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At least 883 records · Page 49
All sourcesNASA NTRSDOE OSTI
DOE OSTI2014

SU-E-T-642: Safety Procedures for Error Elimination in Cyberknife Stereotactic Radiosurgery (SRS) and Stereotactic Body Radiation Therapy (SBRT)

Purpose: Cyberknife system is used for providing stereotactic radiosurgery (SRS) and stereotactic body radiation therapy (SBRT) hypofractionation scheme. The whole treatment delivery is based on live imaging of the patient. The minor error made at any stage may bring severe radiation injury to the patient or damage to the system itself. Several safety measures were taken to make the system safer. Methods: The radiation treatment provided thru a 6MV linac attached to Kuka robot (Cyberknife G4, Accuray Inc. Sunnyvale, CA, USA). Several possible errors were identified related to patient alignment, treatment planning, dose delivery and physics quality assurance. During dose delivery, manual and visual checks were introduced to confirm pre and intra-treatment imaging to reduce possible errors. One additional step was introduced to confirm that software tracking-tools had worked correctly with highest possible confidence level. Robotic head move in different orientations over and around the patient body, the rigidity of linac-head cover and other accessories was checked periodically. The vender was alerted when a tiny or bigger piece of equipment needed additional interlocked support. Results: As of our experience treating 525 patients on Cyberknife during the last four years, we saw on and off technical issues. During image acquisition, it was made essential to follow the site-specific imaging protocols. Adequate anatomy was contoured to document the respective doses. Followed by auto-segmentation, manual tweaking was performed on every structure. The calculation box was enclosing the whole image during the final calculation. Every plan was evaluated on slice-by slice basis. To review the whole process, a check list was maintained during the physics 2nd-check. Conclusion: The implementation of manual and visual additional checks introduced along with automated checks for confirmation was found promising in terms of reduction in systematic errors and making the system safer than before.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2012

THE FORMATION OF THE H{alpha} LINE IN THE SOLAR CHROMOSPHERE

We use state-of-the-art radiation-MHD simulations and three-dimensional (3D) non-LTE radiative transfer computations to investigate H{alpha} line formation in the solar chromosphere and apply the results of this investigation to develop the potential of H{alpha} as a diagnostic of the chromosphere. We show that one can accurately model H{alpha} line formation assuming statistical equilibrium and complete frequency redistribution provided the computation of the model atmosphere included non-equilibrium ionization of hydrogen and the Ly{alpha} and Ly{beta} line profiles are described by Doppler profiles. We find that 3D radiative transfer is essential in modeling hydrogen lines due to the low photon destruction probability in H{alpha}. The H{alpha} opacity in the upper chromosphere is mainly sensitive to the mass density and only weakly sensitive to the temperature. We find that the H{alpha} line-core intensity is correlated with the average formation height: The larger the average formation height is, the lower the intensity will be. The line-core width is a measure of the gas temperature in the line-forming region. The fibril-like dark structures seen in H{alpha} line-core images computed from our model atmosphere are tracing magnetic field lines. These structures are caused by field-aligned ridges of enhanced chromospheric mass density that raise their average formation height, and therefore make them appear dark against their deeper-formed surroundings. We compare with observations, and find that the simulated line-core widths are very similar to the observed ones, without the need for additional microturbulence.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2016

SU-F-J-53: A 3D Printed Phantom for the Use of Daily Quality Assurance Alignment Tests

Purpose: To discuss experiences and results for a 3D printed QA phantom used for daily alignment purposes for a six degrees-of-freedom (6DoF) table Methods: A 3D model was created using a fused deposition modeling (FDM) printer using free online computer-aided design (CAD) software. The model has been under use for daily QA alignment tests for a 6DoF couch. An aligned and angled baseplate were also printed in order to introduce known angles for 6DoF corrections during image-guidance. Unique registration contours were created on the faces of the phantom in order to achieve a better cone-beam computed tomography (CBCT) match using an auto-registration algorithm. A BB was also introduced at the center of the phantom in order to deliver an integrated daily Winston-Lutz (WL) test. Translational, rotational, and WL results were tabulated over one month. Results: The ’honeycomb’ structure of the print was apparent in the EPID images for the WL test, which affected the results of the analysis software. This was fixed by inserting a cube made of polyoxymethylene within the 3D phantom that encompass the BB. Auto-registration results for the three translational and three rotational from a known offset to the BB isocenter consistently fell within 1 mm and 0.2°, respectively. WL tests resulted in an average of 0.71 ± 0.14 mm. Conclusion: 3D printed models allow for accurate builds that can be customized to a variety of clinical needs. Results from translational, rotational, and WL show consistent results over a month’s time. Given its relatively cheap and streamlined workflow, 3D printing could be implemented into any clinic looking to create customized phantoms.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1993

