An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove ...An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ±1.5 mm, and satisfy the requirement of practical welding project.展开更多
目的:比较研究Ethos自适应放射治疗系统的Auto Plan(自动计划)与Fall back Plan(导入计划)在乳腺癌保乳术后放射治疗中的剂量学差异,探讨Ethos平台下两种技术在乳腺癌保乳术后放疗中的临床价值。方法:回顾性选择2022年在上海交通大学医...目的:比较研究Ethos自适应放射治疗系统的Auto Plan(自动计划)与Fall back Plan(导入计划)在乳腺癌保乳术后放射治疗中的剂量学差异,探讨Ethos平台下两种技术在乳腺癌保乳术后放疗中的临床价值。方法:回顾性选择2022年在上海交通大学医学院附属瑞金医院行乳腺癌保乳术后放射治疗的15例乳腺癌患者资料。基于Ethos计划系统为每例患者分别设计调强放射治疗(IMRT)7、9和12野均分(7F_IMRT、9F_IMRT和12F_IMRT)的自动计划,以及12野的导入计划,对比评价左、右乳自动计划与导入计划靶区剂量分布的适形指数(CI)、均匀性指数(HI)及危及器官(OAR)的剂量学差异。结果:导入计划能够改善靶区剂量分布,15例患者靶区剂量平均HI为0.020±0.005,优于7F_IMRT、9F_IMRT和12F_IMRT的3种自动计划的0.065±0.015、0.024±0.004和0.024±0.0045,差异有统计学意义(t=12.687、3.638、4.885,P<0.05)。在8例左乳腺癌患者中,导入计划OAR患侧肺的平均剂量(D_(mean))、接受5、10、20、30Gy剂量的体积百分比(V_(5Gy)、V_(10Gy)、V_(20Gy)、V_(30Gy))均优于3种自动计划,差异有统计学意义(F=24.31、64.59、18.02、7.32、5.74,P<0.05);导入计划的心脏受量平均D_(mean)、V_(5Gy)、V_(10Gy)、V_(30Gy)分别为(244.83±53.93)cGy、(9.64±2.94)%、(4.28±2.0)%、(0.51±0.5)%,均优于3种自动计划,差异有统计学意义(F=10.17、12.05、4.59、3.95,P<0.05);导入计划健侧肺D_(mean)和V_(5Gy)及健侧乳腺的D_(mean)均优于3种自动计划,差异有统计学意义(F=27.99、6.26、35.89,P<0.05)。在7例右乳腺癌患者中,导入计划OAR患侧肺D_(mean)、V_(5Gy)、V_(10Gy)、V_(20Gy)、V_(30Gy)均优于3种自动计划,差异有统计学意义(F=3.43、3.85、2.32、2.36、3.59,P<0.05)。导入计划心脏Dmax、D_(mean)、V_(5Gy)均优于3种自动计划,差异有统计学意义(F=10、10.22、3.96,P<0.05)。导入计划的健侧肺的D_(mean)及V_(5Gy)及健侧乳腺D_(mean)的均优于3种自动计划,差异有统计学意义(F=20.87、4.17、59.83,P<0.05)。结论:导入计划与7F_IMRT、9F_IMRT及12F_IMRT的Ethos系统自动计划相比,靶区均匀性更好,患侧肺以及心脏的剂量更低,且其他OAR的剂量均在临床限制要求之内。导入计划在乳腺癌保乳术后放射治疗中具有更高的临床应用价值。展开更多
基金This project is supported by Program of International Science and Technology Cooperation(No.2004 DFA02400).
文摘An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ±1.5 mm, and satisfy the requirement of practical welding project.
文摘目的:比较研究Ethos自适应放射治疗系统的Auto Plan(自动计划)与Fall back Plan(导入计划)在乳腺癌保乳术后放射治疗中的剂量学差异,探讨Ethos平台下两种技术在乳腺癌保乳术后放疗中的临床价值。方法:回顾性选择2022年在上海交通大学医学院附属瑞金医院行乳腺癌保乳术后放射治疗的15例乳腺癌患者资料。基于Ethos计划系统为每例患者分别设计调强放射治疗(IMRT)7、9和12野均分(7F_IMRT、9F_IMRT和12F_IMRT)的自动计划,以及12野的导入计划,对比评价左、右乳自动计划与导入计划靶区剂量分布的适形指数(CI)、均匀性指数(HI)及危及器官(OAR)的剂量学差异。结果:导入计划能够改善靶区剂量分布,15例患者靶区剂量平均HI为0.020±0.005,优于7F_IMRT、9F_IMRT和12F_IMRT的3种自动计划的0.065±0.015、0.024±0.004和0.024±0.0045,差异有统计学意义(t=12.687、3.638、4.885,P<0.05)。在8例左乳腺癌患者中,导入计划OAR患侧肺的平均剂量(D_(mean))、接受5、10、20、30Gy剂量的体积百分比(V_(5Gy)、V_(10Gy)、V_(20Gy)、V_(30Gy))均优于3种自动计划,差异有统计学意义(F=24.31、64.59、18.02、7.32、5.74,P<0.05);导入计划的心脏受量平均D_(mean)、V_(5Gy)、V_(10Gy)、V_(30Gy)分别为(244.83±53.93)cGy、(9.64±2.94)%、(4.28±2.0)%、(0.51±0.5)%,均优于3种自动计划,差异有统计学意义(F=10.17、12.05、4.59、3.95,P<0.05);导入计划健侧肺D_(mean)和V_(5Gy)及健侧乳腺的D_(mean)均优于3种自动计划,差异有统计学意义(F=27.99、6.26、35.89,P<0.05)。在7例右乳腺癌患者中,导入计划OAR患侧肺D_(mean)、V_(5Gy)、V_(10Gy)、V_(20Gy)、V_(30Gy)均优于3种自动计划,差异有统计学意义(F=3.43、3.85、2.32、2.36、3.59,P<0.05)。导入计划心脏Dmax、D_(mean)、V_(5Gy)均优于3种自动计划,差异有统计学意义(F=10、10.22、3.96,P<0.05)。导入计划的健侧肺的D_(mean)及V_(5Gy)及健侧乳腺D_(mean)的均优于3种自动计划,差异有统计学意义(F=20.87、4.17、59.83,P<0.05)。结论:导入计划与7F_IMRT、9F_IMRT及12F_IMRT的Ethos系统自动计划相比,靶区均匀性更好,患侧肺以及心脏的剂量更低,且其他OAR的剂量均在临床限制要求之内。导入计划在乳腺癌保乳术后放射治疗中具有更高的临床应用价值。
