Patent ID: 9572545
Date: 2017-02-21
CPC Classifications: A61B,A61N,G06T

Claim:
1. A radiotherapy system capable of monitoring a target position in real time, comprising: a radiation source; a real-time image capturing device mounted with a robotic manipulator, wherein while radiation is emitted from the radiation source, the real-time image capturing device captures an image of a targeted location in real time; a remote actuating system comprised of the robotic manipulator, a remote handheld probe and a visual servoing and force control system, wherein the robotic manipulator has multiple joints with multiple degrees of freedom and is equipped with a multi-axis force sensor, and controlled by the visual servoing and force control system or other position servo control systems to actuate the real-time image capturing device; a plurality of color balls and rods configured on the real-time image capturing device and the remote handheld probe, each of the color balls and rods on the real-time image capturing device having a corresponding one on the remote handheld probe, and respective locations and orientations of the color balls and rods on the real-time image capturing device being corresponding and identical to the respective locations and orientations of the color balls and rods on the remote handheld probe; a first camera configured to take images of the color balls and rods on the real-time image capturing device, and a second camera configured to take images of the color balls and rods on the remote handheld probe; and an image registration system operable to register in real time an image obtained from the real-time image capturing device with a pre-stored image, wherein while radiation treatment is conducted, the real-time image capturing device is freely movable on different regions of a patient's body to generate a monitor image, the remote actuating system controlling a position and an orientation of the real-time image capturing device, such that the real-time image capturing device is placed at the targeted location, and is kept in position with a desirable contact force on the targeted location of the patient's body; and wherein spatial poses of the real-time image capturing device and the remote handheld probe are determined by the images captured respectively by the first and second cameras and the multiple joints of the robotic manipulator are controlled based on analyzing the spatial poses in combination with contact force detected by the multi-axis force sensor so that the real-time image capturing device is controlled by the remote actuating system to reach a corresponding position and a corresponding angle when the position and the angle of the remote handheld probe are adjusted.