Spaceborne Imaging Radar-C instrument

The Spaceborne Imaging Radar-C is the next radar in the series of spaceborne radar experiments, which began with Seasat and continued with SIR-A and SIR-B. The SIR-C instrument has been designed to obtain simultaneous multifrequency and simultaneous multipolarization radar images from a low earth orbit. It is a multiparameter imaging radar that will be flown during at least two different seasons. The instrument operates in the squint alignment mode, the extended aperture mode, the scansar mode, and the interferometry mode. The instrument uses engineering techniques such as beam nulling for echo tracking, pulse repetition frequency hopping for Doppler centroid tracking, generating the frequency step chirp for radar parameter flexibility, block floating-point quantizing for data rate compression, and elevation beamwidth broadening for increasing the swath illumination.

Huneycutt, Bryan L.↗
NASA NTRS1994

Dynamics of three-dimensional plasma clouds with coupling to the background ionosphere

A three-dimensional, time-dependent model with a two-grid system was developed to study the expansion of a plasma cloud in the F region and topside ionosphere. The model maintains an adequate resolution for the released cloud motion and its interaction with the immediate environment, and it includes the effect due to the coupling with the distant part of the ionosphere (i.e., E region). Simulations were performed using realistic background ionospheric density profiles in both the E and F regions. The results show that the cloud coupling to the underlying E region affects the perpendicular cloud motion the most. The distant coupling acts to reduce the perturbation potential and perpendicular velocity and delays or eliminates the striations. These simulation results are consistent with simple analytical approximations. The simulation results also show that the distant coupling has a very small effect on 'localized' phenomena, such as the cloud expansion along the B RIGHT ARROW field and the electrostatic snowplow. The cloud-induced electric potential is attenuated in the lower E region. The electrons flow along the B RIGHT ARROW field, carrying the current to the E region and back to the cloud. The current closure is demonstrated in three dimensions for the first time for such a problem. The perpendicular current flowing through the plasma cloud is closed by the field-aligned electron current and the background perpendicular (mainly Pedersen) current in both the E and F regions. The 'image cloud' formation in t he E region is also clearly demonstrated. The variation of the density change in the 'image cloud' along the B RIGHT ARROW field and the features of the image cloud are shown.

Ma, T.-Z.↗
NASA NTRS1998

Contactless Growth of ZnSe Single Crystals by Physical Vapor Transport

ZnSe crystals were grown by self-seeded physical vapor transport (PVT) technique in the horizontal configuration. The source materials were heat treated by H2 reduction to remove the oxide followed by baking under dynamic vacuum to adjust the source composition toward that of congruent sublimation. Contactless growth of ZnSe single crystals have been performed consistently using three different source materials. The crystals grew away from the wall during the later stage of the growth with large (110) facets tend to align parallel to the gravity direction. The Scanning Electron Micrography (SEM) micrographs and the Atomic Force Microscope (AFM) images showed that large (110) terraces and steps dominate the as-grown facets. The measured residual gas pressures in the processed ampoules agree well among various source materials and the major components were CO and H2. No preferred growth direction was found. The one-dimensional diffusion model on the mass flux of a multi-species PVT system was employed to analyze the conditions for contactless growth. The calculated thermal profile for supersaturation is very close to the thermal profile measured inside the empty furnace bore in the region of contactless growth. The effects of convective flows in the vapor phase inside the ampoule on the growth processes are discussed.

Su, Ching-Hua↗
NASA NTRS2007

Alignment and Integration Techniques for Mirror Segment Pairs on the Constellation X Telescope

We present the concepts behind current alignment and integration techniques for testing a Constellation-X primary-secondary mirror segment pair in an x-ray beam line test. We examine the effects of a passive mount on thin glass x-ray mirror segments, and the issues of mount shape and environment on alignment. We also investigate how bonding and transfer to a permanent housing affects the quality of the final image, comparing predicted results to a full x-ray test on a primary secondary pair.

