Source: https://patents.google.com/patent/DE60224810T2/en
Timestamp: 2020-01-26 20:59:08
Document Index: 706327909

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DE60224810T2 - Radio therapy device - Google Patents
Radio therapy device
DE60224810T2
DE60224810T2 DE60224810T DE60224810T DE60224810T2 DE 60224810 T2 DE60224810 T2 DE 60224810T2 DE 60224810 T DE60224810 T DE 60224810T DE 60224810 T DE60224810 T DE 60224810T DE 60224810 T2 DE60224810 T2 DE 60224810T2
DE60224810T
DE60224810D1 (en
Yuichiro Nagoya-shi KAMINO
2001-08-24 Priority to JP2001254891 priority Critical
2001-08-24 Priority to JP2001254892 priority
2008-03-13 Publication of DE60224810D1 publication Critical patent/DE60224810D1/en
2009-01-22 Publication of DE60224810T2 publication Critical patent/DE60224810T2/en
The The present invention relates to a radiotherapy device and in particular a radiotherapy device suitable for stereotactic radiotherapy is used.
A Radiotherapy device for treating cancer and a tumor using rays is well known. As a three-dimensional Irradiation radiation therapy device to run irradiation in a stereotactic multiple arc it already surgical therapy device, a Linac (medically linear Accelerator) therapy device and the like.
Here in Stereotactic Multiple Arc Irradiation refers to a radiotherapy procedure that the radiation intense to a small focus of a variety irradiated by directions and thereby improves the treatment effect and above addition, the load of Minimized surrounding tissue. Whose energy will be on the treatment for primarily benign Brain tumor, a single metastatic brain tumor whose size is 3 cm or is smaller, a small lesion within the brain like skull base metastases, whose operation is difficult, an arterial malformation, a vein malformation or the like is applied.
The Radiosurgery therapy device intensively radiates a thin beam on a particularly small region with very high accuracy of one or more of the radiation therapy units fixed to the therapy device are. As a radiation irradiation unit becomes a gamma ray source or a Linac used.
In The Radiation Surgery Therapy device is being used a precise positioning / immobilizing device for the affected Part that serves as immobilization device for stereotactic radiation irradiation used, the affected part of the skull bone of a patient and a part mechanically fixed around the affected part. Then, by using this frame as the standard coordinate tool for the Positioning and after generating images for diagnosis like X-ray CT (Computed Tomography), MRI, DAS (Digital Subtraction Angiography) and the like, the exact position and shape of the affected parts derived. Then the patient becomes mechanically in the irradiation device fixed, which is composed of: one or more radiation irradiation units; as well as a bundling mechanism for bundling and focusing the therapy radiation on the small region in the Space while this framework is maintained. As a result, the irradiation field fits with the small region mechanically and precisely so that the stereotactic Irradiation precise accomplished becomes. If a treatment field is spherical, a necessary Treatment dose to be irradiated at a given time. If the treatment field is indefinite, becomes the positioning operation in accordance repeated with the shape of the treatment field a few times. At the same Time will be an opening of the bundling system reselected each time and the radiation therapy is carried out.
In The radiation surgery therapy device is the device and the procedure is very simple and high reliability can be achieved. Together This can if an irradiation target is not against the skull bones how to move a head section, the positioning and the Irradiation operations are performed extremely precisely. The radiation field However, the beam irradiation unit is fixed and thus becomes the stereotactic radiation therapy not on the body part executed in which the radiation field on the tumor, the malformation and the like through the influence of movement and the state of the organs like about breathing and heartbeat, peristalsis, a urine amount within the bladder and the like are moved below the chin. in principle Irradiation is not performed while the affected part is simultaneously is observed.
at The Linac therapy device rotates a large framework and an axis parallel to its installation interface 360 degrees to thereby an isocentric radiation therapy perform. additionally can by adding a two-dimensional movement within vertical and horizontal Layers of a treatment bed as well as the rotation within the horizontal Level a different type of irradiation are performed. Likewise, by means of MLC (Multi Leaf Collimator) the irradiation field with a complex Be handled form and a precise radiation therapy (IMRT: Intensity Modulated Radio Therapy) can be performed by controlling a radiation dose distribution.
The Linac therapy device can not perform high speed position control. For this reason, no follow-up irradiation can be performed in real time on the high speed moving treatment field, such as a movement caused by the heartbeat. Likewise, linac graphics are produced by transmission irradiation of treatment lung X-rays used as a monitor for the treatment field during the irradiation. Since the treatment X-rays have a high transmission characteristic and generate highly scattered radiation, the image quality for the real-time monitor in the irradiation field is not high.
A synchronous irradiation is performed using a respiratory synchronization device in the case of only one respiratory motion performed. This can not be the affected one Imaging part in real time and thus the position of the affected part estimated using a preset method. If estimated the affected part arrives at a predetermined irradiation position the irradiation unit is triggered so that it receives the therapy radiation performs. As an estimation method a marker applied to the affected part is optically tracked. Or the flow rate The exhalation is measured directly to the respiratory status of the patient to assess the movement of the affected part.
at However, the synchronous irradiation will change the position of the affected Partly estimated and the irradiation is radiated to the estimated position. Thus, the radiation is not emitted while the affected part in Real time is tracked.
A Apparatus for isocentrically driving an electron linac and a device for driving an electron linac along a scaffold with a predetermined shape are considered other three-dimensional Irradiation-beam device known.
When There is a device for isocentric driving of the electron Linac Device, a small electron Linac at a tip of a general industrially customary Robotic arm has. The exact shape and position of the affected part are derived from the correlation to a marker, such as a small gold plate acting as a marker near the affected part embedded, and a landmark of the body organization such as a skull bone or a bone of the breast, by means of an X-ray CT and an MRI. Then leads at the time of therapy radiation the device during two X-ray cameras to be used with different visual lines and the Tracked movement of the memo , the correction of collimation and the precise irradiation. These Device can substantially non-isocentric radiation therapy by free movement of a robot arm with six degrees of freedom To run.
Also when this device has an immobilization device for fixing of the head part used in a case of treatment of the head part, irradiated They still do not direct this part while the image of the affected Part is being observed. That means they are not photographs using the X-ray camera while the irradiation of the treatment beam makes. For this reason used she the procedure of the final Photographing before the start of the irradiation and the confirmation of the Irradiation position and the subsequent start of irradiation. Thus, also in this case the irradiation field is not monitored in real time. Also, since the electron Linac has a high weight, the problems in Relation to the inertia and the like solved be precise Follow-up radiation in real time with fast motion such as To perform heartbeat, while the electron linac at the top of the robotic arm, which has a cantilever structure is maintained.
As well guaranteed the industrial robot arm is not an absolute precision in a fixed spatial coordinate, but only ensures a itself repetitive precision by learning. Thus, learning processes and the associated Working in front of the actual Treatment required.
The apparatus for driving the electron linac along the skeleton with the predetermined shape is disclosed in, for example, Japanese Laid-Open Patent Application (Laid-Open). JP-A-Heisei 8-504347 (International Application Number: PCT / US93 / 11872)) and Japanese Patent Application Laid-open ( JP-A-Heisei 6-502330 ) International Application Number: PCT / US91 / 07696)). This includes an X-ray camera with a C-arm with two axes of rotation and a medical electron Linac with two similar axes of rotation. Three-dimensional irradiation may be accomplished by further adding different axes of rotation to a conventional electron linac that can only rotate in one axis. The irradiation method is similar to the case of the radiation surgery therapy apparatus in that it is isocentric and that the head portion needs to be fixed by means of the frame. However, it does not differ from the case of the radiation surgery therapy device in that a large skeleton is driven by two axes.
The affected part of the patient is also moved during the treatment. In particular, below the chin, an irradiation target such as the tumor or the like is constantly moved by the influence of the movement and state of the organs such as respiration, heartbeat, peristalsis, and the amount of urine within the bladder. at For example, only when the patient is lying, the body gradually level. Moreover, although the respiration and heartbeat are cyclical movements, the movements of the respective organs associated with the cyclical movements do not always go through the same trajectories each time.
On The other side is taught to control the movement of the radiation target to take in real time a photography technique for photography a rate of about 30 frames per second is required since the heartbeat, which is one of the fastest movements, one to one done twice a second. Then it is when the irradiation target is tracked in real time and the radiation is irradiated, necessary, a radiation irradiation head every 1/30 second to the irradiation target align.
Also when the treatment field of the irradiation is moved is a technique required, which can irradiate the radiation while the Treatment field is tracked. A technique is desired that Monitor the state of the radiation field in real time. A technique is desired a fast collimation setting of a region of a wide range and can carry out the radiation irradiation. Likewise, a Technology desired, which reduces the radiation exposure burden of the patient, while the treatment effect is improved.
Therefore It is an object of the present invention to provide an irradiation device available too which can perform an irradiation while the Treatment field is also tracked when the treatment field the irradiation is moved.
One Another object of the present invention is to provide an irradiation device available too provide the state of the treatment field in real time even during the Radiation therapy with radiation can monitor.
Yet Another object of the present invention is to provide an irradiation device to disposal to provide a quick collimation adjustment from the region of the wide field and the radiation irradiation performs, as well as an irradiation around a single axis of rotation and the isocentric irradiation.
Yet Another object of the present invention is to provide an irradiation device to disposal which can radiate the radiation accurately and throughout improves the treatment effect and the burden on the patient reduced.
The Disclosure of the present invention will be described below using of reference numerals and symbols described in the chapter "How to execute the Invention "be used. The reference numbers and the symbols are given together with parentheses, to the respective relationship between the descriptions in the claims and in the chapter "Ways for execution of the invention ". However, the reference numerals and the symbols are not intended to be technical of the present invention as defined in the claims. The Invention is in the appended Set of claims Are defined.
Therefore, to solve the above-mentioned problems, the irradiation apparatus according to the present invention includes a bed (FIG. 7-2 ), a radiation irradiation head ( 10 ), a head pivot mechanism ( 131 . 132 ), a precise inspection unit ( 30 ) and a control unit ( 80 ).
The bed ( 7-2 ) carries a subject ( 4 ). The radiation irradiation head ( 10 ) radiates a therapy radiation ( 3a ) to a treatment field ( 5 ) of the subject ( 4 ). The head pivot mechanisms ( 131 . 132 ) with the ( 10 ) are coupled (pivot), pivot the head of the radiation irradiation head ( 10 ) such that the radiation from the radiation ( 10 ) emitted therapy radiation ( 3a ) of the movement of the treatment field ( 5 ) follows. The precise inspection unit ( 30 ) receives a diagnostic image showing the treatment field ( 5 ) contains. The control unit ( 80 ) controls the positions of the head pivot mechanisms ( 131 . 132 ) such that an irradiation field ( 5 ' ) of the radiation irradiation head ( 10 ) the treatment field ( 5 ) based on the diagnostic image, the position of the radiation irradiation head ( 10 ) and the state of the tilted head follows.
Then the control unit ( 80 ) the radiation irradiation head ( 10 ) such that the therapy radiation ( 3a ) from the radiation irradiation head ( 10 ) after the position the control of the head pivot mechanisms ( 131 . 132 ) irradiated.
Also, in the irradiation therapy apparatus according to the present invention, the control unit calculates ( 80 ) first coordinates (X, Y, Z) as coordinates of the treatment field ( 5 ) within the diagnostic image in accordance with an image pattern ( 5-2 ), which was defined in advance on the diagnostic image and the treatment field ( 5 ). Likewise, the control unit calculates second coordinates (x, y, z) as the coordinate of the irradiation field ( 5 ' ) in accordance with the position of the radiation irradiation head ( 10 ) and the state of the swiveled head of the radiation irradiation head ( 10 ). Then it controls the position of the head pivot mechanisms ( 131 . 132 ) such that the treatment field ( 5 ) in the irradiation field ( 5 ' ) in accordance with the first coordinates (X, Y, Z) and the second coordinates (x, y, z).
Likewise, in the radiotherapy apparatus according to the present invention, the control unit ( 80 ) for each preset time interval the positions of the head pivot mechanisms ( 131 . 132 ) and controls the radiation irradiation head ( 10 ).
