CyberKnife ??? ??? ??? ????????????????

1
CyberKnife ??? ??? ???????????????????
?????????????????? ??????????????????
2
????????????

• ???? Mold ???? CT
  ???? CyberKnife
• Immobilization Immobilization
  Immobilization
• 
  CT scan Treatment

3
Immobilization

• Thermoplastic Mask
• Body Mold
• Synchrony Vest

4
Workspace for the Robotic Manipulator
5
Treatment Delivery

• ????????????????????????? Immobilization ???????
• ????? DRRs 2 ??? ??? Plan CT
• ???? X-ray ??? ???????
• ?????????????? DRRs ??? X-ray ??????
• ????????????????????????????????????
• ???????????????????
• ??????????????????????????????????????????????????
  ??????????

6
Couch

• R roll (right, left)
• P pitch (head up, down)
• W yaw (CW, CCW)

Z
W
R
P
X
Y
7
Robot Correction

• 10 mm for Left/ Right
• 10 mm for Posterior/ Anterior
• 10 mm for Inferior/ Superior
• 1 degree for Roll
• 1 degree for Pitch
• 3 degree for Yaw
• Precision 0.12 mm

Z
W
R
P
X
Y
8
Skull Tracking
9
Spine Tracking
10
Fiducial Tracking
11
Synchrony
12
Synchrony
13
Robot Correction with Synchrony

• 25 mm for Left/ Right
• 25 mm for Posterior/ Anterior
• 25 mm for Inferior/ Superior
• 1 degree for Roll
• 1 degree for Pitch
• 3 degree for Yaw

Z
W
R
P
X
Y
14
Treatment Time

• Skull Tracking 1 1.5 ???????
• Spine Tracking 1.5 - 2 ???????
• Fiducial Synchrony 2 - 3 ???????