Hadjimichael, Theo↗
NASA NTRS2001

Apparatus and method using a holographic optical element for converting a spectral distribution to image points

A holographic optical element transforms a spectral distribution of light to image points. The element comprises areas, each of which acts as a separate lens to image the light incident in its area to an image point. Each area contains the recorded hologram of a point source object. The image points can be made to lie in a line in the same focal plane so as to align with a linear array detector. A version of the element has been developed that has concentric equal areas to match the circular fringe pattern of a Fabry-Perot interferometer. The element has high transmission efficiency, and when coupled with high quantum efficiency solid state detectors, provides an efficient photon-collecting detection system. The element may be used as part of the detection system in a direct detection Doppler lidar system or multiple field of view lidar system.

McGill, Matthew J.↗
NASA NTRS2005

NASA Tech Briefs, September 2005

Topivs include: Diamond-Coated Carbon Nanotubes for Efficient Field Emission; Improved Anode Coatings for Direct Methanol Fuel Cells; Advanced Ablative Insulators and Methods of Making Them; PETIs as High-Temperature Resin-Transfer-Molding Materials; Stable Polyimides for Terrestrial and Space Uses; Low-Density, Aerogel-Filled Thermal-Insulation Tiles; High-Performance Polymers Having Low Melt Viscosities; Nonflammable, Hydrophobic Aerogel Composites for Insulation; Front-Side Microstrip Line Feeding a Raised Antenna Patch; Medium-Frequency Pseudonoise Georadar; Facilitating Navigation Through Large Archives; Program for Weibull Analysis of Fatigue Data; Comprehensive Micromechanics-Analysis Code - Version 4.0; Component-Based Visualization System; Software for Engineering Simulations of a Spacecraft; LabVIEW Interface for PCI-SpaceWire Interface Card; Path Following with Slip Compensation for a Mars Rover; International Space Station Electric Power System Performance Code-SPACE; Software for Automation of Real-Time Agents, Version 2; Software for Optimizing Plans Involving Interdependent Goals; Computing Gravitational Fields of Finite-Sized Bodies; Custom Sky-Image Mosaics from NASA's Information Power Grid; ANTLR Tree Grammar Generator and Extensions; Generic Kalman Filter Software; Alignment Stage for a Cryogenic Dilatometer; Rugged Iris Mechanism; Treatments To Produce Stabilized Aluminum Mirrors for Cryogenic Uses; Making AlNx Tunnel Barriers Using a Low-Energy Nitrogen-Ion Beam; Making Wide-IF SIS Mixers with Suspended Metal-Beam Leads; Sol-Gel Glass Holographic Light-Shaping Diffusers; Automated Counting of Particles To Quantify Cleanliness; Phase Correction for GPS Antenna with Nonunique Phase Center; Compact Infrasonic Windscreen; Broadband External-Cavity Diode Laser; High-Efficiency Solar Cells Using Photonic-Bandgap Materials; Generating Solid Models from Topographical Data; Computationally Lightweight Air-Traffic-Control Simulation; Spool Valve for Switching Air Flows Between Two Beds; Partial Model of Insulator/ Insulator Contact Charging; Asymmetric Electrostatic Radiation Shielding for Spacecraft; and Reusable Hybrid Propellant Modules for Outer-Space Transport.

Source record↗
NASA NTRS2012

OpTIIX: An ISS-Based Testbed Paving the Roadmap Toward a Next Generation Large Aperture UV/Optical Space Telescope