Likewise, in the radiotherapy apparatus according to the present invention, the precise inspection unit ( 30 ) an X-ray source ( 97 ), a sensor arrangement ( 98 ) as well as an image processing unit ( 31 ).
The X-ray source ( 97 ) radiates a diagnostic radiation ( 3b ) to a treatment field ( 5 ) of the subject ( 4 ). The sensor arrangement ( 98 ) detects a transmitted radiation of the diagnostic radiation ( 3b ) by the subject ( 4 ) and outputs this as diagnostic image data. The image processing unit ( 31 ) generates the diagnostic image of the treatment field ( 5 ) in accordance with the diagnostic image data.
Similarly, in the radiotherapy apparatus according to the present invention, in the precise inspection unit ( 30 ) the X-ray source ( 97 ) and the sensor arrangement ( 98 ) are placed at positions with an isocenter ( 5a ) are point symmetric. Then the sensor arrangement ( 98 ) closer to the radiation irradiation head ( 10 ) compared to the X-ray source ( 97 ).
Also, in the radiotherapy apparatus according to the present invention, the precise inspection unit (FIG. 30 ) a plurality of sets each containing the x-ray source ( 97 ) and the sensor arrangement ( 98 ). Then the image processing unit ( 31 ) the diagnostic image of the treatment field ( 5 ) in accordance with the diagnostic image data output from each of the plurality of sets.
Also, the radiotherapy apparatus according to the present invention further includes a guide rail (FIG. 9 ) and a head circulation movement mechanism ( 68 ).
The guide rail ( 9 ) has a circular path on which the head pivoting mechanisms ( 131 . 132 ) and the radiation irradiation head ( 10 ) are moved. The head circulation movement mechanism holds the head pivot mechanisms ( 131 . 132 ) and the radiation irradiation head ( 10 ) in the movable state and moves the head pivoting mechanisms ( 131 . 132 ) and the radiation irradiation head ( 10 ) along the guide rail ( 9 ).
Also, in the radiotherapy device, the guide rail ( 9 ) placed so that they are the bed ( 7-2 ) spans in the width direction and has a half-arc circular shape.
Also, the radiation therapy device according to the present invention further includes a rail tilt mechanism (FIG. 28 ) for tilting the guide rail ( 9 ) about a horizontal axis ( 26 ) within a range of a quarter spherical shell.
Also, in the radiotherapy apparatus according to the present invention, the head pivot mechanisms (FIG. 131 . 132 ) the head of the radiation irradiation head ( 10 ) about each of the two axes (S1, S2) orthogonal to each other.
Also, the radiotherapy apparatus according to the present invention further includes a microwave generating unit ( 70 ) as well as a waveguide ( 51 ).
The microwave generating unit ( 70 ) produced a microwave. An end of the waveguide ( 51 ) is connected to the microwave generating unit ( 70 ) and the other end is connected to the radiation irradiation head ( 10 ) connected. Then she leads the microwave to the radiation irradiation head ( 10 ).
Also belongs in the radiotherapy device according to the present invention their microwave to the C-band.
Then the radiation irradiation head ( 10 ) an acceleration structure ( 110 ) for accelerating an electron beam through its microwave.
Also belongs in the radiotherapy device according to the present invention their microwaves to the X-band.
Then the radiation irradiation head ( 10 ) an acceleration structure ( 110 ) for accelerating an electron beam through the microwave.
To solve the above-mentioned problems, a radiation therapy method includes the following steps: detection of a diagnostic image that includes a treatment field ( 5 ) of a subject ( 4 ) entlast; defini definition of a domain ( 5-1 ) as a treatment field ( 5 ) from the diagnostic image; Recognition of a picture pattern ( 5-2 ) within the domain of definition ( 5-1 ); Moving a radiation irradiation head ( 10 ) for the irradiation of a therapeutic radiation ( 3a ) on the subject ( 4 ), so that an irradiation field ( 5 ' ) of the radiation irradiation head ( 10 ) the treatment field ( 5 ) follows; Irradiation of therapeutic radiation ( 3a ) on the irradiation field ( 5 ' ).
Likewise, in the radiotherapy method, the step of moving the radiation irradiation head ( 10 ) the following steps: calculating first coordinates (X, Y, Z) that determine the position of the image pattern ( 5-2 ) in accordance with the diagnostic image; Calculating second coordinates (x, y, z) representing the position of the irradiation field ( 5 ' ) in accordance with the position and the orientation of the radiation irradiation head ( 10 ) Show; and moving the radiation irradiation head ( 10 ) such that the second coordinates (x, y, z) follow the first coordinates (X, Y, Z) in accordance with the first coordinates (X, Y, Z) and the second coordinates (x, y, z).
In order to solve the above-mentioned problems, a program instructs a computer to carry out a method including the following steps: taking a detected diagnostic image containing a treatment field ( 5 ) of a subject ( 4 ) contains; Recognition of a picture pattern ( 5-2 ) of a definition region ( 5-1 ), which can be used as a treatment field ( 5 ) is defined in the diagnostic image; Controlling a radiation irradiation head ( 10 ) such that an irradiation field ( 5 ' ) of the radiation irradiation head ( 10 ) for irradiation a therapy radiation ( 3a ) on the subject ( 4 ) the treatment field ( 5 ) follows; and controlling the radiation irradiation head ( 10 ) such that the irradiation of the therapy radiation ( 3a ) on the irradiation field ( 5 ' ) he follows.
Likewise, the program instructs the computer to carry out the above-mentioned method by the step of controlling the radiation irradiation head (FIG. 10 ) such that the irradiation field ( 5 ' ) the treatment field ( 5 ) and includes the following steps: calculating first coordinates (X, Y, Z) representing the position of the image pattern ( 52 in accordance with the diagnostic image, calculating second coordinates (x, y, z) representing the position of the irradiation field ( 5 ' ) in accordance with the position and the orientation of the radiation irradiation head ( 10 ) Show; and controlling the radiation irradiation head ( 10 ) such that the second coordinates (x, y, z) follow the first coordinates (X, Y, Z) in accordance with the first coordinates (X, Y, Z) and the second coordinates (x, y, z) ,
The radiotherapy device according to the present invention can control the pseudo-non-isocentric irradiation by adding the mechanisms ( 131 . 132 ) for causing the radiation irradiation head ( 10 ) performs the small angular rotation (head pivoting) in an axis or in a two-axis direction, in addition to the mechanisms ( 9 . 28 ) for positioning by isocentric movement of the radiation irradiation head ( 10 ) in one-axis or two-axis direction. The correspondence to the undefined radiation field ( 5 ' ) and following the movement of the irradiation field ( 5 ' ) certain non-isocentric component is 50 mm or less in the irradiation field ( 5 ' ).
The distance SAD (distance between source and axis) between the radiation source and the isocentric irradiation field ( 5 ' ) is a value between 80 cm and 100 cm in the case of a typical electron linac. When the SAD is 100 cm, there is an angle for the small angular movement (the head tilt) that is necessary for the radiation irradiation head ( 10 ) is required, about 3 degrees. Since the change in the SAD caused by this movement is about 0.2%, the change in the beam diameter of the therapy radiation ( 3a ) caused by the change of the SAD, in the negligible range. Likewise, the loading of the drive mechanism can be reduced by using a mechanism that controls this rotation about the axis at the center of the radiation irradiation head (FIG. 10 ). The reaction associated with the small angular movement (the head tilt) can be accomplished by driving a dummy weight at the same moment as the moment about the rotation axis of the radiation irradiation head (FIG. 10 ) are offset against the direction of rotation.
The shape of the mechanism mentioned above should not be mechanically combined with an image converter ( 30 ), such as an X-ray camera, a digital substraction angiography (DAS) and an X-ray CT, and the imager ( 30 ) and the above-mentioned mechanism have common position coordinates. Likewise, the timing control is executed to adjust the image acquisition timing of the imager (FIG. 30 ) and the irradiation time sequence of the therapy radiation ( 3a ) and at the same time the image of the treatment field can be monitored at real time during the treatment irradiation, while the influence of the image converter ( 30 ) of the therapy radiation ( 3a ) is avoided.
Succession radiotherapy to the moving treatment field can be performed by performing image tracking on the treatment field image under a precise algorithm Monitoring image (display) and subsequent control of the small angular rotation (the Kopfverschwenkung) are carried out with a follow-up.
Furthermore the radiotherapy device is highly safe and reliable and can by installing a precise machine interface and a Safety mechanism can be achieved.
1 Fig. 10 is a side view showing a construction of a first embodiment of a radiation therapy apparatus according to the present invention;
2 Fig. 10 is a front view showing the structure of the first embodiment of the radiation therapy apparatus according to the present invention;
3 Fig. 12 is a perspective view showing the construction of the first embodiment of the radiation therapy apparatus according to the present invention;
4A Fig. 10 is an overall view showing a structure of an irradiation head attached to the radiotherapy apparatus according to the present invention;
4B is a sectional view taken along the line AA 4A ;
4C is a sectional view taken along the line BB 4A ;
5 is an enlarged view in the vicinity of an electron gun and an acceleration structure 4C ;
6 Fig. 12 is a perspective view showing an X-ray head supported by a support frame;
7A Fig. 10 is a view showing the overall construction of a biaxial head pivot mechanism of a support frame;
7B FIG. 16 is a view illustrating a servo motor for driving an S1 head pivot mechanism. FIG 7A shows;
7C FIG. 13 is a view illustrating a servo motor for driving an S2 head pivot mechanism in FIG 7A shows;
7D is a view that features a pair of RF rotary couplers 7A shows;
8th Fig. 13 is a view showing a structure of a connection having therein a rotary RF coupler;
9 is a perspective view detailing the structure of the in 8th shown RF rotary coupler shows;
10A is a sectional view showing in detail the RF rotary coupler 9 shows;
10B shows an example of a mode of the microwaves within the RF rotary coupler;
11 Fig. 10 is a block diagram showing a control system of the embodiment of the radiotherapy apparatus according to the present invention;
12A Fig. 10 is a front view showing a position calibration of the radiotherapy apparatus;
12B is a side view illustrating the position calibration of the radiotherapy device;
13A Fig. 11 is a timing chart showing the timing of an operation for processing a diagnostic image in an operation of an embodiment of the radiation therapy apparatus according to the present invention;
13B Fig. 11 is a timing chart showing the timing of a head swing operation of an X-ray head and an image tracking calculation based on a diagnostic image after the processing;
13C is the time sequence of the irradiation of an X-ray treatment;
14 Fig. 12 is a perspective view showing a type of radiation therapy by means of an X-ray head;
15 Fig. 12 is a view explaining a manner of irradiating a treatment with X-rays while the X-ray head is being swiveled, and a section taken along the line AA 14 shows;
16 Fig. 12 is a view explaining a manner of irradiating a treatment with X-rays while the X-ray head is being swung and a section taken along the line BB 14 shows;
17A - 17F Fig. 10 are flowcharts showing the procedure of a pseudo-non-isocentric treatment using displays on a display;
18A Fig. 11 is a view showing a relationship between an affected part and a definition region in relation to the affected part, the definition region, and a contour line by pattern matching;
18B to 18E are views showing a relationship between the affected part and the contour line;
19 Fig. 10 is a graph showing an example of brightness distribution in the diagnostic image;
20 Fig. 10 is a side view showing a construction of a second embodiment of the radiation therapy apparatus according to the present invention;
21 Fig. 10 is a front view showing a construction of a rotary drum (a treatment framework) in the second embodiment of the radiation therapy apparatus according to the present invention;
22 Fig. 10 is a front view showing a construction of a rotary drum (a treatment frame) in the second embodiment of the radiation therapy apparatus according to the present invention;
23 Fig. 10 is a perspective view showing another embodiment in the first embodiment of the radiation therapy apparatus according to the present invention; and
24 Fig. 15 is a perspective view showing a structure of a fourth embodiment of the radiation therapy apparatus according to the present invention.
A embodiment the radiotherapy device according to the present invention described below with reference to the accompanying drawings.
A first embodiment the radiotherapy device according to the present invention described below with reference to the accompanying drawings.
