JP5667489B2 - Radiation therapy tracking system - Google Patents

Description

  The present invention relates to a moving body tracking apparatus for radiotherapy that tracks a moving body related to a treatment site by X-ray fluoroscopy in order to irradiate the treatment site with radiation.

  Conventionally, stereotactic radiotherapy of the head for the immobile head was first developed, and then the body was treated with radiation therapy assuming that the tumor at the treatment site did not move with the trunk fixed for the whole body Stereotactic radiotherapy for executives has been developed. However, when radiotherapy is performed in a state where the trunk is fixed for the whole body, physical and mental pains are imposed on the subject. Moreover, even if the trunk is fixed, the tumor at the treatment site does not always move and does not necessarily stay in place.

  Therefore, a marker is placed on the body surface of the subject, the marker placed on the body surface is tracked by utilizing the respiratory synchronization of the subject, and the treatment site is reached when it comes to a predetermined position by breathing (for example, expiratory period) In recent years, stereotactic radiotherapy has been developed in which radiation therapy is performed by irradiating the body with radiation. However, the movement of the marker placed on the body surface does not always match the movement of the tumor in the body.

  Therefore, a radiotherapy moving body tracking device has also been developed in recent years, in which a marker is embedded near a tumor in the body and the marker is tracked by X-ray fluoroscopy to track the tumor at the treatment site. In this moving body tracking device for radiotherapy, radiotherapy is performed by irradiating the treatment site with radiation when the marker reaches a predetermined position (see, for example, Patent Document 1).

  A conventional radiotherapy moving body tracking apparatus includes an imaging system as X-ray fluoroscopy for tracking a moving body, and the imaging system includes an X-ray tube that emits X-rays and an X-ray detector that detects the X-rays ( For example, it comprises an image intensifier or a flat panel X-ray detector. When performing X-ray fluoroscopy at a desired position by moving the video system, in addition to the method of laying a rail and moving the video system along the rail, the video system is mounted on a circular movable base. There is a method to move.

  The sequence control device that controls the movable base controls the movement of the video system based on the position setting (setup) information of the video system, and the movable base itself moves to move the video system. On the other hand, the radiation therapy moving body device is divided into an operation room and a treatment room. In the operation room, a moving body tracking processing unit for processing moving body tracking is arranged, and a dedicated console is provided. Then, the moving body tracking processing unit performs processes such as pattern recognition on the X-ray image obtained by X-ray fluoroscopic imaging using a video system and calculation of the coordinate position of the tumor. In addition to such a moving body tracking processing unit including a dedicated console, an operation console (input unit) for inputting commands, commands, and the like to the moving body tracking processing unit is disposed in the operation room. In addition to an image system and a movable base, a radiation treatment apparatus (for example, linac or linac) that irradiates the treatment site is disposed in the treatment room.

  In order to prevent X-rays for fluoroscopic imaging from being blocked by the gantry or bed of the radiotherapy apparatus, the position of the video system is set (set up) by moving the movable base before tracking the moving body. On the other hand, the moving object tracking processing unit has parameters that are changed depending on the position of the video system. This is three-dimensional position information (three-dimensional position calculation parameters) possessed by the X-ray tube or the X-ray detector.

  Conventionally, first, image system position setting information is input in a treatment room, sent to a movable pedestal via a sequence control device, and the movable pedestal is moved to perform image system position setting (setup). Then, return to the operation room and select the three-dimensional position calculation parameters according to the current video system position in the moving object tracking processing unit consisting of a dedicated console, or enter the data on the console and move the moving object consisting of a dedicated console. Send to the tracking processor.

  More specifically, parameters are assigned for each position of the video system or movable base when the apparatus is installed, and the parameters are used for apparatus calibration. For example, the parameter α is assigned to the position # 1, the parameter β is assigned to the position # 2, the parameter γ is assigned to the position # 3, and each parameter is associated with each position. By storing and saving these associated parameters on the moving body tracking processing unit side, the operator (operator) selects the parameter associated with the position to be moved from among these saved parameters. ·input. For example, when the position to be moved is position # 2, the operator selects and inputs the parameter β associated with position # 2.