The next generation large aperture UV/Optical space telescope will need a diameter substantially larger than even that of JWST in order to address some of the most compelling unanswered scientific quests. These quests include understanding the earliest phases of the Universe and detecting life on exo-planets by studying spectra of their atmospheres. Such 8-16 meter telescopes face severe challenges in terms of cost and complexity and are unlikely to be affordable unless a new paradigm is adopted for their design and construction. The conventional approach is to use monolithic or preassembled segmented mirrors requiring complicated and risky deployments and relying on future heavy-lift vehicles, large fairings and complex geometry. The new paradigm is to launch component modules on relatively small vehicles and then perform in-orbit robotic assembly of those modules. The Optical Testbed and Integration on ISS eXperiment (OpTIIX) is designed to demonstrate, at low cost by leveraging the infrastructure provided by ISS, telescope assembly technologies and end-to-end optical system technologies. The use of ISS as a testbed permits the concentration of resources on reducing the technical risks associated with robotically integrating the components. These include laser metrology and wavefront sensing and control (WFS&C) systems, an imaging instrument, lightweight, low-cost deformable primary mirror segments and the secondary mirror. These elements are then aligned to a diffraction-limited optical system in space. The capability to assemble the optical system and remove and replace components via the existing ISS robotic systems like the Special Purpose Dexterous Manipulator (SPDM), or by the ISS flight crew, allows for future experimentation, as well as repair.

Carpenter, Kenneth G.↗
DOE OSTI2017

Apparatus and method for variable angle slant hole collimator

A variable angle slant hole (VASH) collimator for providing collimation of high energy photons such as gamma rays during radiological imaging of humans. The VASH collimator includes a stack of multiple collimator leaves and a means of quickly aligning each leaf to provide various projection angles. Rather than rotate the detector around the subject, the VASH collimator enables the detector to remain stationary while the projection angle of the collimator is varied for tomographic acquisition. High collimator efficiency is achieved by maintaining the leaves in accurate alignment through the various projection angles. Individual leaves include unique angled cuts to maintain a precise target collimation angle. Matching wedge blocks driven by two actuators with twin-lead screws accurately position each leaf in the stack resulting in the precise target collimation angle. A computer interface with the actuators enables precise control of the projection angle of the collimator.

47 OTHER INSTRUMENTATION↗
DOE OSTI2021

4D-STEM of Beam-Sensitive Materials

We report that a scanning electron nanobeam diffraction, or 4D-STEM (four-dimensional scanning transmission electron microscopy), is a flexible and powerful approach to elucidate structure from "soft" materials that are challenging to image in the transmission electron microscope because their structure is easily damaged by the electron beam. In a 4D-STEM experiment, a converged electron beam is scanned across the sample, and a pixelated camera records a diffraction pattern at each scan position. This four-dimensional data set can be mined for various analyses, producing maps of local crystal orientation, structural distortions, crystallinity, or different structural classes. Holding the sample at cryogenic temperatures minimizes diffusion of radicals and the resulting damage and disorder caused by the electron beam. The total fluence of incident electrons can easily be controlled during 4D-STEM experiments by careful use of the beam blanker, steering of the localized electron dose, and by minimizing the fluence in the convergent beam thus minimizing beam damage. This technique can be applied to both organic and inorganic materials that are known to be beam-sensitive; they can be highly crystalline, semicrystalline, mixed phase, or amorphous. One common example is the case for many organic materials that have a π-π stacking of polymer chains or rings on the order of 3.4-4.2 Å separation. If these chains or rings are aligned in some regions, they will produce distinct diffraction spots (as would other crystalline spacings in this range), though they may be weak or diffuse for disordered or weakly scattering materials. We can reconstruct the orientation of the π-π stacking, the degree of π-π stacking in the sample, and the domain size of the aligned regions. This Account summarizes illumination conditions and experimental parameters for 4D-STEM experiments with the goal of producing images of structural features for materials that are beam-sensitive. We will discuss experimental parameters including sample cooling, probe size and shape, fluence, and cameras. 4D-STEM has been applied to a variety of materials, not only as an advanced technique for model systems, but as a technique for the beginning microscopist to answer materials science questions. It is noteworthy that the experimental data acquisition does not require an aberration-corrected TEM but can be produced on a variety of instruments with the right attention to experimental parameters.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2013

Clinical Implementation of Intrafraction Cone Beam Computed Tomography Imaging During Lung Tumor Stereotactic Ablative Radiation Therapy