The 1 to 3 FIG. 16 is a side view, a front view and a perspective view showing the structure in the first embodiment of the radiation therapy apparatus according to the present invention. FIG. Their parts have been omitted depending on the drawing. A coordinate 200 shows a three-dimensional orthogonal coordinate with an X-axis, a Y-axis and a Z-axis in the 1 to 3 at.
A radiotherapy device 6 includes a treatment bed system 7 , an X-ray head 10 , a first head pivot mechanism 131 , a second head pivot mechanism 132 , a bow guide rail 9 , a microwave generating unit 70 , a powered wave guide system 11 as well as a real-time image converter 30 ,
The treatment bed system 7 has a bed drive system 7-1 , a treatment bed 7-2 and a patient immobilization device 7-3 on.
The treatment bed 7-2 carries and moves a patient 4 to which radiotherapy is applied. He is placed on an XY table of the treatment bed system 7 placed. The patient immobilization device 7-3 fixes the patient 4 on the treatment bed 7-2 , The bed drive system 7-1 can the treatment bed 7-2 in a three-axis direction, namely, a length direction (an X-axis direction), a width direction (a Y-axis direction), and a height direction (a Z-axis direction) of the treatment bed 7-2 using a built-in drive mechanism (not shown). Then put the bed drive system 7-1 the position of the treatment bed 7-2 so that an affected part 5 acting as an irradiation field 5 ' serves, at an isocenter 5a in accordance with the diagnostic image data of the real-time imager 30 (an X-ray CT inspection unit in this embodiment) under the control of a system control unit 80 (which will be described later) is placed. The materials and forms used for the application of an image diagnostic device such as the real-time imager 30 are a fixed X-ray photography device (an X-ray CCD) and a PET (Position Emission Tomography) for the treatment bed 7-2 and the patient immobilization device 7-3 ,
The X-ray head 10 is a radiation irradiation head for the irradiation of a treatment X-ray 3a on the irradiation field 5 ' (the affected part 5 ). It contains a small electron linac for the irradiation of the treatment X-rays 3a , It is movable by a circulation movement mechanism 68 (described later) at the bow guide rail 9 (described later) installed. It includes the first head pivot mechanism 131 (described later) and the third head pivot mechanism 132 (described later). The X-ray head 10 has a total length of 500-600 mm, a width of 500 mm, a depth of 300 mm and a weight of 60 to 80 kg.
The first head pivot mechanism 131 is the mechanism for pivoting (rotational movement) the X-ray head on the sheet guide rail 9 around the first pivot axis S1, represented by R1. the first pivot axis S1 is placed on an axis that is substantially the center of inertia of the x-ray head 10 penetrates or runs in the vicinity thereof, so that the inertia is then reduced when the X-ray head 10 is pivoted.
The second head pivot mechanism 132 is the mechanism for pivoting (rotational movement) of the X-ray head 10 on the bow guide rail 9 about the second pivot axis S2, represented by R2. The second pivot axis S2 is placed on the axis substantially through the center of inertia of the X-ray head 10 passes through or in the vicinity, so that the inertia is then lower when the X-ray head 10 is pivoted.
The bow guide rail 9 has a guide rail tilting mechanism 28 and the circulation movement mechanism 68 on.
The bow guide rail 9 is placed so that it has a semi-circular ring in a shape of an upper half-arch of the treatment bed 7-2 and the treatment bed 7-2 spans. A guide rail tilt axis 26 is an axis in the Y-axis direction through which both ends and the center of the semicircle are coupled together, and the center of the circle is coincident with the isocenter 5a match. This arch guide rail 9 is tiltable by means of the guide rail tilting mechanism 28 supported. The guide rail tilting mechanism 28 Tilts the bow guide rail 9 in a range between 0 degrees (a position in the plus direction of the central axis upright) and 90 degrees (a position laterally in the plus direction of the X-axis) about the guide rail tilting axis 26 like this by G1 in 1 is displayed. That means the bow guide rail 9 Perform the movement by making a quarter sphere (a quarter sphere) with the isocenter 5a as a center draws. The bow guide rail 9 For example, it is made of a material that has a high stiffness, such as stainless steel. Their width is 200 to 400 mm, their thickness is 20-50 mm and their radius from the isocenter is 800 to 1000 mm.
Likewise, the circulation movement mechanism moves 68 the x-ray head 10 circular on the semicircle of the arch guide rail 9 along the arch guide rail 9 like this by H1 in 2 is indicated. A rack and pinion method and a belt method can be used.
The above-mentioned three-axis drive (G1, H1) enables the X-ray head 10 , the isocentric movement (the x-ray head 10 gets to the isocenter 5a aligned) on the quarter sphere with the isocenter 5a as a center. In addition, the above-mentioned two-axis drive (R1, R2) enables the X-ray head 10 , a pseudo-non-isocentric movement (the X-ray head 10 gets to a desired point within a three-dimensional region 5b (please refer 2 ) near the circumference of the isocenter 5a aligned)) on the quarter sphere. This pseudo-non-isocentric operation is the head pivot about the center of gravity of the x-ray head 10 and thus, a particularly fast movement can be performed as compared with the isocentric operation. The fast follow-up movement with the pseudo-non-isocentric and fast reaction property allows the collimation of the head to perform a quick movement even when, for example, the heartbeat requires a quick response in a precise manner.
The microwave generating unit 70 contains a klystron and has a circulator 21 on top of the waveguide and the dummy load 22 and a microwave for electron acceleration through the driven wave guide system 11 to the x-ray head 10 to send. Here, the microwave sends out a C band (5.6 GHz).
The powered wave guide system 11 is a waveguide provided by the microwave generating unit 70 produced microwave to X-ray head 10 sends. It connects (verkuppelt) a connection 14a , a connecting arm 12 , a connection 14b , a connecting arm 13 , a connection 14c , a connecting arm 15 , a connection 16 as well as the X-ray head 10 with each other to thereby form the connection (coupling) mechanism. Only the connection 14a can be pressed around the axis in Y-axis direction. The connection 14b , the connection 14c and the connection 16 can be rotated about the axis in the X-axis direction. Incidentally, the X-ray head slides 10 at the junction (coupling) tip along the arc guide rail 9 along the circulati ons moving mechanism 68 and will be around the connection 16 by means of the first head pivot mechanism 131 pivoted.
Then contain the connections 14a . 14b . 14c and 16 an RF rotary joint 50 (described later) for transmitting the microwave by an axis rotation. The connecting arms 12 . 13 and 15 contain a wave guide 51 (described later) and are electromagnetic by the compounds 14a to 14c and 16 connected with each other. The through the microwave generating unit 70 Microwave generated by the connection 14a , the connecting arm 12 , the connection 14b , the connecting arm 13 , the connection 14c , the connecting arm 15 and the connection 16 to the x-ray head 10 Posted.
The real-time image converter 30 is the X-ray CT inspection unit. The X-ray CT inspection unit continuously radiates diagnostic X-rays 3b which are faint X-rays on the treatment field 5 of the subject 4 from a plurality of directions over the entire circumference of 360 degrees and detects a transmission image and then executes an image process from the detected data, thereby showing a three-dimensional tomographic diagnostic image of the treatment field 5 on a computer screen. The real-time image converter 30 is through the system control unit 18 controlled.
The typical X-ray CT inspection unit can be used as a real-time image converter 30 be used. The real-time image converter 30 is held at the position exceeding a predetermined angle (for example, a 20 to 30 degree bevel for the vertical axis) by means of an image pickup tilting mechanism 20 as he is in 1 is shown inclined. If the imager tilt mechanism 20 is driven, the real-time image converter 30 around the axis (indicated by K1 in 1 ) inclined so that an irradiation angle of the diagnostic X-ray 3b can be changed. Incidentally, the real-time image converter 30 and the bow guide rail 9 mechanically rigidly coupled together and have a common coordinate as a standard.
The real-time image converter 30 is controlled so that the bow guide rail 9 and the X-ray head 10 do not interact with each other. When a typical X-ray camera is used as the image converter, if necessary, a small gold plate is embedded in the vicinity of the irradiation field and marks the irradiation field as a standard.
A donut vacuum bath with a central opening as a diagnostic space is enclosed and the patient 4 will be together with the treatment bed 7-2 as a subject and pulled out of this diagnostic space again. The inside of the vacuum bath is blown out and evacuated by a vacuum pump through an output port (not shown).
A plurality of diagnostic X-ray generating units are arranged via a concentric circle near an outer periphery, and a plurality of sensor arrays are arranged near an inner circumference corresponding to the circumference and placed inside the vacuum bath. The diagnostic X-ray generating units and the sensor arrays are shifted and arranged in the X-axis direction so that the diagnostic X-rays 3b are blasted in the form of a fan in a direction which are inclined forward over a radial of the vacuum pad. Thus, the diagnostic X-rays become 3b in the form of the fan, not shielded from the sensor arrangements on the X-ray irradiation side (on the upper side) and they can be detected by the subject 4 be transmitted in the diagnostic room and detected by means of the sensor arrangements on the opposite side (the lower side).
In addition, a beam limiter, an electron gun drive unit, an image signal digitizer, and the like are respectively disposed at appropriate positions in the vacuum bath. The diagnostic X-rays 3b in the form of a fan are emitted from the diagnostic X-ray generating unit and throttled by a collimator (not shown) and further limited in width at an irradiation position by the beam limiter and by the subject 4 transmitted and then detected by the sensor assemblies.
The sensor arrays receive (detect) the diagnostic x-rays 3b by the subject 4 have passed through. They are sealingly placed and fixed on the circumference surrounding the diagnostic space in which the subject 4 is located and have a large number of highly sensitive CDTE sensors and have a resolution of 0.5 mm. The width of the thus received image at one shot at the time of inspection is 80 mm. Likewise, the irradiation time of the diagnostic X-rays 3b 0.0025 to 0.01 seconds per shot.
The X-ray transmission data detected by the sensor arrangement is converted into an electronic signal which is proportional to the transmission X-ray dose and fed through a preamplifier and a main amplifier Sent image signal digitizer and a data memory and then stored as diagnostic image data. The photograph by the diagnostic X-rays 3b , data storage and the like are by means of the system control unit 80 controlled. The recorded diagnostic image data becomes the data memory to an image signal processing unit 31 (please refer 9 ) and by means of the image signal processing unit 31 processed. The processed data is called the X-ray CT diagnostic image of the affected part 5 on the display of the control panel 80 displayed.
An anode, a cathode and a grid electrode of a gate array within the diagnostic X-ray generating unit, and the power supply are respectively connected to the output side of the X-ray generation control unit of the real-time image converter 30 connected. When the system control unit 80 outputs an X-ray generation instruction signal to the X-ray generation control unit, the X-ray generation control unit controls the power supply to the electron gun drive circuit in accordance with this instruction, and selects the grid electrode from the gate array, which captures the image of that part suitable is. In response, the electron beam is emitted from each cathode within the diagnostic X-ray generating unit. Then, a minus voltage is applied to the selected grid electrode and becomes a zero potential. The electron beam is passed through a hole of the grid electrode and introduced into the anode. When the electron beam is introduced into the anode, a secondary X-ray is generated from the anode and the diagnostic X-rays 3b in the form of the fan are emitted by a collimator, which is attached to a window of the patient 4 is appropriate.
The real-time image converter 30 does not have to be an X-ray CT inspection unit. It may be a series of x-ray sources and sensor array opposite thereto. This is in 23 shown.
23 Fig. 10 is a perspective view showing another structure of the first embodiment in the radiation therapy apparatus according to the present invention. 23 is different from the 1 to 3 in the structure of the real-time image converter 30 ,
This real-time image converter 30 has a rotation drive mechanism 95 , Restriction frame 96A . 96B , two rows of X-ray sources 97A or 97B and a sensor arrangement 98A or 98B on, which represent the typical X-ray camera on.
The restriction framework 96A . 96B each contain the X-ray sources 97A . 97B which are placed at one end thereof, and the sensor assemblies 98A . 98B , which are placed at the other ends and form the typical X-ray camera. The centers of the retaining frame 96A . 96B are on the rotary drive mechanism 95 Installed.
