AUTHOR=Yu Shumei, Hou Pengcheng, Sun Rongchuan, Kuang Shaolong, Zhang Fengfeng, Zhou Mingchuan, Guo Jing, Sun Lining TITLE=Correlated Skin Surface and Tumor Motion Modeling for Treatment Planning in Robotic Radiosurgery JOURNAL=Frontiers in Neurorobotics VOLUME=14 YEAR=2020 URL=https://www.frontiersin.org/articles/10.3389/fnbot.2020.582385 DOI=10.3389/fnbot.2020.582385 ISSN=1662-5218 ABSTRACT=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.