VFH+ based shared control for remotely operated mobile robots

This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which blends the commands from a VFH+ obstacle avoidance navigation module with the teleoperation commands provided by an operator via a joypad. The presented approach offers several advantages such as flexibility allowing for a straightforward adaptation of the controller's behaviour and easy integration with variable autonomy systems; as well as the ability to cope with dynamic environments. The advantages of the presented controller are demonstrated by an experimental evaluation in a disaster response scenario. More specifically, presented evidence show a clear performance increase in terms of safety and task completion time compared to a pure teleoperation approach, as well as an ability to cope with previously unobserved obstacles.Comment: 8 pages,6 figure

A methodology for assessing and improving the total geometric accuracy in gamma knife radiosurgery

The purpose of the study is to present an end-to-end experimental procedure, based on a polymer gel phantom, capable of assessing the total geometric uncertainty in GK radiosurgery applications, in which MR images are solely used for both target delineation and registration of patient image coordinates to the Leksell space. As a result the study aims to propose a time-efficient method, based on corresponding polymer gel results, which considerably improves the geometric accuracy in GK treatment delivery

Economic impact to shipping industry : Economic impact to shipping industry considering Maritime Spatial Planning and green routes in pilot case studies

In this project, three case studies are considered in order to examine the economic impact of the implementation of MSP when considering environmental impact of the shipping industry. Specific characteristics and limitations of areas in the Greek Sea, the Balearic Sea and the Baltic Sea are evaluated with respect to their economic effects on the maritime transport domain. The purpose of the above is to evaluate the economic impacts and risk implications of different scenarios and particularly: The economic impact of vessel traffic rerouting and/or reducing the speed in order to reduce the probability of vessel strikes or other negative impact to endangered marine species. Analysis and treatment of costs (constraints and penalties) from unexpected delays, in addition to the additional transit time cost. Estimation of the direct and indirect economic impact on the shipping industry and the effects of potential port call dislocation for the implementation of the proposed management options (e.g. speed deceleration or ship rerouting).https://commons.wmu.se/monalisa2/1001/thumbnail.jp

On the implementation of a recently proposed dosimetric formalism to a robotic radiosurgery system

The aim of this work is to implement a recently proposed dosimetric formalism for nonstandard fields to the calibration and small field output factor measurement of a robotic stereotactic radiosurgery system

BrachyGuide: A brachytherapy-dedicated DICOM RT viewer and interface to Monte Carlo simulation software

This work presents BrachyGuide, a brachytherapy-dedicated software tool for the automatic preparation of input files for Monte Carlo simulation from treatment plans exported in DICOM RT format, and results of calculations performed for its benchmarking. Three plans were prepared using two computational models, the image series of a water sphere and a multicatheter breast brachytherapy patient, for each of two commercially available treatment planning systems: BrachyVision and Oncentra Brachy. One plan involved a single source dwell position of an 192Ir HDR source (VS2000 or mHDR-v2) at the center of the water sphere using the TG43 algorithm, and the other two corresponded to the TG43 and advanced dose calculation algorithm for the multicatheter breast brachytherapy patient. Monte Carlo input files were prepared using BrachyGuide and simulations were performed with MCNP v.6.1. For the TG43 patient plans, the Monte Carlo computational model was manually edited in the prepared input files to resemble TG43 dosimetry assumptions. Hence all DICOM RT dose exports were equivalent to corresponding simulation results and their comparison was used for benchmarking the use of BrachyGuide. Monte Carlo simulation results and corresponding DICOM RT dose exports agree within type A uncertainties in the majority of points in the computational models. Treatment planning system, algorithm, and source specific differences greater than type A uncertainties were also observed, but these were explained by treatment planning system-related issues and other sources of type B uncertainty. These differences have to be taken into account in commissioning procedures of brachytherapy dosimetry algorithms. BrachyGuide is accurate and effective for use in the preparation of commissioning tests for new brachytherapy dosimetry algorithms as a user-oriented commissioning tool and the expedition of retrospective patient cohort studies of dosimetry planning

Monte Carlo-Based Radiobiological Investigation of the Most Optimal Ion Beam Forming SOBP for Particle Therapy