  Actually, the operator does not select the parameter numerical value, but the parameter and the representation of the position (for example, a label or an icon diagram) are associated with each other so that the operator can immediately recognize the parameter composed of the enumeration of numerical values. ing. Therefore, when the operator selects / inputs a parameter, it is configured to select / input a representation of a position such as a label or icon diagram associated with the parameter.

Japanese Patent No. 3053389

  However, conventionally, since the movable pedestal arranged in the treatment room and the moving object tracking processing unit arranged in the operation room are not linked, it is necessary to select or input the three-dimensional position calculation parameters as described above. Yes, if the selection and input of the 3D position calculation parameters are different from the actual position setting (setup) situation of the video system, the 3D position calculation cannot be performed accurately, and the moving object is tracked. I can't.

  More specifically, the problem may be caused by manual input (manual input) by an operator, and parameter selection / input may be different from the actual video system position setting (setup) situation. Arise. For example, when there are multiple operators, an operator in the treatment room moves the movable pedestal to set the position of the video system (setup), and another operator in the operation room moves the movable pedestal at the moving body tracking processing unit. You may not notice that you moved.

  For example, an operator who is in the treatment room moves the movable base and sets it up at position # 2, and another operator in the operation room selects and inputs the parameter γ corresponding to position # 3 in the moving body tracking processing unit without noticing. And In order to select and input the parameter γ, an erroneous operation occurs by selecting a label or icon diagram relating to the position # 3 associated with the parameter γ. In such a case, there is a discrepancy between the parameter γ selected and input by another operator in the operation room and the position # 2 set up by the operator in the treatment room.

  Also, even if another operator in the operation room notices, the parameter β corresponding to the position # 2 set up by the operator in the treatment room is set from the parameter γ previously selected and input. There is annoyance that must be fixed.

  This invention is made | formed in view of such a situation, Comprising: It aims at providing the moving body tracking device for radiotherapy which can perform a moving body tracking correctly.

In order to achieve such an object, the present invention has the following configuration.
That is, the radiotherapy moving body tracking device according to the present invention is a radiotherapy moving body tracking device that tracks a moving body related to the treatment site by X-ray fluoroscopy in order to irradiate the treatment site with radiation. An image system comprising a moving body tracking processing means for processing, an X-ray tube that emits X-rays for performing the X-ray fluoroscopic imaging, and an X-ray detecting means for detecting the X-rays for performing the X-ray fluoroscopic imaging And a control means different from the moving body tracking processing means, comprising a movement control means for controlling movement of the video system, and configured to allow communication between the moving body tracking processing means and the movement control means , The movement control means transmits the video system position setting information to the moving object tracking processing means, and the moving object tracking processing means receives the parameter corresponding to the video system position setting information received from the movement control means. It is characterized in treating a moving object tracking based on data.

[Operation / Effect] According to the moving body tracking apparatus for radiotherapy according to the present invention (the former invention) , the moving body tracking processing means for processing the moving body tracking and the control means different from the moving body tracking processing means, By configuring the movement control means for controlling the movement of the moving object tracking processing means and the movement control means, both the information can be shared. As a result, both the moving body tracking processing means and the movement control means can grasp the status of each other's information, and the moving body tracking can be performed accurately.

Further, the movement control means transmits the video system position setting information to the moving object tracking processing means , and the moving object tracking processing means performs the moving object tracking based on the parameter corresponding to the video system position setting information received from the movement control means. To process . By moving the control means to transmit the positioning information of the video system in the moving object tracking processing unit can body tracking processing means to grasp the position setting information. Further, since the moving object tracking processing unit processes the moving object tracking based on the parameter corresponding to the position setting information of the video system received from the movement control unit , the position calculation can be accurately performed based on the parameter, and consequently the moving object tracking is performed. Can be done accurately.

[Operation / Effect] According to the radiation therapy moving object tracking device (the latter invention) according to the invention different from the former invention, the moving object tracking processing means for processing the moving object tracking and the moving object tracking are performed as in the former invention. It is a control means that is different from the processing means, and is configured to be communicable with the movement control means for controlling the movement of the video system, so that both the moving object tracking processing means and the movement control means share information, and mutual information The situation can be grasped, and the moving body tracking can be performed accurately. Moreover, in the latter invention, the moving object tracking processing unit transmits the positioning information of the video system to the mobile control unit to process the moving object tracking based on parameters corresponding to the position setting information of the video system, movement control means The movement of the video system is controlled based on the position setting information of the video system received from the moving object tracking processing means . The movement of the video system can be controlled from the moving body tracking processing means via the movement control means based on the parameters .

