Q1: What is NOT an advantage of using robotic ultrasound guidance in radiotherapy?

• Increase reproducibility of image acquisition and motion compensation
• Avoidance of treatment beam angles intersecting with the robot
• Reduce impact of operator dependency

Q2: What are possible applications of robotic ultrasound probe manipulation?

• Adapting contact pressure dynamically and positioning remotely during treatment
• Keeping a constant probe position to cause variable target deformation
• Applying much higher probe pressure for better image quality

Q3: What is described by the term ‘hand-eye calibration’ in the context of robotic ultrasound guidance?

• Geometric alignment of the robot with the treatment room and the ultrasound probe
• Adjustments of the robot joints and force measurements
• Detection of malfunctioning acoustic elements in the ultrasound probe

Q4: What was the focus of most second-generation robotic platforms?

• Use of compliant, force-sensitive systems
• Reduction of robot complexity
• Reliance on two-dimensional ultrasound

Q5: What is NOT one of the major sources of error for robotic ultrasound guidance?

• Misalignment due to erroneous calibration matrices (robot – isocenter / robot – ultrasound)
• Positioning inaccuracy of the robot (manufacturer level)
• Force measurement inaccuracies at low force levels