This system is installed at the National Centre of Oncological &hellip; <\/p>\n<p class=\"link-more\"><a href=\"http:\/\/www.cartcas.polimi.it\/in-room-systems\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;In-room Systems&#8221;<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"http:\/\/www.cartcas.polimi.it\/wp-json\/wp\/v2\/pages\/302"}],"collection":[{"href":"http:\/\/www.cartcas.polimi.it\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/www.cartcas.polimi.it\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/www.cartcas.polimi.it\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"http:\/\/www.cartcas.polimi.it\/wp-json\/wp\/v2\/comments?post=302"}],"version-history":[{"count":28,"href":"http:\/\/www.cartcas.polimi.it\/wp-json\/wp\/v2\/pages\/302\/revisions"}],"predecessor-version":[{"id":904,"href":"http:\/\/www.cartcas.polimi.it\/wp-json\/wp\/v2\/pages\/302\/revisions\/904"}],"wp:attachment":[{"href":"http:\/\/www.cartcas.polimi.it\/wp-json\/wp\/v2\/media?parent=302"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}