The sensor arrangement 98A is near one side in the Y-axis direction of the X-ray head 10 placed. The perpendicular from the center of the flat surface on the sensor side is on the isocenter 5a aligned and the X-ray source 97A is placed on this extension line. Similar to this is the sensor arrangement 98 near the other side in the Y-axis direction of the X-ray head 10 placed. The perpendicular from the center of the flat surface on the sensor side is on the isocenter 5a aligned and the X-ray source 97B is placed on this extension line.
The rotary drive mechanism 95 turns the restriction frame 96A . 96B with a real-time image converter rotation axis Q passing through the isocenter 5a passes through and parallel to the X-axis as a center in such a way that the two rows of X-ray sources 97a . 97b and the series of sensor arrays 98A . 982 placed at the desired positions.
The two rows of x-ray sources 97A or 97B and the sensor arrangement 98B or 98B are controlled so that they are held at predetermined angles between each other. The predetermined angles are 60 degrees to 90 degrees of the sensor arrangement 98A or the sensor arrangement 98B , to the isocenter 5a and the X-ray head 10 , Preferably, they are 45 degrees to 30 degrees. They are set in accordance with the condition that the X-ray head 10 and the X-ray sources 97A . 97B have no influence on each other and these are operated accurately and that a diagnostic image with sufficient precision can be obtained.
If, however, with two rows of x-rays 97A or 97B and sensor arrangements 98A or 98B then, when the visible lines of the rows of the X-ray source and the sensor array do not coincide with each other, position controls can be performed independently of each other.
In case of 23 are the anodes, the Ka methods and the grid electrodes within the X-ray sources 97A . 97B and the power supply respectively to the output side of the X-ray generation control unit of the real-time image converter 30 connected. When the system control unit 80 the X-ray generation position signal is output to the X-ray generation control unit, the X-ray generation control unit controls the power supply operation to the electron gun driving circuit in accordance with this instruction, and operates the rotation drive mechanism 95 such that the two rows of x-ray sources and sensor arrays to optimal positions based on the positional relationship to the x-ray head 10 to be moved. In response to these movements, the electron beam from the cathodes within the X-ray sources 97A . 97B emitted. Then, the negative voltage applied to the grid electrode is released again and becomes zero potential. The electron beam is passed through the hole of the grid electrode and introduced into the anode. When the electron beam has been introduced into the anode, a secondary X-ray from the anode and the diagnostic X-rays are generated 3b in the form of a fan will be through the window of the patient 4 arranged collimator emitted.
The X-ray sources 97A . 97B are placed opposite each other, with the straight line passing through the isocenter 5a and the X-ray head 10 in 23 between these lies. The sensor arrangements 98A . 98B are placed in a similar way. As a result, the movements at the respective parts within the body of the patient 4 be detected quickly and accurately.
Likewise, the sensor arrangements 98A . 98B at the side of the X-ray head 10 Installed. Thus, the treatment X-rays 3a that are very strong x-rays, never into the sensor arrays 98A . 98B come to mind.
In the 1 shown DAD (distance between source and axis) agrees with the distance from the isocenter 5a to the goal 121 (described later) within the X-ray head 10 match. In this embodiment, the standard SAD is set to 80 to 100 cm.
The following is the X-ray head 10 detailed with reference to the 4 and 5 described.
4A is an overall view of the structure of the X-ray head 10 shows attached to the radiotherapy device according to the present invention, 4B is a sectional view taken along the line AA of Fig. A and 4C is a sectional view taken along the line BB 4A ,
The X-ray head 10 has a small electron linac for generating the treatment x-rays 3a with an electron energy between 4 MeV and 10 MeV. This is movable by means of the bow guide rail 9 so supported that the radiation from a variety of directions by means of the three-dimensional movement within the area of the quarter-sphere at the upper half with the isocenter 5a can be broadcast as a center. Together with this is this with the RF rotary coupler 16 of the driven waveguide system 11 connected (coupled) on the condition that it can be pivoted.
In the X-ray head 10 is the main body of the X-ray head 10 by means of a head cover 101 covered and an output unit 120 for emitting the radiation is installed at the tip side of the main body. An electrical circuit / cooling water circuit 116 , an acceleration structure 110 , an RF window 52 , the wave guide 51 , a part 50B of the RF rotary coupler, a drain pipe 107 , an ion pump 112 , a destination issue room 119 , the goal 121 as well as a cold plate 122 are inside the head cover 101 installed to cover the head main body.
A cable (not shown) connected to an external power source from an insulating glass 103 the tail of the acceleration structure 110 connected is in the head cover 101 used and with the cathode 105 an electron gun 104 connected. An anode 106 is opposite this cathode 105 placed. The energy supply of the electron gun 104 is through the system control unit 180 controlled.
The section between the cathode 105 and the anode 106 gets through that with the ion pump 112 connected (coupled) output tube 107 emptied. The room to be emptied is from the electron gun 104 to the acceleration structure 110 connected (coupled) and further from the acceleration structure 110 to the output unit 120 connected (coupled). Because the ion pump 112 directly with the acceleration structure 110 connected (verkuppelt), the degree of vacuum of the acceleration structure 110 always be kept at a high vacuum and stable electron beams can be stably accelerated. As a result, the treatment X-rays 3a stable output.
The length of the insulating glass 103 to the top of the acceleration structure 110 is about 360 mm. This order of magnitude is very much miniaturized by about 1/3 compared with the conventional acceleration structure and its weight is made lighter. This is because high-frequency (high-energy) C-band (5.6 GHz) microwaves are used in place of S-band microwaves conventionally used heretofore.
5 is an enlarged view showing the proximity of the electron gun 104 out 4C and the acceleration structure 110 shows.
As in 5 shown is the central hole of the anode 106 the electron gun 104 with a bunch cavity 109 the acceleration structure 110 connected (verkuppelt). A variety of acceleration cavities 111b with central holes for the passage of the electron beam are further interconnected within the acceleration structure 110 educated. The acceleration structure 110 accelerates the electron beams emitted by the electron gun 104 while passing through the central holes of the plurality of accelerating cavities 111b and the bundle cavity 109 go through and into the X-ray target 121 hit as electron beam with high energy. The acceleration cavities 110b are each by side coupling cavities 111 with a pair of right and left output tubes 108 connected (verkuppelt). The pair of right and left output tubes 108 is through the issue tube 107 with the ion pump 112 connected and is thereby emptied and evacuated. That means the acceleration structure 110 through the side delivery tube 108 emptied and by means of the ion pump 112 is evacuated.
The wave guide 51 is with the acceleration structure 110 connected (verkuppelt). The wave guide 51 is through the RF window 52 which is made of ceramic, and the RF rotary couplers 50A . 50B (the powered waveguide system 11 ) with the microwave generating unit 70 connected (verkuppelt). The RF window 52 is the inlet to prevent leakage of SF 6 gas in the waveguide 51 is sealed, and also to prevent the microwaves in the acceleration structure 110 usher. The microwave generating unit 70 uses the klystron type, which is excellent in its output stability. An LEG supply circuit of the microwave generating unit 70 is with the system control unit 80 connected.
The output unit 120 is at the top of the main body of the X-ray head 10 that with the head cover 101 is covered, placed. It contains the X-ray target 121 , a target cooling plate 121 , a first collimator 123 and a flattening filter 124 , They are in a row along the optical axis of the electron beam from the electron gun 104 through the acceleration structure 110 to the flattening filter 124 arranged. Then the accelerated electron beam passes through a target discharge space 119 passed and to the destination 121 the output unit 120 entered.
The goal 121 emits X-ray bremsstrahlung in accordance with the input of the high-energy accelerating electrons. The target cooling plate 122 is installed so that it does not absorb the thermal damage caused by the heat generated at the time of emission of the X-ray bremsstrahlung. A single high melting point metal such as tungsten, tantalum and the like, or an alloy composed thereof becomes the target 121 used.
The first collimator 123 is made of a material such as tungsten, which has an excellent shielding property from the radiation and generates only a small amount of thermal neutrons. The x-rays from the target 121 are throttled to a predetermined beam width and the flattening filter 124 guided.
The flattening filter 124 averages out the strengths of X-rays that come out of the target 121 and causes a uniform dose distribution within the treatment X-rays 3a ,
In addition, they are a secondary collimator 125 as well as an ionization box 126 for measuring a dose at the tip side of the dispensing unit 120 Installed. The secondary collimator 125 is made of a material having a high shielding property, through which the treatment X-rays 3a can not pass, such as tungsten and the like. The treatment x-rays 3a in which the x-rays from the flattening filter 124 were throttled to a predetermined beam width, become the Ionisierungsbox 126 guided. This secondary collimator 125 is removable in the end face of the first collimator 123 screwed.
The ionization box 126 measures the dose of X-rays passed through. It is at the top of the secondary collimator 125 installed and a gas with predetermined components is sealed therein. A detection circuit (not shown) for detecting discharged charges is connected thereto. This detection circuit is connected to the input side of the system control unit 80 connected. The system control unit 80 calculates the dose of the X-ray head 10 emitted x-rays in accordance with the input signal from the Ionisierungsbox 126 for measuring the dose, and stores it in a memory as dose data for the patient 4 started treatment.
In the radiotherapy device 6 According to the present invention, the X-ray head is 10 so small that the total amount is 500 to 600 mm, the width is 500 mm and the depth is 300 mm. In addition, it is made lightweight and has a weight of about 60 to 80 kg. In addition, he can generate treatment x-rays with an electron energy between 4 MeV and 10 MeV, which is a high energy. The reason is as follows. Since the microwave of the C-band (5.6 GHz) is used at high frequency (high energy table), the acceleration structure is 110 small and light. Because the acceleration structure 110 is small, a deflection magnet for deflecting the electron beams and the devices connected therewith are not required. In addition, the microwave generating device (the microwave generating unit 70 ) outside the X-ray head 10 placed. This means that, as the total weight is reduced and the order of magnitude miniaturized, the X-ray head 10 can be moved quickly and easily with little force to the desired position.
Also, it can be further miniaturized and made lighter by using an accelerating structure which accelerates by means of a microwave of the X-band with higher frequency. In this case, this can be done by changing the shape of the various units (for example, by changing the dimensions of the respective structures in the driven waveguide system 11 and dimension of the acceleration cavity 111b in the acceleration structure 110 and the like while the frequency of the microwave matches).
The Device in this embodiment can the radiation from the quarter sphere to the upper half section radiate. However, the radiation can continue from the entire upper Hemisphere by further miniaturization of a precise inspection unit of the non-magnetic type and produced in one unit which are irradiated on the side of the treatment radiation head contains.
The head pivot mechanism of the two axes of the X-ray head 10 is detailed below with reference to the 6 to 8th described.
6 is a perspective view showing the X-ray head 10 shows, by means of the support frame 102 is supported.
As in 6 shown, the head cover 101 of the X-ray head 10 through the support frame 102 supported by a gimbal construction. The support frame 102 is installed at the position of the coordinate which is the center of inertia of the X-ray head 10 includes and through which the first pivot axis S1 and the second pivot axis 102 pass through. Then, it is pivoted as indicated by R1 to the first pivot axis S1 through the first head pivot mechanism 131 , Similarly, as indicated by R2, it becomes about the second pivot axis S2 by means of the second head pivot mechanism 132 pivoted.
7A to 7D Figures are views of the structure of the biaxial head pivot mechanism and the support frame. 7A shows the overall structure, 7B shows a S1-rotary drive servo motor 131b . 7C shows a S2 head pivot drive servo motor 132b and 7D shows a pair of RF rotary couplers 50A . 50B ,
As in 7A shown are the RF rotary coupler 16 of the driven waveguide system 11 and the S1 swing drive servo motor 131b each on the two sides of the support frame 102 installed opposite each other along the first pivot axis S1. Similarly, the pair are RF rotary couplers 50A . 50B and the S2 head pivot drive servo motor 132b each installed on the two sides other than the above-mentioned two sides and opposite to each other along the second pivot axis S2.
As in the 7A . 7B shown is the RF rotary coupler 16 of the driven waveguide system 11 at the center of the longer side of one side of the support frame 102 Installed. In such a way that a drive shaft 131 S1 rotary actuator servo motor 131b the coupler 16 is opposite, is the drive shaft 131 at the center of the opposite long side of the support frame 102 Installed that way with the first pivot axis 51 overlaps. Then, the S1 swing drive servo motor becomes 131b at the head circulation movement mechanism 168 at the bow guide rail 9 fixed and supported by this. If the servo motor drive shaft 131 is rotatably driven, the X-ray head 10 pivoted about the first pivot axis S1, as indicated by R1.
