<> "The repository administrator has not yet configured an RDF license."^^ . <> . . "Implementation of safe human robot collaboration for ultrasound guided radiation therapy"^^ . "This thesis shows that safe human-robot-interaction and Human Robot Collaboration is possible for Ultrasound (US) guided radiotherapy. Via the chosen methodology, all components (US, optical room monitoring and robot) could be linked and integrated and realized in a realistic clinical workflow.\r\nUS guided radiotherapy offers a complement and alternative to existing image-guided therapy approaches. The real-time capability of US and high soft tissue contrast allow target structures to be tracked and radiation delivery to be modulated. However, Ultrasound guided radiation therapy (USgRT) is not yet clinically established but is still under development, as reliable and safe methods of image acquisition are not yet available. In particular, the loss of contact of the US probe to the patient surface poses a problem for patient movements such as breathing.\r\nFor this purpose, a Breathing and motion compensation (BaMC) was developed in this work, which together with the safe control of a lightweight robot represents a new development for USgRT. The developed BaMC can be used to control the US probe with contact to the patient. The conducted experiments have confirmed that a steady contact with the patient surface and thus a continuous image acquisition can be ensured by the developed methodology. In addition, the image position in space can be accurately maintained in the submillimeter range.\r\nThe BaMC seamlessly integrates into a developed clinical workflow. The graphical user interfaces developed for this purpose, as well as direct haptic control with the robot, provide an easy interaction option for the clinical user. The developed autonomous positioning of the transducer represents a good example of the feasibility of the approach. With the help of the user interface, an acoustic plane can be defined and autonomously approached via the robot in a time-efficient and precise manner. The tests carried out show that this methodology is suitable for a wide range of transducer positions.\r\nSafety in a human-robot interaction task is essential and requires individually customized concepts. In this work, adequate monitoring mechanisms could be found to ensure both patient and staff safety. In collision tests it could be shown that the implemented detection measures work and that the robot moves into a safe parking position. The forces acting on the patient could thus be pushed well below the limits required by the standard.\r\nThis work has demonstrated the first important steps towards safe robot-assisted ultrasound imaging, which is not only applicable to USgRT. The developed interfaces provide the basis for further investigations in this field, especially in the area of image recognition, for example to determine the position of the target structure. With the proof of safety of the developed system, first study in human can now follow."^^ . "2023" . . . . . . . "Peter Karl"^^ . "Seitz"^^ . "Peter Karl Seitz"^^ . . . . . . "Implementation of safe human robot collaboration for ultrasound guided radiation therapy (PDF)"^^ . . . "Seitz_Peter_Karl_Dissertation.pdf"^^ . . . "Implementation of safe human robot collaboration for ultrasound guided radiation therapy (Other)"^^ . . . . . . "lightbox.jpg"^^ . . . "Implementation of safe human robot collaboration for ultrasound guided radiation therapy (Other)"^^ . . . . . . "preview.jpg"^^ . . . "Implementation of safe human robot collaboration for ultrasound guided radiation therapy (Other)"^^ . . . . . . "medium.jpg"^^ . . . "Implementation of safe human robot collaboration for ultrasound guided radiation therapy (Other)"^^ . . . . . . "small.jpg"^^ . . . "Implementation of safe human robot collaboration for ultrasound guided radiation therapy (Other)"^^ . . . . . . "indexcodes.txt"^^ . . "HTML Summary of #33606 \n\nImplementation of safe human robot collaboration for ultrasound guided radiation therapy\n\n" . "text/html" . . . "004 Informatik"@de . "004 Data processing Computer science"@en . .