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M Benati

Publications and source records attributed to M Benati.

3 recordsLinked to original sources

[In vivo dosimetry and radiographic confirmation in radiotherapy of Hodgkin's lymphoma].

In September 1991 a protocol for quality control of large shaped irradiation fields was started in our department. In vivo dosimetry with semiconductor detectors was used to measure the absorbed dose and patient positioning was checked with portal films weekly. First, we set a computed dosimetric system yielding dosimetric values in real time and allowing their easy storage. Then, we calibrated the diodes and determined the correction factors for each of them outside standard conditions. Entrance dose, exit dose and midline dose were measured in 62 patients undergoing supradiaphragmatic radiation therapy for Hodgkin's lymphoma. The exist dose was measured weekly to assess treatment repeatability. High agreement was observed between measured and calculated doses; repeatability was also high, since only 6% of exit dose measurements exceeded 5% of the first determination. In 33 patients portal films were obtained in the first treatment session, and thereafter weekly, to assess mispositioning relative to simulation (reproducibility) and from one session to another (repeatability). A small systematic error was detected in both longitudinal (x = -3 mm; SD = 3.7 mm) and transverse (x = -2 mm; SD = 3.4 mm) directions. Statistically significant errors (> 6 mm) were observed in 14% of patients. Reproducibility was excellent. The protocol reported on in this paper not only helps avoid systematic dosimetric and/or positioning errors in the patients, but also helps identify the main causes of uncertainty and thus remove them.

Hodgkin Disease

Anthropomorphic robotics. I. Representing mechanical complexity.

A study of the fundamental principles upon which manipulation dexterity is based cannot help mixing robotic and neurophysiological concepts. A preliminary step in this study consists of trying to understand the complexity of manipulation dynamics. Though complexity shows itself in the massive number of elements of kinematic and dynamic equations, the fundamental simplicity of the underlying mechanical laws suggests to look for a structure, particularly from the computational point of view. Accordingly, a working computational model is proposed that organizes the massive computational load into a structure which is composed of a small number of computational units and lends itself to parallel computation.

Arm

Anthropomorphic robotics. II. Analysis of manipulator dynamics and the output motor impedance.

An important factor in trying to capture the complexity of many manipulation problems is the notion of Output Motor Impedance, i.e., the relationship between a set of disturbing forces and the resulting variation in arm configuration. The functional significance of such force/displacement characteristics is investigated, showing how several aspects of different manipulation tasks (holding against gravity, inserting, fast moving, and throwing) can be naturally described in terms of appropriate modulation of the impedance characteristics of the manipulator. For this reason, impedance modulation can be considered an integral part of motor control.

Arm