Robot-Assisted Ocular Tumour Radiotherapy Positioning and Tracking System

BackgroundPrecise dose position distribution is crucial for ocular proton therapy.MethodsA non-invasive eye positioning and tracking system with novel structure is designed to reduce eye movement and facilitate precise dose by guiding the direction of patients' gaze. The system helps to achieve gaze guidance by controlling the light source fixed on two turntables above the patient's face. Tracking of the eye is achieved by cameras attached to the end of a 6DOFs robotic arm to capture the image reflected from a mirror above the patient's face.ResultsAfter all operation steps, the accuracy of the robotic arm is 0.18 mm (SD 0.25 mm) and the accuracy of the turntables is 0.01 degrees (SD 0.02 degrees). The EPTS is tested to be remotely controlled in real time with sufficient precision and repeatability.ConclusionThe system is expected to improve the safety and efficiency of ocular proton therapy.