TY - JOUR AU - Yu, Shumei AU - Hou, Pengcheng AU - Sun, Rongchuan AU - Kuang, Shaolong AU - Zhang, Fengfeng AU - Zhou, Mingchuan AU - Guo, Jing AU - Sun, Lining PY - 2020 M3 - Original Research TI - Correlated Skin Surface and Tumor Motion Modeling for Treatment Planning in Robotic Radiosurgery JO - Frontiers in Neurorobotics UR - https://www.frontiersin.org/articles/10.3389/fnbot.2020.582385 VL - 14 SN - 1662-5218 N2 - In robotic radiosurgery, motion tracking is crucial for accurate treatment planning of tumor inside the thoracic or abdominal cavity. Currently, motion characterization for respiration tracking mainly focuses on markers that are placed on the surface of human chest. Nevertheless, limited markers are not capable of expressing the comprehensive motion feature of the human chest and abdomen. In this paper, we proposed a method of respiratory motion characterization based on the voxel modeling of the thoracoabdominal torso. Point cloud data from depth cameras were used to achieve three-dimensional modeling of the chest and abdomen surface during respiration, and a dimensionality reduction algorithm was proposed to extract respiratory features from the established voxel model. Finally, experimental results including the accuracy of voxel model and correlation coefficient were compared to validate the feasibility of the proposed method, which provides enhanced accuracy of target motion correlation than traditional methods that utilized external markers. ER -