  In these inventions described above, an example of the movement control means is a movable base that supports the video system and is movable. In this example, the moving object tracking processing means and the movable pedestal are configured to be communicable, so that both the moving object tracking processing means and the movable pedestal can share information. As a result, both the moving object tracking processing means and the movable pedestal can grasp the status of each other's information, and the moving object tracking can be performed accurately.

According to the moving body tracking apparatus for radiotherapy according to these inventions (the former invention and the latter invention) , the moving body tracking processing means for processing the moving body tracking and the control means different from the moving body tracking processing means, By configuring the movement control means that controls the movement of the robot so that it can communicate with each other, both the moving object tracking processing means and the movement control means can share information and grasp the status of each other's information. Can be done.
In the former invention, the movement control means transmits the video system position setting information to the moving object tracking processing means, and the moving object tracking processing means sets the parameter corresponding to the video system position setting information received from the movement control means. Process moving object tracking based on. The movement control means transmits the video system position setting information to the moving object tracking processing means, so that the moving object tracking processing means can grasp the position setting information. Further, since the moving object tracking processing unit processes the moving object tracking based on the parameter corresponding to the position setting information of the video system received from the movement control unit, the position calculation can be accurately performed based on the parameter, and consequently the moving object tracking is performed. Can be done accurately.
In the latter invention, the moving object tracking processing unit transmits the video system position setting information to the movement control unit, and processes the moving object tracking based on the parameter corresponding to the video system position setting information. The movement of the video system is controlled based on the position setting information of the video system received from the moving object tracking processing means. The movement of the video system can be controlled from the moving body tracking processing means via the movement control means based on the parameters.

It is the schematic of the moving body tracking device for radiotherapy which concerns on an Example, (a) is a top view, (b) is a front view, (c) is a right view. It is a block diagram of the moving body tracking device for radiotherapy which concerns on an Example. It is a block diagram of the moving body tracking device for radiotherapy which concerns on a modification.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic diagram of a moving body tracking device for radiation therapy according to an embodiment, and FIG. 2 is a block diagram of the moving body tracking device for radiation therapy according to the embodiment.

  As shown in FIG. 1, the radiotherapy moving object tracking apparatus includes an image system 2 (see the plan view of FIG. 1A) and is used in combination with the radiotherapy apparatus 1. The radiation therapy apparatus 1 is a linear accelerator type called a linac or linac, or a particle beam apparatus type such as a proton beam or a carbon beam, and a radiation source 11 that irradiates a treatment site with radiation such as an X-ray or a particle beam. A gantry 12 having the radiation source 11 therein and rotatable in the direction shown in FIG. 1B around the y-axis center shown in FIG. 1C, and the floor or wall surface supporting the gantry 12 And a bed 14 on which a subject to be treated (not shown) is placed. The bed 14 includes a lifting platform 14A that can be moved up and down in the vertical direction, and a top plate 14B that can slide in the horizontal direction with respect to the lifting platform 14A and on which the subject is placed. The video system 2 corresponds to the video system in the present invention.

  As shown in the plan view of FIG. 1A, the video system 2 detects an X-ray tube 21 for irradiating X-rays for performing X-ray fluoroscopic imaging, and X-rays for performing X-ray fluoroscopic imaging. And an X-ray detector 22. As shown in FIG. 1, the X-ray tube 21 irradiates X-rays toward the tumor center corresponding to the treatment isocenter, and the X-ray detector 22 detects X-rays passing from the isocenter. The X-ray detector 22 is not particularly limited as long as it is a commonly used detector, as exemplified by an image intensifier, a flat panel X-ray detector, and the like. The X-ray tube 21 corresponds to the X-ray tube in the present invention, and the X-ray detector 22 corresponds to the X-ray detection means in the present invention.

  In FIG. 1, two sets of video systems 2 (see the plan view of FIG. 1A) are provided. Specifically, two X-ray tubes 21 and two X-ray detectors 22 are provided. The number of sets of the video system 2 is not particularly limited.