Purpose: To develop and clinically evaluate a volumetric imaging technique for assessing intrafraction geometric and dosimetric accuracy of stereotactic ablative radiation therapy (SABR). Methods and Materials: Twenty patients received SABR for lung tumors using volumetric modulated arc therapy (VMAT). At the beginning of each fraction, pretreatment cone beam computed tomography (CBCT) was used to align the soft-tissue tumor position with that in the planning CT. Concurrent with dose delivery, we acquired fluoroscopic radiograph projections during VMAT using the Varian on-board imaging system. Those kilovolt projections acquired during millivolt beam-on were automatically extracted, and intrafraction CBCT images were reconstructed using the filtered backprojection technique. We determined the time-averaged target shift during VMAT by calculating the center of mass of the tumor target in the intrafraction CBCT relative to the planning CT. To estimate the dosimetric impact of the target shift during treatment, we recalculated the dose to the GTV after shifting the entire patient anatomy according to the time-averaged target shift determined earlier. Results: The mean target shift from intrafraction CBCT to planning CT was 1.6, 1.0, and 1.5 mm; the 95th percentile shift was 5.2, 3.1, 3.6 mm; and the maximum shift was 5.7, 3.6, and 4.9 mm along the anterior-posterior, left-right, and superior-inferior directions. Thus, the time-averaged intrafraction gross tumor volume (GTV) position was always within the planning target volume. We observed some degree of target blurring in the intrafraction CBCT, indicating imperfect breath-hold reproducibility or residual motion of the GTV during treatment. By our estimated dose recalculation, the GTV was consistently covered by the prescription dose (PD), that is, V100% above 0.97 for all patients, and minimum dose to GTV >100% PD for 18 patients and >95% PD for all patients. Conclusions: Intrafraction CBCT during VMAT can provide geometric and dosimetric verification of SABR valuable for quality assurance and potentially for treatment adaptation.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2018

In situ synthesis and macroscale alignment of CsPbBr 3 perovskite nanorods in a polymer matrix

Here, we report an in situ catalyst-free strategy to synthesize inorganic CsPbBr 3 perovskite nanorods in a polymer matrix (NRs-PM) with good dimensional control, outstanding optical properties and ultrahigh environmental stability. Polarization photoluminescence (PL) imaging with high spatial resolution was carried out for the first time on single nanorod (NR) and shows a relatively high local polarization ratio (~0.4) consistent with theoretical predictions based on a dielectric contrast model. We further demonstrate that macroscale alignment of the CsPbBr 3 nanorods can be achieved through mechanically stretching the NRs-PM films at elevated temperature, without deteriorating the optical quality of the NRs. In conclusion, a polarization ratio of 0.23 is observed for these aligned NRs-PM films, suggesting their potential as polarized down-converters to increase the light efficiency in liquid crystal display (LCD) backlights.

36 MATERIALS SCIENCE↗
DOE OSTI2014

Radio-optical reference frame link using the U.S. Naval observatory astrograph and deep CCD imaging

Between 1997 and 2004 several observing runs were conducted, mainly with the CTIO 0.9 m, to image International Celestial Reference Frame (ICRF) counterparts (mostly QSOs) in order to determine accurate optical positions. Contemporary to these deep CCD images, the same fields were observed with the U.S. Naval Observatory astrograph in the same bandpass. They provide accurate positions on the Hipparcos/Tycho-2 system for stars in the 10-16 mag range used as reference stars for the deep CCD imaging data. Here we present final optical position results of 413 sources based on reference stars obtained by dedicated astrograph observations that were reduced following two different procedures. These optical positions are compared to radio very long baseline interferometry positions. The current optical system is not perfectly aligned to the ICRF radio system with rigid body rotation angles of 3-5 mas (= 3σ level) found between them for all three axes. Furthermore, statistically, the optical-radio position differences are found to exceed the total, combined, known errors in the observations. Systematic errors in the optical reference star positions and physical offsets between the centers of optical and radio emissions are both identified as likely causes. A detrimental, astrophysical, random noise component is postulated to be on about the 10 mas level. If confirmed by future observations, this could severely limit the Gaia to ICRF reference frame alignment accuracy to an error of about 0.5 mas per coordinate axis with the current number of sources envisioned to provide the link. A list of 36 ICRF sources without the detection of an optical counterpart to a limiting magnitude of about R = 22 is provided as well.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2015

