The problem of optimizing the dose distribution for conformation radiotherapy with intensity modulated external beams is similar to the problem of reconstructing a 3D image from its 2D projections. In this paper we analyse the relationship between these problems. We show that the main image reconstruction methods, namely filtered backprojection and iterative reconstruction, can be directly applied to conformation therapy. We examine the features of each of these methods with regard to this new application and we present first theoretical results.

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Image correlation methods enable the complementary use of information from different medical images of a patient. These images can be obtained from different imaging devices (CT, MR, PET), or, from one imaging device taken at different times. Unfortunately, there are few cases in which the requirements for later image correlation are taken into account at the time of image acquisition. There is therefore a need for correlation techniques requiring no preparation in advance. We have developed two correlation methods, both based on three or more anatomical or artificial landmarks, to be defined in corresponding image data sets. These methods have been evaluated with phantom data as well as with patient data. We have improved these correlation methods by using more landmarks and special selection criteria. They are applicable to all medical tomograms and to x-ray pictures taken under stereotactical conditions. The results obtained have error ranges in the order of the three-dimensional image resolution.

Objective: Today's surgical robots normally perform "simple" trajectories, e.g., assisting as tool-holding devices in neurosurgery, or milling linear paths for cavities in total hip replacement. From a clinical point of view, it is still a complex undertaking to implement robots in the operating room. Until now, robot systems have not been used in patient trials to mill "complex" trajectories, which involve many positional and orientation changes and are often necessary in cranio-mdofacial (CMF) surgery. This paper presents the RobaCKa surgical robot system, which allows more precise execution of surgical interventions and milling of "complex" trajectories.Materials and Methods: The main components of the RobaCKa system are a (former) CASPAR robot system, a POLARIS system, and a force-torque sensor.Results: In the first patient trial (April 2003) the planned mjectory was executed with an error of 0.66 2 0.2 mm.Conclusions: The use of former industrial robots for surgical applications is possible but complex. The advantages are improved precision and quality and the possibility of documentation. The use of such systems is normally limited to research institutions or large clinics, because it is hardly possible to implement the necessary technical and logistic efforts in routine surgical work. Comp A d Surg 8:247-256 (2003). 02003 CAS Journal, LLC