  In addition, the radiation therapy moving body tracking device includes a movable base 31 having a circular shape (see the plan view of FIG. 1A) disposed on the floor surface. The X-ray tube 21 is moved on the movable base 31. The radiation therapy moving body tracking apparatus includes a movable base 41 having a circular shape (see the plan view of FIG. 1A) disposed on the ceiling surface. The X-ray detector 22 is placed on the movable base 41 and moved.

  In addition, as shown in FIG. 2, the radiotherapy moving object tracking device includes a moving object tracking processing unit 5 that processes moving object tracking. The moving body tracking processing unit 5 includes an image collection unit 51, a pattern recognition unit 52, a tumor coordinate calculation unit 53, an irradiable position determination unit 54, and an irradiation instruction unit 55. The moving body tracking processing unit 5 corresponds to the moving body tracking processing means in the present invention.

  In addition, as shown in FIG. 2, the radiation therapy moving body tracking device includes a sequence control device 6 that controls the video system 2. The moving object tracking processing unit 5 and the sequence control device 6 described above are configured by a central processing unit (CPU) or the like, and the above-described movable bases 31 and 41 are equipped with a CPU. In this embodiment, the sequence control device 6 controls the movement of the movable bases 31 and 41 while synchronizing them. By controlling in this way, the sequence control device 6 controls the movement of the video system 2 via the movable bases 31 and 41. Therefore, the sequence control device 6 corresponds to the movement control means in this invention.

  The image collecting unit 51 of the moving body tracking processing unit 5 collects X-ray images obtained by X-ray fluoroscopic imaging based on X-rays irradiated from the X-ray tube 21 of the video system 2 and detected by the X-ray detector 22. To do. The pattern recognition unit 52 of the moving body tracking processing unit 5 performs matching between the image information of the marker photographed in advance and the target X-ray image, and the marker is reflected in the target X-ray image based on the matching result. Recognition of whether or not The tumor coordinate calculation unit 53 of the moving body tracking processing unit 5 obtains the coordinates of the tumor by calculation based on the positional relationship between the embedded marker and the tumor. The irradiable position determination unit 54 of the moving body tracking processing unit 5 determines the irradiable position based on whether or not the coordinates of the tumor are at a predetermined position (for example, a call position). The irradiation instruction unit 55 of the moving body tracking processing unit 5 receives a command for irradiating radiation from the radiation source 11 (see FIG. 1) of the radiation therapy apparatus 1 when the coordinates of the tumor come to a predetermined position (for example, call period). , Sent to the radiation therapy apparatus 1.

  The radiotherapy moving body tracking apparatus includes an input unit 7 for inputting a command, an instruction, or the like to the moving body tracking processing unit 5. The input unit 7 is configured by a pointing device represented by a mouse, a keyboard, a joystick, a trackball, a touch panel, and the like, and includes an operation console in this embodiment. In this embodiment, the console is provided with, for example, an “X-ray fluoroscopy device information acquisition button” and an “X-ray fluoroscopy device setting button”. These buttons will be described in detail later.

  Further, the moving object tracking processing unit 5 and the sequence control device 6 that controls the movable bases 31 and 41 are configured to be communicable. The moving object tracking processing unit 5 and the sequence control device 6 are configured to be communicable by electrically connecting the moving object tracking processing unit 5 and the sequence control device 6 with a cable. Needless to say, the moving object tracking processing unit 5 and the sequence control device 6 may be configured to be communicable by radio other than a wired cable, or a combination of wired and wireless may be used.

  Next, a specific setup of “X-ray fluoroscopy device information acquisition button” and “X-ray fluoroscopy device setting button” will be described.

[X-ray fluoroscopy device information acquisition button]
First, the operator (operator) inputs the position setting information of the video system 2 in the treatment room by an input unit (not shown) on the treatment room side, and sends it to the movable bases 31 and 41 via the sequence control device 6. Then, the movable bases 31 and 41 are moved to set the position (setup) of the video system 2.

  Next, the operator moves to the operation room and operates the moving body tracking processing unit 5 by inputting a command through the input unit 7 and sending it to the moving body tracking processing unit 5. For example, the “X-ray fluoroscopy device information acquisition button” is pressed.

