Table 1.
Technical Specifications of the SACRTD System.
| X-ray source | GE Seifert X-ray tube Isovolt Titan 225 M2 |
|---|---|
| Model | NDI 225 M metal ceramic dual focal spot |
| Focal spot size | 0.4/3 mm |
| Power | 640/3000 W |
| Inherent filtration | 0.8 mm Be |
| Additional filtration | 0.5 mm Cu |
| Generator | GE Isovolt Titan 225 |
| Target angle | 20° |
| Robot manufacturer | Adept Inc, Livermore, California |
| Robot model | Adept Viper s650 |
| Robot’s overall arm length | 565 mm (270 mm first arm and 295 second arm) |
| Robot’s motion range | J1 ± 170°, J2 = −190°, +45°, J3 = −29°,+256°, J4 = ±190°, J5 = ±120°, J6 = ±360° |
| Robot’s maximum pay load | 5 kg |
| Robot’s positional repeatability | ±0.02 mm in each of X, Y, and Z direction |
| Robot’s drive motor and break | AC servo motors for all joints and breaks for joint J2 and J6 |
| Robot’s controller | Adept Smart controller and Adept T1 pendent |
| Flat panel x-ray detector | Perkin-Elmer, Wiesbaden, Germany |
| X-ray detector model | XRD 0820 CN3 digital x-ray detector |
| X-ray detector size | 20.48 × 20.48 cm |
| Pixel matrix format | 1024 × 1024 |
| Pixel pitch | 0.2 mm |
| Scintillator | CsI (Tl) |
| Maximum frame rate | 7 fps |
Abbreviations: fps, frames per second; SACRTD, small animal conformal radiation therapy device.