Development and Error Analysis of a Novel Robotic System for Photodynamic Therapy
- Resource Type
- Conference
- Authors
- Sheft, Maxina; Kulkarni, Priya; Ge, Jiawei; Saeidi, Hamed; Opfermann, Justin D.; Joshi, Arjun; Schnermann, Martin; Krieger, Axel
- Source
- 2020 International Symposium on Medical Robotics (ISMR) Medical Robotics (ISMR), 2020 International Symposium on. :166-172 Nov, 2020
- Subject
- Bioengineering
Robotics and Control Systems
Printers
Three-dimensional displays
Robots
Cameras
Medical treatment
Light sources
Robot vision systems
image guided robotics
photodynamic therapy
automatic light delivery
- Language
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.