  By pressing the “X-ray fluoroscopy device information acquisition button”, the moving body tracking processing unit 5 and the sequence control device 6 communicate with each other. Then, the moving body tracking processing unit 5 receives the current position setting (setup) information of the video system 2 as information regarding the video system 2.

  The moving body tracking processing unit 5 automatically sets a three-dimensional position calculation parameter based on the received position setting information, and the image collecting unit 51, pattern recognition unit 52, and tumor coordinate calculation unit of the moving body tracking processing unit 5 These parameters are used for position calculation of 53, the irradiation possible position judgment part 54, the irradiation instruction | indication part 55, etc.

  Therefore, it is not necessary to select and input parameters on the moving object tracking processing unit side as in the prior art, and parameters can be automatically set by reception. Even if the operator in the treatment room moves the movable bases 31 and 41 to set the position (setup) of the video system 2, another operator in the operation room presses the “X-ray fluoroscopy device information acquisition button”. Thus, the parameter is automatically set by this, so that there is no discrepancy between the parameter selected and input by another operator in the operation room and the position set up by the operator in the treatment room.

[X-ray fluoroscopy device setting button]
The operator operates the moving body tracking processing unit 5 by inputting a command through the input unit 7 in the operation room and sending it to the moving body tracking processing unit 5. For example, the “X-ray fluoroscopy device setting button” is pressed.

  By pressing the “X-ray fluoroscopy device setting button”, the moving object tracking processing unit 5 and the sequence control device 6 communicate with each other. Then, as position information from the moving object tracking processing unit 5, position setting (setup) information selected and input on the moving object tracking processing unit 5 side is used by the moving object tracking processing unit 5 via the sequence control device 6. Send to each. Simultaneously with the transmission, the position setting (setup) information selected / input on the moving body tracking processing unit 5 side is automatically set internally as a three-dimensional position calculation parameter.

  The sequence control device 6 that controls the movable bases 31 and 41 controls the movement of the video system 2 based on the position setting information transmitted from the moving body tracking processing unit 5. If the position setting information set in the movable pedestals 31 and 41 is different from the position setting information transmitted from the moving object tracking processing unit 5, the video system is based on the position setting information transmitted from the moving object tracking processing unit 5. By controlling the movement of 2, the position change of the video system 2 can be remotely operated from the operation room in which the moving body tracking processing unit 5 is arranged.

  As described in the problem, even if another operator in the operation room notices, the parameter γ previously selected / inputted is associated with the position # 2 set up by the operator in the treatment room. There is an annoyance that the parameter β must be reset. In order to eliminate this annoyance, the flow of data is reversed, and the parameters (position setting information) already input by the moving body tracking processing unit 5 by another operator in the operation room are used as the sequence control device in the treatment room. The movement of the video system 2 may be controlled based on the parameter (position setting information) transmitted to the moving object tracking processing unit 5. By reversing the data flow in this way, it is not necessary for the operator to reset the parameters (position setting information).

  Furthermore, the present invention can also be applied to the case where the position setting information is set by the moving object tracking processing unit 5 after the position setting information is first set by the movable bases 31 and 41. In this case, if the “X-ray fluoroscopy device setting button” is pressed after setting the position setting information in the moving object tracking processing unit 5, the position setting information transmitted from the moving object tracking processing unit 5 is given priority. Setup is also possible.

  According to the radiotherapy moving body tracking apparatus according to the present embodiment having the above-described configuration, the moving body tracking processing unit 5 that processes the moving body tracking, and the movement control unit that controls the movement of the video system 2 (sequence in this embodiment) By configuring the control device 6) to be communicable, both the moving object tracking processing unit 5 and the movement control means can share information. As a result, both the moving body tracking processing unit 5 and the movement control means can grasp the status of each other's information, and the moving body can be accurately tracked.

  In the present embodiment, preferably, the moving body tracking processing unit 5 receives information on the video system 2 from the movement control means (sequence control device 6 in the present embodiment). Since the moving body tracking processing unit 5 receives the information related to the video system 2 from the movement control means, and the moving body tracking processing unit 5 can grasp the information, the position calculation can be performed accurately, and consequently the moving body tracking. Can be done accurately.

