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However, the placement of the ultrasound probe close to the target structures leads to blocking some beam directions.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Methods<\/jats:title>\n                <jats:p>To handle the combinatorial complexity of searching for the ultrasound-robot pose and the subset of optimal treatment beams, we combine CNN-based candidate beam selection with simulated annealing for setup optimization of the ultrasound robot, and linear optimization for treatment plan optimization into an AI-based approach. For 50 prostate cases previously treated with the CyberKnife, we study setup and treatment plan optimization when including robotic ultrasound guidance.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Results<\/jats:title>\n                <jats:p>The CNN-based search substantially outperforms previous randomized heuristics, increasing coverage from 93.66 to 97.20% on average. Moreover, in some cases the total MU was also reduced, particularly for smaller target volumes. Results after AI-based optimization are similar for treatment plans with and without beam blocking due to ultrasound guidance.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Conclusions<\/jats:title>\n                <jats:p>AI-based optimization allows for fast and effective search for configurations for robotic ultrasound-guided radiation therapy. The negative impact of the ultrasound robot on the plan quality can successfully be mitigated resulting only in minor differences.\n<\/jats:p>\n              <\/jats:sec>","DOI":"10.1007\/s11548-022-02664-6","type":"journal-article","created":{"date-parts":[[2022,5,20]],"date-time":"2022-05-20T09:03:22Z","timestamp":1653037402000},"page":"2023-2032","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["AI-based optimization for US-guided radiation therapy of the prostate"],"prefix":"10.1007","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8992-444X","authenticated-orcid":false,"given":"Stefan","family":"Gerlach","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Theresa","family":"Hofmann","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christoph","family":"F\u00fcrweger","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexander","family":"Schlaefer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,5,20]]},"reference":[{"key":"2664_CR1","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1016\/B978-0-12-814245-5.00002-5","volume-title":"Handbook of robotic and image-guided surgery","author":"W Kilby","year":"2020","unstructured":"Kilby W, Naylor M, Dooley JR, Maurer CR, Sayeh S (2020) 2\u2014A technical overview of the CyberKnife system. 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Theresa Hofmann declares that she has no conflict of interest. Christoph F\u00fcrweger declares that he has no conflict of interest. Alexander Schlaefer declares that he has no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interests"}},{"value":"This article is based on fully anonymized treatment planning data and does not contain any studies with human participants or animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"For this type of study, informed consent is not required.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed consent"}}]}}