As in the 7A . 7C and 7D shown is the pair of RF rotary couplers 50A . 50B at the center of the shorter side on one side of the support frame 102 Installed. In such a way that a drive shaft 132a of the S2 head pivot drive servo motor 132b the couple of RF rotary couplers 50A . 50B is opposite, is the drive shaft 132a at the center of the opposite short side of the frame 102 installed so that it overlaps with the second pivot axis S2. Then, the main body of the S2 head swing drive servo motor 132b on a boom 102 fixed on the side of the support frame and is supported by means of this arm and the drive shaft 132a is rotatable by a bearing 133 from the support frame 102 supported. If the servo motor drive shaft 132a rotatably driven, as in 7C is shown, the X-ray head 10 pivoted about the S2 drive axis around.
As in the 7A . 7D Shown are the waveguides 51 within the respective connecting arms 13 . 15 of the drive wave guide system 11 placed and the RF rotary couplers 50 are within the respective connections 14 . 16 placed. In addition, the microwaves are through the pair of RF rotary couplers 50A . 50B into the acceleration structure 110 within the X-ray head 10 ushered.
The RF rotary coupler serving as a connection of the waveguide for transmitting the microwaves will be described below with reference to FIGS 8th to 10B described.
8th is a view showing the structure of the connection including the therein RF rotary coupler 50 shows. 8th shows a connection 14c as an an example. A connection 14a , a connection 14b , a connection 16 and the pair of RF rotary couplers 50A . 50B However, they are structured similarly.
As in 8th Shown are the waveguides 51 inside the connecting arms 13 . 15 placed. The wave guides 51 are electromagnetic through the RF rotary couplers 50 within the connections 14a to 14c and 16 connected.
9 is a perspective view detailing the structure of the RF rotary joint 50 who in 8th shown shows.
As in 9 shown are the RF rotary couplers 50 through flange connections 53 . 54 at the respective wave guides 51 tethered. Then the RF rotary coupler transmits 50 the microwave for the acceleration of the waveguide 55a to a wave guide 55b by the shaft rotation.
10A is a sectional view detailing the RF rotary coupler 50 out 9 shows. In addition shows 10B an example of a mode of microwaves within the RF rotary coupler 50 ,
As in 10A Shown are the waveguides 55a . 55b the wave guide 51 with the with rotary elements 56 . 57 a warehouse 58 and a wavelength throttling 59 within the RF rotary coupler 50 surrounding rotary room (verkuppelt). The microwave is thereby in an in-tube mode (a line 2a the electric force ( 2 B )), which are exemplary in 10B is shown led. Due to the combination of RF rotary couplers 50 and the wave guide 51 As described above, the microwave generating unit 70 such as a klystron and the like fixed to the ground, the microwave for acceleration to the moving X-ray head 10 to transfer.
One Control system in the embodiment of the Radiotherapy device according to the present invention Invention will be described below.
11 Fig. 10 is a block diagram showing the control system in the embodiment of the radiotherapy apparatus according to the present invention.
The control system in this embodiment includes the treatment bed system 7 , the X-ray head system 8th , the real-time image converter 30 , the image signal processing unit 31 , the microwave generating unit 70 , the system control unit 80 as well as a system supply 90 , This essentially has the system configuration in which the system control unit 80 directs and controls the entire structure.
The system control unit 80 comprises a system control computer and includes as a computer program a system routing algorithm, an image tracking algorithm, a treatment scheduling algorithm, a treatment routing algorithm, a graphical user interface (GUI) and an interlock algorithm and includes a treatment plan database, a trend storage database and a treatment plan database. It also includes a Performance Monitor (one ad) and a BIT. With this as the center, other system blocks are respectively connected to thereby swap an input-output signal.
The treatment plan database stores therein treatment plan data as data related to a treatment plan planned by the physician. The treatment plan data is based on various examinations performed prior to surgery. The treatment plan data relates to patient-related data, patient image data, absorption dose data, treatment dose data, data related to the position of the affected part and the like.
Here, the patient-related data identify the name of the patient 4 , the date of birth and the like. The patient image data identifies a tomographic X-ray diagnostic image of the patient 4 , The absorption dose data refer to absorption dose setting data, the radiation dose (X-ray) absorption dose to the affected part 5 , the irradiation method, the number, the absorption dose of an experiment, the irradiation direction (route) and the like). The treatment dose data relate to the setting data of the treatment dose, the treatment dose of the radiation (X-rays) to the affected part 5 , the irradiation method (the number, the treatment dose of an experiment, the irradiation direction (route) and the like). The position data of the affected part concern the position of the affected part 5 , The position of the affected part 5 can the definition region 5-1 which will be described later.
The trend memory database stores therein the irradiation result data relating to the actual results of radiation therapy. The irradiation result data relate to the actually radiated radiation (X-ray radiation) at the time of treatment. The irradiation result data relates to the patient-related data, a total treatment dose, a total absorption dose, a treatment dose for each irradiation direction (each portal number), an estimated absorption amount, a target coordinate (a coordinate of the irradiation target on the affected part 5 ) and a mechanical coordinate (a coordinate of an irradiation field 5 ' ) actually irradiated, and the like.
The Treatment database refers to a type of substance, a radiation absorption quantity curve, a relationship between the thickness of a substance and the amount of absorption to radiation (X-radiation) and the like to each other and stores them therein.
The system routing algorithm directs and controls the entire system controller 80 as well as the respective algorithms, the GUI, the system monitor (the display) and the BIT and the like.
The treatment plan algorithm calculates the treatment dose data (the treatment dose of X-rays for each irradiation direction (each route) and the total treatment dose) and the like in accordance with the treatment plan database (the patient's x-ray diagnostic tomogram 4 and the absorption dose data) and the treatment database (the radiation absorption quantity curve for each substance). These are then displayed on the display to receive the doctor's confirmation. If necessary, the physician changes the direction of radiation, the absorption dose of X-rays, and the like to produce desired treatment dose data. After the doctor's confirmation, they are saved in the treatment plan database.
The treatment routing algorithm controls the x-ray head system 8th so that the x-ray head 10 is aligned in a predetermined direction in accordance with the treatment plan data from the treatment plan database and / or head tilt amount of the X-ray head 10 from the image tracker algorithm.
Likewise, it stores the irradiation result data received from the image signal processing unit 31 was obtained in the X-ray head system 8th , the image tracker algorithm, and the like during processing in the trend memory database.
The Image Tracker algorithm calculates the coordinate of the affected part 5 in accordance with the image data for the tracking obtained from the image signal processing unit 31 , He also sets the coordinate of the radiation field 5 ' of the X-ray head 10 in accordance with the various data obtained from the X-ray head system 8th , firmly. Then he calculates the head tilt amount of the X-ray head 10 in accordance with the coordinate of the part concerned 5 and the coordinate of the irradiation field 5 ' ,
The interlock algorithm stops the treatment x-rays 3a and the diagnostic x-rays 3b if the pre-determined conditions are met. As a predetermined condition, there is a case that an emergency stop button is pressed, a case where the irradiation field 5 ' and the affected part 5 are separated from each other by a predetermined distance or more, a case that either the treatment dose to the patient 4 and / or the absorption dose exceed a predetermined allowable value, a case where the diagnostic X-rays 3b then be stopped when the treatment x-rays 3a be emitted, a case in which the treatment x-rays 3a be stopped when the diagnostic x-rays 3b be emitted, and other cases.
The real-time image converter 30 detected X-ray transmission data are using an image reconfiguration algorithm in the image signal processing unit 31 reconfigured into a diagnostic image and to the system control unit 80 transmitted. As a result, the image diagnosis is generated in real time during the treatment. The doctor may perform the treatment while looking at the diagnostic image displayed on a computer display.
The microwave generating unit 70 includes a klystron modulator and a Linac system controller, a klystron and an RF driver. The klystron is powered by the waveguide system 11 with the x-ray head 10 and this serves as a supply source for sending a microwave to the acceleration structure 110 ,
The X-ray head system 8th includes the X-ray head 10 , the isocentric drive mechanism (including the bow guide rail 9 , the guide rail tilt mechanism 28 and the head circulation movement mechanism 68 ) and the pivot drive mechanism (including the first head pivot mechanism 131 , the second head pivot mechanism 132 and the RF rotary coupler 50 ). The isocentric drive mechanism and the pivot drive mechanism are interconnected by respective drivers corresponding to the respective mechanism (an isocentric drive driver and a head swing drive driver) with the system control unit 80 to thereby the biaxial head pivot driver of the head circulation movement mechanism 68 of the X-ray head 10 at the time of isocentric irradiation and the x-ray head 10 at the time of pseudo-isocentric irradiation, respectively.
Of the Operation of the first embodiment the radiotherapy device according to the present Invention will be described below with reference to the attached Drawings described.
First becomes the position calibration in operation of the first embodiment the radiotherapy device according to the present invention explained.
The 12A and 12B are views showing the position calibration of the radiotherapy device 6 explain. 12A shows a front view and 12B shows a side view. In addition to the configurations (the explanations of which are omitted) which are incorporated in the 1 to 3 shown is a CCD camera 60 at the treatment bed 7-2 placed.
The CCD camera 60 is placed so that a center of the light-receiving surface with the isocenter 5a the light-receiving surface is overlapped and horizontal. The CCD camera 60 is connected to a laser-magnitude analyzer (not shown).
In the X-ray head 10 For example, a laser transmitter (not shown) (for example, a small low-power He-Ne laser and the like) is arranged so as to be coaxial with the emitted X-rays.
The Position calibration procedure is explained.
In the state of the 12A . 12B gives the laser transmitter of the X-ray head 10 a laser to the CCD camera 60 out.
The CCD camera 60 picks up the laser and outputs the result of the light pickup to the laser magnitudes analyzer (not shown).
The laser-magnitude analyzer (not shown) detects the magnitude distribution of the laser and calculates the deviations (the X-axis direction, the Y-axis direction, and the Z-axis direction) between the isocenter 5a (= the center of the light-receiving surface of the CCD camera 60 , and the peak position of the laser magnitudes.
The calculated deviations are used as correction values in the memory (not shown) of the system control unit 80 stored.
Due to the above-mentioned positional calibration method, the positional deviation caused by the deformation at the time of production, the bending resulting from the dead weight, the load at the time of installation, and the like in the large mechanical element such as the sheet guide rail 9 be precisely corrected in a short time using a very light procedure. Thus, the positional precision can be improved. In the case of this embodiment, the position resolution can be reduced to about 20 m.
Such positional calibration is performed when the radiotherapy device 6 is installed and, if a periodic In maintenance is performed. However, it may also be performed for any pre-determined number of applications and for each radiotherapy. The temporal timing of each operation of the embodiment of the radiotherapy apparatus according to the present invention will be described below.
The 13A to 13C are timing charts in operation of the embodiment of the radiotherapy device according to the present invention. 13A shows the time sequences of the operation when the diagnostic image is edited, 13B shows the timings of the head pivot operation of the X-ray head 10 and the image tracking calculation based on the edited diagnostic image, and 13C shows the time periods of the irradiation of the treatment X-rays.
(0) Before time t0
First, when a main switch of the radiotherapy device 6 is turned on, the power supply of the treatment bed system 7 , the X-ray head system 8th , the real-time image converter 30 , the microwave generating unit 70 , the system control unit 80 as well as the system supply each transferred to a wait state. In this way, that the treatment bed system 7 is activated to thereby the patient 4 together with the treatment bed 7-2 to move into a treatment area and so that the real-time image converter 30 is activated, thereby causing the affected part 5 with the isocenter 5a In accordance with the use, the position adjustment is made by movement of the treatment bed 7-2 executed. Upon completion of this isocentric position adjustment, the real-time image diagnosis and the real-time image converter 30 and the radiotherapy of the X-ray head 10 started.
