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Systematic Evaluation of the Minimum Detectable Shift Using a Range-Finding Camera

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M Platt

M Platt1*, M Platt2 , M Lamba3 , A Mascia4 , K Huang5 , (1) College of Medicine University of Cincinnati, Cincinnati, OH, (2) College of Medicine University of Cincinnati, Cincinnati, OH, (3) University of Cincinnati, Cincinnati, OH, (4) University of Cincinnati Medical Center, Cincinnati, OH, (5) UC Health Barret Cancer Center, Cincinnati, OH


SU-F-J-206 (Sunday, July 31, 2016) 3:00 PM - 6:00 PM Room: Exhibit Hall

Purpose: The robotic table used for patient alignment in proton therapy is calibrated only at commissioning under well-defined conditions and table shifts may vary over time and with differing conditions. The purpose of this study is to systematically investigate minimum detectable shifts using a time-of-flight (TOF) range-finding camera for table position feedback.

Methods: A TOF camera was used to acquire one hundred 424 x 512 range images from a flat surface before and after known shifts. Range was assigned by averaging central regions of the image across multiple images. Depth resolution was determined by evaluating the difference between the actual shift of the surface and the measured shift. Depth resolution was evaluated for number of images averaged, area of sensor over which depth was averaged, distance from camera to surface, central versus peripheral image regions, and angle of surface relative to camera.

Results: For one to one thousand images with a shift of one millimeter the range in error was 0.852 ± 0.27 mm to 0.004 ± 0.01 mm (95% C.I.). For varying regions of the camera sensor the range in error was 0.02 ± 0.05 mm to 0.47 ± 0.04 mm. The following results are for 10 image averages. For areas ranging from one pixel to 9 x 9 pixels the range in error was 0.15 ± 0.09 to 0.29 ± 0.15 mm (1σ). For distances ranging from two to four meters the range in error was 0.15 ± 0.09 to 0.28 ± 0.15 mm. For an angle of incidence between thirty degrees and ninety degrees the average range in error was 0.11 ± 0.08 to 0.17 ± 0.09 mm.

Conclusion: It is feasible to use a TOF camera for measuring shifts in flat surfaces under clinically relevant conditions with submillimeter precision.

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