Proton (p) and carbon (C) ion beams are in clinical use for cancer treatment, although other particles such as He, Be, and B ions have more recently gained attention. Identification of the most optimal ion beam for radiotherapy is a challenging task involving, among others, radiobiological characterization of a beam, which is depth-, energy-, and cell type- dependent. This study uses the FLUKA and MCDS Monte Carlo codes in order to estimate the relative biological effectiveness (RBE) for several ions of potential clinical interest such as p, 4He, 7Li, 10Be, 10B, and 12C forming a spread-out Bragg peak (SOBP). More specifically, an energy spectrum of the projectiles corresponding to a 5-cm SOBP at a depth of 8 cm was used. All secondary particles produced by the projectiles were considered and RBE was determined based on radiation-induced Double Strand Breaks (DSBs), as calculated by MCDS. In an attempt to identify the most optimal ion beam, using the latter data, biological optimization was performed and the obtained depth–dose distributions were inter-compared. The results showed that 12C ions are more effective inside the SOBP region, which comes at the expense of higher dose values at the tail (i.e., after the SOBP). In contrast, p beams exhibit a higher DSOPB/DEntrance ratio, if physical doses are considered. By performing a biological optimization in order to obtain a homogeneous biological dose (i.e., dose × RBE) in the SOBP, the corresponding advantages of p and 12C ions are moderated. 7Li ions conveniently combine a considerably lower dose tail and a DSOPB/DEntrance ratio similar to 12C. This work contributes towards identification of the most optimal ion beam for cancer therapy. The overall results of this work suggest that 7Li ions are of potential interest, although more studies are needed to demonstrate the relevant advantages. Future work will focus on studying more complex beam configurations

A user-oriented procedure for the commissioning and quality assurance testing of treatment planning system dosimetry in high-dose-rate brachytherapy

Purpose: To develop a user-oriented procedure for testing treatment planning system (TPS) dosimetry in high-dose-rate brachytherapy, with particular focus to TPSs using model-based dose calculation algorithms (MBDCAs). Methods and Materials: Identical plans were prepared for three computational models using two commercially available systems and the same 192Ir source. Reference dose distributions were obtained for each plan using the MCNP v.6.1 Monte Carlo (MC) simulation code with input files prepared via automatic parsing of plan information using a custom software tool. The same tool was used for the comparison of reference dose distributions with corresponding MBDCA exports. Results: The single source test case yielded differences due to the MBDCA spatial discretization settings. These affect points at relatively increased distance from the source, and they are abated in test cases with multiple source dwells. Differences beyond MC Type A uncertainty were also observed very close to the source(s), close to the test geometry boundaries, and within heterogeneities. Both MBDCAs studied were found equivalent to MC within 5 cm from the target volume for a clinical breast brachytherapy test case. These are in agreement with previous findings of MBDCA benchmarking in the literature. Conclusions: The data and the tools presented in this work, that are freely available via the web, can serve as a benchmark for advanced clinical users developing their own tests, a complete commissioning procedure for new adopters of currently available TPSs using MBDCAs, a quality assurance testing tool for future updates of already installed TPSs, or as an admission prerequisite in multicentric clinical trials. © 2016 American Brachytherapy Society

Assessment of Radiation-Induced Bladder and Bowel Cancer Risks after Conventionally and Hypo-Fractionated Radiotherapy for the Preoperative Management of Rectal Carcinoma

Preoperative management of rectal carcinoma can be performed by employing either conventionally or hypo-fractionated Radiotherapy (CFRT or HFRT, respectively), delivered by Intensity Modulated Radiotherapy (IMRT) or Volumetric Modulated Arc Therapy (VMAT) plans, employing 6 MV or 10 MV photon beams. This study aims to dosimetrically and radiobiologically compare all available approaches, with emphasis on the risk of radiation-induced second cancer to the bladder and bowel. Computed Tomography (CT) scans and relevant radiotherapy contours from 16 patients were anonymized and analyzed retrospectively. For each case, CFRT of 25 × 2 Gy and HFRT of 5 × 5 Gy were both considered. IMRT and VMAT plans using 6 MV and 10 MV photons were prepared. Plan optimization was performed, considering all clinically used plan quality indices and dose–volume constraints for the critical organs. Resulting dose distributions were analyzed and compared. Moreover, the Lifetime Attributable Risk (LAR) for developing radiation-induced bladder and bowel malignancies were assessed using a non-linear mechanistic model, assuming patient ages at treatment of 45, 50, 55 and 60 years. All 128 plans created were clinically acceptable. Risk of second bladder cancer reached 0.26% for HFRT (5 × 5 Gy) and 0.19% for CFRT (25 × 2 Gy) at the age of 45. Systematically higher risks were calculated for HFRT (5 × 5 Gy) as compared to CFRT (25 × 2 Gy), with 6 MV photons resulting in slightly increased LAR, as well. Similar or equal bowel cancer risks were calculated for all techniques and patient ages investigated (range 0.05–0.14%). This work contributes towards radiotherapy treatment protocol selection criteria for the preoperative irradiation of rectal carcinoma. However, more studies are needed to establish the associated radiation-induced risk of each RT protocol