(1) Step S2-1: Time between t0 and t1
Typically, the X-ray camera (the real-time image converter 30 ) the diagnostic X-rays 3b from the diagnostic X-ray generating unit to the irradiation field 5 ' from. Then, the sensor assemblies detect the X-ray transmission data as diagnostic image data. To minimize stress, the irradiation time of the diagnostic X-rays is 3b limited to t0 to t1.
(2) Step S2-2: Time between t1 and t2
The detected diagnostic image data are converted into a current signal, the is proportional to the transmission X-ray measurement and through the preamp and the main amplifier detected by the image signal digitizer and the data memory has been.
(3) Step S2-3: Time between t2 and t3
The stored diagnostic image data is transferred from the data memory to the image signal processing unit 31 output. Then, these are calculated using the image reconfiguration algorithm of the image signal processing unit 31 Operationally processed and converted into tracking image data. The tracking image data is the data corresponding to the diagnostic images at the respective coordinate points (Xi, Yi, Zi), (i = 1 to n: n is the number of data) in the coordinate system of the radiotherapy apparatus 6 Marked are. The tracking image data becomes the system control unit 80 output.
The tracking image data is called the diagnostic image (X-ray CT) of the affected part 5 on the display of the system control unit 80 reproduced and displayed.
The real-time image converter 30 and the image signal processing unit 31 in turn, repeat the processes at the time between t0 and t3 after time t3. In the 13A to 13C For example, the processes at the time between t0 and t3 are equal to those processes at the time between t10 and t13 and the time between t20 and t23, and the like.
In such a way that direct radiation, leakage radiation and scattered radiation of the treatment X-rays 3a no influence on the sensor arrangements (the detectors) of the real-time image converter 30 have, becomes the x-ray head 10 so arrested that treatment x-rays 3a at least between times t0 and t1 are not emitted while the diagnostic x-rays 3b be radiated.
The Total time between t0 and t3 for these diagnostic image edits (steps S2-1 to S2-3) are required to be 0.01 Seconds. This means that one cycle time of the diagnostic image process 0.01 seconds. This is the sampling rate that is sufficient for the fast movement to track the heartbeat or the like.
(4) Step S2-4: Time between t3 and t4
The image tracking algorithm of the system control unit 80 is used to perform the following image tracking calculation.
Based on the tracking image data, the coordinate of the affected part 5 (A coordinate point (X, Y, Z) in the coordinate system of the radiotherapy device 6 ) extracted. On the other side is the current coordinate of the radiation field 5 ' in the X-ray head 10 (The coordinate point (x, y, z) in the coordinate system of the radiotherapy device 6 ) based on the positions (coordinates) of the guide rail tilting mechanism 28 , the head circulation movement mechanism 68 , the first head pivoting mechanism 131 and the second head pivot mechanism 132 and the rotation angle and the like. Then, (1) becomes, if a distance L between the two points = - | (X, Y, Z) - (x, y, z) | is a predetermined value L 02 or less, the head tilt is not executed, and (2) when the distance L is a predetermined value L 01 or greater, it is assumed that the head swing amount is 0, and then L 02 < the distance L 02 <L 01 , the head pivot dimensions ( 1 . 2 ) of the X-ray head 10 based on the coordinate of the part concerned 5 and the coordinate of the irradiation field 5 ' calculated. The head swing amount 0 is the angle when it is in the direction of the coordinate of the affected part 5 is aligned, for example, an angle that coincides with the distance L 01 .
The head pivot dimensions ( 1 . 2 ) of the X-ray head 10 but are a micro-deviation angle (a head swing angle) 1 (The rotation direction and the value of the rotation angle (about the S1 head pivot drive axis, and a micro deviation angle (a head swing angle) 2 (the rotation direction and the value of the rotation angle) and the S2 head pivot drive axis.
L 01 is the maximum length over which the X-ray head passes 10 between the times t4 and t5 can be pivoted. Similarly, L 02 is the value of the error, which is then estimated when the coordinate point (X, Y, Z) of the affected part 5 and the coordinate point (x, y, z) of the irradiation field 5 ' be calculated.
The state (the coordinate point (X, Y, Z)) of the movement (the course) of this affected part 5 will appear on the display of the system control unit 80 displayed. Not just the affected part 5 , but also the peripheral region (for example, the contour line 52 (described later), the affected part 5 contains) can be displayed similarly.
(5) Step S2-5: Time between t4 and t5
Based on the calculated head pivot dimensions ( 1 . 2 ) of the X-ray head 10 is in accordance with the treatment control algorithm of the system control unit 80 outputting a head pivot drive signal indicative of the head pivot amounts ( 1 . 2 ) of x-ray head 10 indicates to the x-ray head system 8th ,
The first head pivot mechanism 131 and the second head pivot mechanism 132 by means of the x-ray head panning drive driver of the x-ray head system 8th driven in accordance with the head pivot drive signal. As a result, the X-ray head becomes 10 aligned in the desired direction.
This system control unit 80 in turn, repeats the processes at the time between t3 and t5 from time t13 to time t5. In 13A to 13C For example, the processes at the time between t3 and t5 are equal to the processes at the time between t13 and t15 and at the time between t23 and t25 and so on.
The Total time between t3 to t5 used for image tracking calculation and X-ray head panning (the Steps S2-4 to S2-5) are required is 0.01 seconds. That means, that a cycle time of the image tracking calculation and the X-ray head pivot axis operation 0.01 seconds. This is the rate that is sufficient for fast movement about to track the heartbeat.
At the time between t4 and t5, during the S1 swivel drive servo motor 131b the first head pivot mechanism 131 and the S2 head pivot drive servo motor 132b the second head pivot mechanism 132 are driven, the possibility of erroneous operation of the head pivot angle are present. Thus, in this way, the treatment X-radiation 3a not emitted, the X-ray head 10 is locked in order to ensure safety.
(6) Step S2-6: time between t5 and t6
The system allocation algorithm of the system control unit 80 is used to treat the treatment X-ray irradiation signals as a signal for indicating the irradiation of the treatment X-rays 3a at time t5 to the X-ray head 10 issue. The locking of the X-ray head 10 is released to the radiation of the treatment x-rays 3a on the affected part 5 to start. The irradiation time between t5 and t6 of the treatment X-rays 3a is 0.0025 to 0.01 seconds. The delivery of the irradiation is about 50%.
The system control unit 80 in turn repeats the processes between time t5 and t6 between time t15 after time t6. In the 13A to 13C For example, the processes at time t5 to t6 are equal to the processes at time t15 to t16 and time t25 to t26.
The Total size of times t5 to t6 for this Treatment X-ray irradiation (the in step S2-6) is 0.01 seconds. That means, that a cycle time of the treatment X-ray irradiation 0.01 Seconds. This is a rate that is sufficient for the rapid movement of the To track heart beat or the like.
Here is the way in which the treatment x-rays 3a be emitted while the x-ray head 10 is pivoted, further described with reference to the drawing.
14 Fig. 12 is a perspective view showing the manner of radiotherapy using the X-ray head 10 shows. The X-ray head 10 radiates the X-rays on the affected part 5 from.
15 and 16 are views that show the way in which the treatment x-rays 3a be emitted while the x-ray head 10 is pivoted. 15 shows the section AA 14 and 16 shows the section BB 14 ,
To irradiate while tracking the movement of the radiation field, the system control unit calculates 80 the shift dimensions DV1, DV2 from the irradiation field 5 ' of the affected part 5 in the X-axis direction and Y-axis direction in accordance with the current coordinate (x, y, z) of the irradiation field 5 ' of the X-ray head 10 and the calculated position (the coordinate (X, Y, Z)) of the affected part 5 at the above-mentioned times t3 to t4. Then, in accordance with the shift amounts DV1, DV2, a predetermined calculation equation is used, the deviation angles 1 . 2 to be determined, which were caused by the movements about the first pivot axis S1 and the second pivot axis S2.
At the above-mentioned times t4 to t5, the X-ray head becomes 10 around the deviation angles 1 pivoted about the first pivot axis S1 and the deviation angle 2 pivoted about the second pivot axis S2. Then, simultaneously with the stop of head swirling, the treatment X-rays become 3a from the X-ray head 10 emitted.
Due to the above-mentioned steps S2-1 to S2-6, the radiation (X-rays) can be applied to the affected part with high precision 5 such as a tumor being moved by the influence of the movement and the condition of the organs such as the respiration and the heartbeat, the peristalsis, the amount of urine within the bladder and the like below the chin, because the collimating of the X-ray head 10 follows quickly and in high agreement. This means that within 0.03 seconds, including the processing time of the diagnostic image, the head pivot operation of the X-ray head 10 can be performed and the radiation (the X-rays) can be emitted, which follows the movement of the irradiation field (the affected part) quickly.
In the above-mentioned processes, in step S24 (the time between t3 and t4), the angle becomes when the neck of the X-ray head 10 is pivoted in step S2-5, limited to a predetermined value. The reason for this is the following. As the head swivel angle becomes larger, the time required for head sway becomes longer. Meanwhile, the affected part 5 moved on. Thus, the coordinate point (x, y, z) of the irradiation field deviates 5 ' in the X-ray head 10 strongly from the position of the coordinate point (X, Y, Z) of the affected part 5 from.
The fast movement of the affected part 5 that from the x-ray head 10 must be tracked, is effected by respiration and heartbeat. In this case, the affected part moves 5 within the substantially same region (however, the route is not always the same). Thus, when the coordinate point (x, y, z) of the irradiation field 5 ' in the X-ray head 10 and the coordinate point (X, Y, Z) of the affected part 5 do not coincide perfectly with each other, they coincide afterwards.
When an abnormality occurs in obtaining the diagnostic image data and / or the image tracking calculation, irradiation of the treatment X-rays becomes at this point 3a locked in order to stop the irradiation, and the safety is ensured. This device is designed to treat the X-rays 3a after confirming the normal executions of head swirl of the X-ray head 10 and the positioning of the operation radiates.
Then, if the deviation between the coordinate point (x, y, z) of the irradiation field 5 ' and the coordinate point (X, Y, Z) of the affected part 5 is equal to or greater than a predetermined value, the irradiation of the treatment X-rays 3a at step S2-6 (the time between t5 and t6) is not executed in this cycle.
Likewise, if necessary, the system control unit 80 the head circulation movement mechanism 68 , the tilting mechanism 28 and the treatment bed system 7 to thereby collimate the x-ray head 10 with the affected part 5 to bring into line.
That means the system control unit 80 the Kopfschwenkmaß (for the first head pivoting mechanism 131 and the second head pivot mechanism 132 ) of the X-ray head 10 and the amount of movement (for the head circulation movement mechanism 68 , the tilting mechanism 28 and the treatment bed system 7 ) in accordance with the coordinate of the part concerned 5 and the coordinate of the irradiation field 5 ' calculated at the time between t3 and t4. Thereafter, at the time between t4 and t5, the head swing amount of the X-ray head is given 10 and the amount of movement of the X-ray head system 8th out. Then it moves the first head pivot mechanism 131 , the second head pivot mechanism 132 , the head circulation movement mechanism 68 , the tilting mechanism 28 and the treatment bed system 7 to thereby collimate the x-ray head 10 with the affected part 5 to bring into line.
Before the start of irradiation of the treatment X-rays 3a , the irradiation of the diagnostic beam 3b started at time t10. The operating current proceeds to the next diagnostic image processing cycles t10 to t13. Thereafter, at time t5, after the irradiation of the diagnostic beam 3b the locking of the X-ray head 10 released again, then the irradiation of the treatment beam 3a to resume.
As mentioned above, the cycle is repeated with a total length of 0.03 seconds (T0), which is composed of: the diagnostic image processing cycle (in Figs 13A to 13C , 0 to Ta) of 0.01 seconds; the image tracking calculation cycle and the X-ray head pivoting cycle (in 13A to 13C , Ta to Tb) of 0.01 seconds; and the treatment X-ray irradiation cycle (in U.S. Pat 13A to 13C , Tb to Tc) of 0.01 second. This means that the radiation irradiation head can be precisely aligned with the irradiation target for about 1/30 second each. Even if the affected part (the irradiation field) performs the fastest movement such as the heartbeat, the irradiation target can be accurately tracked in real time and the irradiation can be radiated.
The Procedure of pseudo-non-isocentric treatment is below to be discribed.
