Realtime Robotic Radiation Oncology

Brian Murphy 4ECE

Objectives This project is based on a partially

completed previous project to develop a real time system to optically track a ball in the field of view of a camera.

Once the ball was identified, a robotic arm with a torch attached will point towards the ball.

The ball represents a tumour while the torch represents a beam of radiation.

Objectives The system will be further developed to

operate in real-time to track a moving target.

The last stage will be to determine the location of the object in 3D space.

The image processing and algorithm development will be performed in Matlab

The real-time processing will be attempted using Labview.

Achieved to Date Imported video stream into Image

acquisition toolbox in Matlab. Processed images using the Image

processing toolbox. Commissioned Labview for image

capture. Performed simple edge detection

in Labview.

Problems encountered with Labview

Software has to be installed in a specific order.

Camera Driver Labview Image Acquisition Toolbox Driver Software Vision Development Toolbox IMAQ USB setup

Image Capture in Labview Simple Image Capture from USB

Resulting Image

What we want to do Want to locate the ball the

previous image. Perform various different image

processing techiniques to optically track the ball i.e. edge detection, edge linking, circle fit etc.

Compare Labview results to Matlab results.

Edge Detection in Labview Simple edge detection program in

Labview Reads in a collection of circles from

a .bmp file

Analyses the picture and then returns the image having performed edge detection on it.

Currently Working On Lego mindstorms NXT

Devolop mindstorms systems to track a ball and follow it if it moves.

Problem with servo motor.

Remaining Work Import all Matlab algorithms into Labview. Create Labview program to control two servo

motors using NIDAQ interface card . Integrate image processing algorithms with

the servo motors to allow system to estimate location of the ball and move the servo motors to point beams directly at the ball.

Fine tune system to allow two servo motors and two cameras run in real time.

Questions?