  In this embodiment, preferably, the position information is transmitted from the moving object tracking processing unit 5 to the movement control means (sequence control device 6 in this embodiment), and the video system 2 is moved based on the position information. The movement of the video system 2 can be controlled from the moving body tracking processing unit 5 via the movement control means.

  The present invention is not limited to the above-described embodiment, and can be modified as follows.

  (1) In the above-described embodiment, the movement control means is the sequence control device 6 and the function of the movement control means and the movable pedestal are separated from each other. However, the movable pedestal is mounted with a CPU, and the movable pedestal is mounted. However, a function of movement control means for controlling movement of the video system may also be installed. For example, as shown in FIG. 3, the moving object tracking processing unit 5 and the movable bases 31 and 41 may be configured to communicate with each other. In the case of this modification (1), the movable pedestals 31 and 41 correspond to the movable pedestals in the present invention, and also correspond to the movement control means in the present invention. In FIG. 3, the sequence control device 6 is configured separately from the movable bases 31 and 41, but the functions of the sequence control device 6 may be mounted on the movable bases 31 and 41.

  (2) In the above-described embodiment, the movable pedestals 31 and 41 are separated for the X-ray tube 21 and the X-ray detector 22, but in order to move the X-ray tube 21 and the X-ray detector 22 integrally. The movable pedestals 31 and 41 may be integrated. In that case, as in the above-described embodiment, the function of the movement control means and the movable base may be separated from each other.

  (3) In the above-described embodiment, the movable pedestal is used to move the X-ray tube 21 and the X-ray detector 22, but at least one of the X-ray tube and the X-ray detector is moved by means other than the movable pedestal. You may move using (for example, a rail). For example, a rail may be used to move the X-ray tube, the X-ray tube may be moved along the rail, or a rail may be used to move the X-ray detector, and the X-ray tube may be moved along the rail. The line detector may be moved. Further, a movable pedestal is used to move either the X-ray tube or the X-ray detector, and a moving means (for example, a rail) other than the movable pedestal is used to move the other. You may combine with a means.

DESCRIPTION OF SYMBOLS 2 ... Video system 21 ... X-ray tube 22 ... X-ray detector 31, 41 ... Movable base 5 ... Moving body tracking process part 6 ... Sequence control apparatus

Claims (3)

In order to irradiate a treatment site with radiation, a moving body tracking device for radiotherapy that tracks a moving body related to the treatment site by fluoroscopy,
A moving body tracking processing means for processing the moving body tracking;
An image system comprising an X-ray tube that emits X-rays for performing the X-ray fluoroscopic imaging, and an X-ray detection means for detecting the X-rays for performing the X-ray fluoroscopic imaging;
A control means different from the moving object tracking processing means, comprising a movement control means for controlling movement of the video system,
The moving object tracking processing unit and the movement control unit are configured to be communicable , the movement control unit transmits position setting information of the video system to the moving object tracking processing unit, and the moving object tracking processing unit includes the movement A moving body tracking apparatus for radiotherapy characterized by processing moving body tracking based on a parameter corresponding to the position setting information of the video system received from a control means . In order to irradiate a treatment site with radiation, a moving body tracking device for radiotherapy that tracks a moving body related to the treatment site by fluoroscopy,
A moving body tracking processing means for processing the moving body tracking;
An image system comprising an X-ray tube that emits X-rays for performing the X-ray fluoroscopic imaging, and an X-ray detection means for detecting the X-rays for performing the X-ray fluoroscopic imaging;
Control means different from the moving object tracking processing means, and movement control means for controlling movement of the video system;
With
The moving object tracking processing means and the movement control means are configured to be communicable, and the moving object tracking processing means transmits the video system position setting information to the movement control means, and corresponds to the video system position setting information . A moving body tracking is processed based on a parameter to be performed, and the movement control unit controls the movement of the video system based on the position setting information of the video system received from the moving body tracking processing unit. Moving body tracking device. In the moving body tracking device for radiotherapy according to claim 1 or 2 ,
The radiotherapy therapeutic body tracking apparatus, wherein the movement control means is a movable pedestal that supports the video system and is movable.

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