The 17A to 17F are flowcharts showing the procedure of pseudo-non-isocentric treatment using the display on the display.
in the In case of radiotherapy, the doctor plans a treatment schedule. The treatment schedule is based on the various examinations, who performed before the operation were. The treatment schedule will be in the treatment plan database stored.
Furthermore The doctor can take radiotherapy at high precision and with high safety Use of the radiotherapy device according to the present invention while the operation and diagnosis of the image of the patient's focus run directly in real time.
As in 17A is shown using the real-time image converter 30 and the image signal processing unit 31 the diagnostic image of the affected part 5 and the region near the affected part 5 reconfigured and reproduced and on the display of the system control unit 80 displayed.
The Reconfiguration is carried out in the above-mentioned steps S2-1 to S2-3. In However, at this stage, steps S2-4 to S2-6 are not executed.
As in 17B shown, the doctor confirms the respective sectional views of the affected part 5 on the display and defines the contour line of the irradiation field 5 for image tracking. Here, before the start of treatment, the picture of the radiation field 5 ' already completed (the treatment plan database) and the contour of the irradiation field 5 ' is defined as a multitude of sections with reference to this. The region defined by the contour is the definition region 5-1 , The definition region 5-1 includes the affected part 5 , The definition region 5-1 is stored in the treatment plan database.
Calculate the treatment plan algorithm net, the treatment dose data (the treatment dose of X-rays for each irradiation direction (route) and the total treatment dose) and the like in accordance with the treatment plan database (including the definition region 5-1 ) and the treatment database. Then this will be shown on the display to get a confirmation from the doctor. If necessary, the doctor changes the irradiation direction, the absorption dose of X-rays, and the like to become the desired treatment dose data. After the doctor's confirmation, the treatment dose data is stored in the treatment plan database.
As in 17C shown, the image contour by the image tracking algorithm of the system control unit 80 extracted. This means that the pattern matching between the diagnostic image of the actual affected part 5 and the contour line of the defined definition region 5-1 running to this as a contour line 5-2 (described later). Then the image tracking is started. The doctor visually confirms the situation of image tracking.
The Image tracking is performed at the above-mentioned steps S2-4. Consequently will be the ones mentioned above Steps S2-1 to S2-4 are repeatedly executed. At this stage, however For example, steps S2-5 to S2-6 are not executed.
As in 17D After the image tracking becomes stable, the doctor operates the master arm switch and sets the X-ray head system 8th to a standby state. The X-ray head system 8th shows on the display the collimation with a crosshair line and the irradiation volume with red color. Then, the tracking (head swiveling) of the X-ray head becomes 10 run simultaneously with the image tracking. Because the tracking of the image and the X-ray head 10 are continued, the collimation and the irradiation volume automatically follow in accordance with the movement of the irradiation field 5 to.
The tracking (head swiveling) of the x-ray head 10 is executed at step S2-5. Thus, the steps S2-1 to S2-5 are repeatedly executed. At this stage, however, the treatment X-ray becomes 3a not emitted. Thus, the step S2-6 is not executed.
As in 17E shown is the driving operation by the doctor, who receives the irradiation treatment X-rays 3a starts, runs. The scheduled irradiation time has already been set at the stage of the treatment plan. A countdown is started on the display. On the other hand, the irradiation time (step S2-6: time between t5 and t6) of irradiation has already been set. Thus, the number is reduced during the repetition of the irradiation in a short time (the time between t5 and t6). Then, when it eventually becomes zero, the treatment X-radiation becomes 3a automatically controlled. The treatment dose of the treatment x-rays 3a is through the ionization box 126 detected and output to the treatment routing algorithm.
The irradiation of the treatment X-rays 3a is executed in step S2-6. Thus, the steps S2-1 to S2-6 are repeatedly executed.
Also, in accordance with the treatment guidance algorithm (all or part of), the irradiation result data obtained from the image signal processing unit 31 , the X-ray head system 8th , the image tracking algorithm and the like are continuously displayed on the display during the treatment. The physician will continue to drive and irradiate while confirming (all or part of) this irradiation result data. The irradiation result data is stored in the trend memory database.
The system control unit 80 sets the alternating sensory (tracking) of the diagnostic image and the irradiation of the treatment X-rays 3a at high speed and continues to track the image and irradiate the treatment x-rays in real time. Even before the countdown goes to zero, when the doctor releases the trigger, the treatment X-rays are released 3a stopped immediately after the time sequence. Thus, the security can be sufficiently ensured.
As in 17F As shown, the doctor sets the master arm switch in a safing position, sets the system in a safe state, and moves the X-ray head 10 to a next irradiation position.
In At this stage, steps S2-1 to S2-3 are completed. The Steps S2-4 to S2-6 are not completed.
The doctor confirms the total dose, which is the total of the accumulated load doses, after completing the irradiation on the respective portal and stopping the series of irradiation. That is, in accordance with the treatment routing algorithm, the data is read from the trend memory database and the accumulated dose and the accumulated dose distribution are displayed on the stream within one cycle. The treatment-related data is included in a treatment file (including the radiation result data) for each patient 4 stored within the trend memory database.
Here is the procedure for performing pattern matching between the actual diagnostic image of the affected part 5 in the step S3-4 and the contour line of the definition region 5-1 be explained further.
The 18A to 18E are views that the relationship between the affected part 5 , the definition region 5-1 and the contour line 5-2 that result from the pattern matching shows. 18A shows the relationship between the affected part 5 and the definition region 5-1 and the 18B to 18E show the relationship between the affected part 5 and the contour line 5-2 ,
As in 18A shown, the doctor shows the definition region 5-1 on the display in the manner of a drawing tool using a touch pen that can draw on the display, or a pointer such as a mouse.
The treatment plan algorithm extracts the diagnostic image in the definition region 5-1 in accordance with the definition region 5-1 that was drawn on the display and the diagnostic image on the display. Then he records its shape, the coordinate and the brightness distribution of the diagnostic image. Or, it extracts the shape and the brightness range having a predetermined rate (for example, 90%) of the insertion direction 5-1 , in the 18B is shown, and thereby detects the shape, the coordinate and the brightness distribution of the diagnostic image.
The treatment plan algorithm places the center of gravity for the shape of the region of the domain of definition 5-1 or the shape of the brightness range that is indicative of the predetermined rate. Then this is indicated on the display by means of (+). For example, the center of gravity becomes the definition region 5-1 ( 18A ) in 18C shown. The center of gravity of the brightness range ( 18B ), which marks the predetermined rate, is in 18D shown. Incidentally, only the center of the definition region 5-1 be displayed as in 18E is shown.
As already mentioned above, the pattern matching is completed.
It is possible to execute a binary value display in which the region of the definition region 5-1 or the range of brightness indicative of the predetermined rate is displayed on the display using a particular color, and the others are displayed using different colors thereof. It is possible the definition region 5-1 easy to rate.
Here the brightness distribution is recorded as follows.
19 is a graph showing an example of brightness distribution in the diagnostic image. The vertical axis indicates the brightness and the horizontal axis indicates the position of the diagnostic image.
It is of course traceable on the graph that the brightness in the definition region 5-1 of the diagnostic image is in the range between L4 and L2. Thus, the brightness range of the definition region is 5-1 between L4 and L2.
Also, the brightness range is the predetermined range (for example, 90%) in the definition region 5-1 has, the continuous brightness range between L3 and L2, which has been selected to be the range of the predetermined range (for example 90%) of a definition region 5-1 in the brightness range between L4 and L2.
A different position indicating the same brightness is taken from the definition region 5-1 separated. Thus, it is not recognized.
According to the therapy device in this embodiment, a high speed head swing operation of the radiation irradiation head (the X-ray head 10 ) within 0.02 seconds including the image process and the movement of the irradiation field (affected part) can be followed. Thus, the radiation can be irradiated with high precision (the irradiation time of 0.01 second). In this way, in accordance with the movement of the affected part can not iso centric irradiation at high agreement and with high precision. Thus, the portion to which the irradiation target of the tumor or the like is moved by the influence of the movement and condition of the organs such as the respiration and the heartbeat, the peristalsis, the amount of urine within the bladder, and the like below the chin can be aimed at the treatment goal be set.
This embodiment has been exemplified by the radiotherapy device and the real-time imager 30 explained as an inspection unit. However, the present invention is not limited thereto. A different non-magnetic inspection unit such as a typical X-ray camera, PET (Positron Emission Tomography) in a specific field and the like may be combined with the radiotherapy apparatus.
The typical x-ray camera needed two or more cameras with different visual lines. As well may be soft tissue whose contrast is low, and the like not be included. Thus, a mark whose contrast is high, such as a bone tissue and the like, as a standard used so that the irradiation field in advance by X-ray CT, MRI and the like can be positioned. Or it will be a little one Gold marker or the like embedded in the vicinity of the irradiation field and used as a marker. Or an idea is pursued, at the image by using a differential imaging process and a contrast medium such as DAS (Digital Subtraction Angiography) becomes. Likewise, the X-ray CT and PET a real-time image reconfiguration calculation at high speed for real-time image conversion executed.
A second embodiment of the radiation therapy device according to the present invention will be described below with reference to FIGS 20 . 21 described. In this embodiment, explanations of those portions overlapping with those of the first embodiment will be omitted.
20 Fig. 10 is a side view showing the structure of the second embodiment of the radiation therapy apparatus according to the present invention. In addition is 21 a front view showing a structure of a rotary drum (a treatment framework) in the second embodiment of the radiotherapy apparatus according to the present invention.
In a radiotherapy device 6A according to this embodiment, a treatment X-ray head 10 , a treatment X-ray source (a CT X-ray tube) 97 and a sensor arrangement 98 on a rotary drum (treatment framework) 99 attached. This means that the structure of the entire device is such that the X-ray head 10 is placed at the upper portion of the drum of the rotating type X-ray CT inspection unit, which is a real-time image converter 30 in the first embodiment. The turning center of the rotary drum (treatment framework) 99 is the isocenter 5a , The X-ray head 10 is built up by the electron Linac of 4 MeV to 10 MeV and can be pivoted about the two axes (the first pivot axis S1 and the second pivot axis S2) as shown in the figures. That is, due to these head pivoting operations, in addition to the isocentric irradiation around the rotation axis of the rotary drum, the non-isocentric two-axis irradiation can be performed. Incidentally, the head swing around the second pivot axis includes the collimation angle correction associated with the rotation of the rotary drum. On the other hand, a collimation angle correction with respect to the head tilt about the first pivot axis S1 is not required.
The Treatment X-Ray Source (the CT X-ray Tube) 97 and the sensor arrangement 98 are each placed at positions where they are not with the x-ray head 10 interact for the treatment. The Treatment X-Ray Source (the CT X-ray Tube) 97 as well as the sensor arrangement 98 lie opposite each other. This sensor arrangement 98 for the detection, X-rays are used and a sensor having a plurality of rows of a multi-array (multi-row) type. In the X-ray CT and the PET, a real-time image reconfiguration process is applied to the real-time imaging at high speed.
A third embodiment of the present invention will be described below with reference to FIG 22 described.
In this embodiment become the explanations those portions which overlap with those of the first and second embodiments have been omitted.
22 Fig. 16 is a front view showing the structure of the rotary drum (the treatment stand) in the third embodiment of the radiation therapy apparatus Pie device according to the present invention shows.
A radiotherapy device 6B according to this embodiment includes the X-ray head 10 for the treatment and two sets of x-ray sources 97A or 97B and a sensor arrangement 98A or 98B representing the typical x-ray camera on the rotary drum (rotating frame) 99 , These relative positions are fixed within predefined areas. As a predetermined range, an angle between the sensor array 98B and the isocenter 5a and the X-ray head 10 set at 60 to 20 degrees. This range is preferably 45 to 30 degrees. This is set in accordance with the conditions that they have no influence on each other, they are operated accurately and the diagnostic image can be obtained with sufficient precision as well.
Unlike the second embodiment with the X-ray treatment source (the CT X-ray tube) and the sensor assembly includes the rotary drum 99 two rows of x-ray sources 97A or 97B and a sensor arrangement 98A or 98B that forms the typical X-ray camera. The visual line of one row between the X-ray source and the sensor array does not match that of the other row. The X-ray sources 97A . 97B are placed opposite each other with a straight line through which the X-ray head 10 and the isocenter 5a connected to each other. The sensor arrangements 98A . 98B are structured similarly.