Portable MRI developed at Los Alamos

Scientists at Los Alamos National Laboratory are developing an ultra-low-field Magnetic Resonance Imaging (MRI) system that could be low-power and lightweight enough for forward deployment on the battlefield and to field hospitals in the World's poorest regions. "MRI technology is a powerful medical diagnostic tool," said Michelle Espy, the Battlefield MRI (bMRI) project leader, "ideally suited for imaging soft-tissue injury, particularly to the brain." But hospital-based MRI devices are big and expensive, and require considerable infrastructure, such as large quantities of cryogens like liquid nitrogen and helium, and they typically use a large amount of energy. "Standard MRI machines just can't go everywhere," said Espy. "Soldiers wounded in battle usually have to be flown to a large hospital and people in emerging nations just don't have access to MRI at all. We've been in contact with doctors who routinely work in the Third World and report that MRI would be extremely valuable in treating pediatric encephalopathy, and other serious diseases in children." So the Los Alamos team started thinking about a way to make an MRI device that could be relatively easy to transport, set up, and use in an unconventional setting. Conventional MRI machines use very large magnetic fields that align the protons in water molecules to then create magnetic resonance signals, which are detected by the machine and turned into images. The large magnetic fields create exceptionally detailed images, but they are difficult and expensive to make. Espy and her team wanted to see if images of sufficient quality could be made with ultra-low-magnetic fields, similar in strength to the Earth's magnetic field. To achieve images at such low fields they use exquisitely sensitive detectors called Superconducting Quantum Interference Devices, or SQUIDs. SQUIDs are among the most sensitive magnetic field detectors available, so interference with the signal is the primary stumbling block. "SQUIDs are so sensitive they'll respond to a truck driving by outside or a radio signal 50 miles away," said Al Urbaitis, a bMRI engineer. The team's first generation bMRI had to be built in a large metal housing in order to shield it from interference. Now the Los Alamos team is working in the open environment without the large metal housing using a lightweight series of wire coils that surround the bMRI system to compensate the Earth’s magnetic field. In the future, the field compensation system will also function similar to noise-cancelling headphones to eradicate invading magnetic field signals on-the-fly.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
DOE OSTI2014

Physics-based shape matching for intraoperative image guidance

Purpose: Soft-tissue deformations can severely degrade the validity of preoperative planning data during computer assisted interventions. Intraoperative imaging such as stereo endoscopic, time-of-flight or, laser range scanner data can be used to compensate these movements. In this context, the intraoperative surface has to be matched to the preoperative model. The shape matching is especially challenging in the intraoperative setting due to noisy sensor data, only partially visible surfaces, ambiguous shape descriptors, and real-time requirements. Methods: A novel physics-based shape matching (PBSM) approach to register intraoperatively acquired surface meshes to preoperative planning data is proposed. The key idea of the method is to describe the nonrigid registration process as an electrostatic–elastic problem, where an elastic body (preoperative model) that is electrically charged slides into an oppositely charged rigid shape (intraoperative surface). It is shown that the corresponding energy functional can be efficiently solved using the finite element (FE) method. It is also demonstrated how PBSM can be combined with rigid registration schemes for robust nonrigid registration of arbitrarily aligned surfaces. Furthermore, it is shown how the approach can be combined with landmark based methods and outline its application to image guidance in laparoscopic interventions. Results: A profound analysis of the PBSM scheme based on in silico and phantom data is presented. Simulation studies on several liver models show that the approach is robust to the initial rigid registration and to parameter variations. The studies also reveal that the method achieves submillimeter registration accuracy (mean error between 0.32 and 0.46 mm). An unoptimized, single core implementation of the approach achieves near real-time performance (2 TPS, 7–19 s total registration time). It outperforms established methods in terms of speed and accuracy. Furthermore, it is shown that the method is able to accurately match partial surfaces. Finally, a phantom experiment demonstrates how the method can be combined with stereo endoscopic imaging to provide nonrigid registration during laparoscopic interventions. Conclusions: The PBSM approach for surface matching is fast, robust, and accurate. As the technique is based on a preoperative volumetric FE model, it naturally recovers the position of volumetric structures (e.g., tumors and vessels). It cannot only be used to recover soft-tissue deformations from intraoperative surface models but can also be combined with landmark data from volumetric imaging. In addition to applications in laparoscopic surgery, the method might prove useful in other areas that require soft-tissue registration from sparse intraoperative sensor data (e.g., radiation therapy)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