As a result, the X-ray transmission images such as the affected part 5 within the body of the patient 4 , the marker, the small gold plate and the like, are obtained from the two axes, allowing the movement of the respective sections within the patient's body 4 can be detected quickly and accurately. The method of performing the image conversion process such as DAS using a contrast medium may be considered as the image enhancement method of the X-ray transmission image.
In addition, the sensor arrangements 98A . 98B at the side of the X-ray head 10 placed. Thus, the treatment X-ray becomes 3a which is a very strong X-ray, never into the sensor arrays 98A . 98B come to mind.
The X-ray head 10 consists of the electron Linac of 4 MeV to 10 MeV and can be pivoted about the two axes (the first pivot axis S1 and the second pivot axis S2), as shown in the figure. That is, these head pivoting operations enable non-isocentric irradiation about the two axes in addition to the isocentric irradiation around the rotation axis of the rotary drum. The head pivoting operation about the second pivot axis S2 includes the collimation angle correction associated with the rotation of the rotary drum. On the other hand, a collimation angle correction with respect to the head pivoting operation about the first pivot axis S1 is not required.
A fourth embodiment of the present invention will be described below with reference to FIG 24 described.
In this embodiment become the explanations those sections that match those of the first, second and third Overlap embodiment, omitted.
24 Fig. 10 is a perspective view showing the structure of the fourth embodiment of the radiation therapy apparatus according to the present invention.
A radiotherapy device 6C according to this embodiment includes the X-ray head 10 as a real-time image converter ( 30 ), the X-ray sources 97A . 97B as well as the sensor arrangements 98A . 98B ,
The X-ray head 10 is movable on the bow guide rail 9 placed. The X-ray sources 97A . 97B are each fixed to sides different from each other in the Y-axis direction of the X-ray head 10 , The sensor arrangements 98A . 98B are at positions opposite each other across the isocenter 5a in the X-ray sources 97A . 97B by fixing the respective positional relationships to the X-ray sources 97A . 97B placed. The X-ray sources 97A . 97B are placed at positions opposite each other with a straight line through which the isocenter 5a and the X-ray head 10 in 24 connected to each other. The sensor arrangements 98A . 98B are structured similarly.
This is similar to the first embodiment in that the X-ray head 10 for treatment on the curved guide rail 9 is placed. Likewise, this is similar to the third embodiment in that two rows of x-ray sources 97A or 97B and sensor arrangements 98A or 98B train the typical x-ray camera and the x-ray beam len-head 10 are fixed. These relative positions are fixed within the predetermined range. As a predetermined range, an angle between the sensor array 98A or the sensor arrangement 98B and the isocenter 5a and the X-ray head 10 set to 60 to 20 degrees. Preferably, this angle is 45 to 30 degrees. This is set in accordance with the conditions that the X-ray head 10 and the X-ray sources 97A . 97B have no influence on each other and they are operated accurately and a diagnostic image with sufficient precision can also be obtained.
Unlike the first embodiment in which the X-ray CT inspection unit is installed, the second embodiment in which the treatment X-ray source (the CT X-ray tube) and the sensor array are installed in the rotary drum, and differently in the third embodiment, in which two rows of X-ray sources and sensor arrays in the rotary drum 99 are installed, the rows of the X-ray source and the sensor arrangement with the X-ray head are also under all irradiation situations 10 are connected and operated so that they have fixed positional relationships to the X-ray head 10 exhibit.
As a result, in addition to achieving the effects of the operations of the above-described respective embodiments, the rows of X-ray sources and sensor arrays have fixed positional relationships with the X-ray head 10 on. Thus, it is possible to greatly reduce the need for the controller for maintaining the diagnostic image and the need for the operation for the real-time imager.
Likewise, the sensor arrangements 98A . 98B at the side of the X-ray head 10 placed. Thus, the treatment X-ray becomes 3a , which represents a very strong X-radiation, never into the sensor arrays 98A . 98B come to mind.
The X-ray head 10 consists of the electron Linac of 4 MeV to 10 MeV and can be pivoted about the two axes (the first pivot axis S1 and the second pivot axis S2), as shown in the figure. This means that this head pivoting operation enables non-isocentric irradiation about the two axes in addition to the isocentric irradiation around the rotation axis of the rotary drum.
According to the present Invention is additional for isocentric movement throughout the X-ray head of the uniaxial or biaxial head pivoting around the exact turning center like the inertial center or the like at the head portion itself to thereby become a pseudo-non-isocentric To allow radiation therapy. Their effect is at a level that is essentially the same as a perfectly non-isocentric radiotherapy device lies. It is also possible to achieve a high-speed tracking with the Movement of the radiation field, caused by the respiration and the Heartbeat, matches.
According to the present Invention allows the non-magnetic Kind of precise Inspection device checking the Conditions such as the irradiation position of the radiation, the irradiation time and the like, which are precisely controlled will, while the irradiation field is checked. So it goes without saying be applied to the treatment of the head section, in which the organ itself is not moved. In addition, the radiation exactly on the small focus in a mobile organ like the heart, the lungs and the like are emitted. Thus, its Application can be increased in the radiation therapy field.
According to the present Invention may be different from a boom robot arm with many problems with regard to stiffness, the irradiation head support structure be used with a high strength and high rigidity, for the high absolute precision to ensure mechanically. Thus, a necessary effective treatment can be achieved.
Of the Construction in which a general industrial robotic arm with excessive Degree of freedom, which exceeds the necessary degrees of freedom, a non-isocentric radiotherapy is applied a problem in terms of safety for the patient. That means, that at the time of an accident, such as a faulty operation the robot arm or the like may have the possibility that the robotic arm or the radiation irradiation head at its tip in contact with the patient, resulting in a surgical injury causes the patient. In contrast, because of the movable Area is limited, ensuring the absolute safety of the patient become.
In the conventional technique, the irradiation field can not be monitored in real time during the radiation therapy. Thus, irradiation based on estimates is inevitable. However, in accordance with the present invention, an imager, such as a typical x-ray camera, enables X-ray CT, PET, DAS or the like monitor the irradiation field in real time during the irradiation therapy, thereby enabling irradiation therapy with high reliability and safety.
As well is an image tracking based on the above-mentioned irradiation field image, get executed in real time, and a follow-up irradiation may be in a mobile irradiation field be achieved.
The Man-machine interface used in the embodiments according to the present invention Described invention allows radiation therapy with excellent safety and reliability.
A radiotherapy device comprising: a bed ( 7-2 ), which is a subject ( 4 ) wearing; a radiation irradiation head ( 10 ), which is a treatment radiation ( 3a ) emits; a head pivot mechanism ( 131 . 132 ) connected to the radiation irradiation head ( 10 ) and generally around the axis of the center of inertia of the radiation irradiation head ( 10 ) pivots; an inspection unit ( 30 ), which is a diagnostic image which is a treatment field ( 50 ), detects the movement of the subject ( 4 ) with time; and a control unit ( 80 ), the head pivoting mechanism ( 131 . 132 ) so that it controls the radiation irradiation head ( 10 ) based on the diagnostic image, a position of the irradiation head ( 10 ) and the state of pivoting of the irradiation head ( 10 ) such that an irradiation field ( 5 ' ) of the radiation irradiation head ( 10 ) the treatment field ( 5 ) follows; the control unit ( 80 ) the radiation irradiation head ( 10 ) controls so that the treatment radiation ( 3a ) from the radiation irradiation head ( 10 ) after the control of the head pivot mechanism ( 131 . 132 ), and wherein the targeted inspection unit ( 30 ) comprises: an X-ray source ( 97 ), which provide diagnostic radiation ( 3b ) on the treatment field ( 5 ) emits; a sensor arrangement ( 98 ), which transmit a transmitted radiation of the diagnostic radiation ( 3b ) by the subject ( 4 ), and outputs the diagnostic image data indicating the transmitted radiation; and an image processing unit ( 31 ) which generates this diagnostic image based on the diagnostic image data.
Radiotherapy device according to claim 1, wherein the control unit ( 80 ) a first coordinate (X, Y, Z) of the treatment field ( 5 ) within the diagnostic image based on an image pattern ( 5-2 ), which the treatment field ( 5 ) and has been previously specified on the diagnostic image, calculates a second coordinate (x, y, z) of the irradiation field ( 5 ' ) based on the position of the radiation irradiation head ( 10 ) and the state of pivoting of the irradiation head ( 10 ) and the head swivel mechanism ( 131 . 132 ) based on the first coordinate (X, Y, Z) and the second coordinate (x, y, z) controls so that the treatment field ( 5 ) in the irradiation field ( 5 ' ) is included.
Radiotherapy device according to claim 2, wherein the control unit ( 80 ) the head pivot mechanism ( 131 . 132 ) and the radiation irradiation head ( 10 ) for each preset time interval.
Radiotherapy device according to claim 1, wherein the X-ray source ( 97 ) on an opposite side of an isocenter to the sensor assembly ( 98 ), and the sensor arrangement ( 98 ) closer to the radiation irradiation head ( 10 ) as the X-ray source ( 97 ) is placed.
Radiotherapy device according to claim 4, wherein the targeted inspection unit ( 30 ) comprises: a plurality of sets; wherein each of said plurality of sets comprises an X-ray source ( 97 ) and the sensor arrangement ( 98 ), and the image processing unit ( 31 ) generates this diagnostic image based on diagnostic image data output from each of the plurality of sets.
A radiotherapy apparatus according to claim 5, further comprising: a guide rail ( 9 ), which includes a circular path on which the head pivot mechanism ( 131 . 132 ) and the radiation irradiation head ( 10 ) are moved; and a head circulation movement mechanism ( 68 ), the head pivot mechanism ( 131 . 132 ) and the radiation irradiation head ( 10 ) holds in a movable state, and the head pivoting mechanism ( 131 . 132 ) and the radiation irradiation head ( 10 ) along the guide rail ( 9 ) emotional.
Radiotherapy device according to claim 6, wherein the guide rail ( 9 ) is placed so that it is the bed ( 7-2 ) spans in the width direction and has a hemispherical circular path.
The radiotherapy device of claim 7, further comprising: a rail tilt mechanism ( 28 ), the guide rail ( 9 ) about a horizontal axis ( 26 ) within a range of a quarter-circumferential skirt.
Radiotherapy apparatus according to claim 8, wherein the head pivot mechanism ( 131 . 132 ) the radiation irradiation head ( 10 ) is pivoted about both of the two orthogonal axes (S1, S2).
A radiotherapy apparatus according to claim 9, further comprising: a microwave generating unit ( 70 ) which generates a microwave; and a wave guide ( 51 ), which directs the microwave to the radiation irradiation head ( 10 ) leads.
Radiotherapy device according to claim 10, wherein the radiation irradiation head ( 10 ) comprises: an acceleration structure ( 110 ), which accelerates electron radiation through the microwave belonging to a C-band.
Radiotherapy device according to claim 10, wherein the radiation irradiation head ( 10 ) comprises: an acceleration structure ( 110 ), which accelerates electron radiation through the microwave, which belongs to an X-band.
DE60224810T 2001-08-24 2002-08-23 Radio therapy device Active DE60224810T2 (en)
DE60224810D1 DE60224810D1 (en) 2008-03-13
DE60224810T2 true DE60224810T2 (en) 2009-01-22
DE60238842A Active DE60238842D1 (en) 2001-08-24 2002-08-23 Radiological treatment device
DE60224810T Active DE60224810T2 (en) 2001-08-24 2002-08-23 Radio therapy device
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CA (2) CA2455663C (en)
DK (2) DK1419799T3 (en)
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Inventor name: KAMINO, YUICHIRO, NAGOYA-SHI, AICHI, JP
Inventor name: MIHARA, KAZUMASA, HIROSHIMA-SHI, JP
Inventor name: HARA, KENJI, HIROSHIMA-SHI, JP
Inventor name: YAMASHITA, ICHIRO, HIROSHIMA-SHI, JP
Inventor name: WAKAMOTO, IKUO, HIROSHIMA-SHI, JP