DE20109313U1 - Robot-assisted X-ray systems for imaging and localization in radiation therapy - Google Patents

Robot-assisted X-ray systems for imaging and localization in radiation therapy

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Publication number
DE20109313U1
DE20109313U1 DE20109313U DE20109313U DE20109313U1 DE 20109313 U1 DE20109313 U1 DE 20109313U1 DE 20109313 U DE20109313 U DE 20109313U DE 20109313 U DE20109313 U DE 20109313U DE 20109313 U1 DE20109313 U1 DE 20109313U1
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ray
systems according
positioning
robot
imaging
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Expired - Lifetime
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DE20109313U
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German (de)
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Priority to DE20109313U priority Critical patent/DE20109313U1/en
Priority to DE10127235A priority patent/DE10127235A1/en
Publication of DE20109313U1 publication Critical patent/DE20109313U1/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4476—Constructional features of apparatus for radiation diagnosis related to motor-assisted motion of the source unit
    • A61B6/4482—Constructional features of apparatus for radiation diagnosis related to motor-assisted motion of the source unit involving power assist circuits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/105—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using a laser alignment system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Optics & Photonics (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Radiation-Therapy Devices (AREA)

Description

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßtThe description text was not recorded electronically

Claims (11)

1. Robotergestützte Röntgensysteme als Vorrichtungen zur Bildgebung und Lokalisation in der Strahlentherapie, bestehend aus den Röntgenbildgebungs-Komponenten Röntgenröhren und Bildverstärker/Flat Panel sowie einer nachgeschalteten digitalen Bildauswertung als Automationstechnik in Gestalt eines Röntgenroboters, der das Zielgebiet detektiert und in das Therapiegerät navigiert.1. Robot-assisted X-ray systems as devices for imaging and localization in radiation therapy, consisting of the X-ray imaging components X-ray tubes and image intensifier / flat panel as well as a downstream digital image evaluation as Automation technology in the form of an X-ray robot that detects the target area and into the Therapy device navigates. 2. Robotergestützte Röntgensysteme nach Anspruch 1, dadurch gekennzeichnet, dass an den Komponenten zur Röntgenbildgebung ein Navigationssystem befestigt wird, das die Positionierung sicherstellt.2. Robot-assisted x-ray systems according to claim 1, characterized in that at the Components for x-ray imaging a navigation system is attached, which the Positioning ensures. 3. Röntgensysteme nach den Ansprüchen 1 und 2, dadurch gekennzeichnet, dass die Positionierung relativ zu einem raumfesten, mit Lasern erzeugten Koordinatensystem sichergestellt wird.3. X-ray systems according to claims 1 and 2, characterized in that the Positioning relative to a fixed coordinate system created with lasers is ensured. 4. Röntgensysteme nach den Ansprüchen 1 bis 3, dadurch gekennzeichnet, dass Sensoren das aufzunehmende Objekt erfassen, um Kollisionen zu verhindern und die Sensordaten gleichzeitig zur Feinpositionierung herangezogen werden.4. X-ray systems according to claims 1 to 3, characterized in that sensors Detect the object to be recorded to prevent collisions and the sensor data can also be used for fine positioning. 5. Röntgensysteme nach den Ansprüchen 1 bis 4, dadurch gekennzeichnet, dass die nachgeschaltete digitale Bildauswertung mit der Röntgenaufnahme und Informationen aus anderen diagnostischen Techniken - DRRs, Patientenlagerung, Feinpositionierung des Systems relativ zur ROI - verbunden ist.5. X-ray systems according to claims 1 to 4, characterized in that the downstream digital image evaluation with the x-ray and information other diagnostic techniques - DRRs, patient positioning, fine positioning of the Systems relative to ROI - is connected. 6. Röntgensysteme nach den Ansprüchen 1 bis 5 zur hochpräzisen Lokalisation von Zielvolumina in der Strahlentherapie, bestehend aus einem Patientenlagerungstisch, einem System aus einem oder mehreren Paaren aus Röntgenröhren/Röntgensensoren, das sich automatisch am raumfesten Koordinatensystem ausrichtet sowie aus Algorithmen, welche die erstellten planaren Röntgenaufnahmen - zum Beispiel mit aus CT-Aufhahmen generierten DRRs oder Simulatoraufnahmen - vergleichbar machen. 6. X-ray systems according to claims 1 to 5 for the highly precise localization of Target volumes in radiation therapy, consisting of a patient table, a System consisting of one or more pairs of X-ray tubes / X-ray sensors, which are automatically aligns to the fixed coordinate system and from algorithms that the created planar X-ray images - for example with those generated from CT images DRRs or simulator recordings - make them comparable.   7. Röntgensysteme nach den Ansprüchen 1 bis 5 als Therapiesimulator, bestehend aus einem Patientenlagerungstisch, der über dieselben Einstellungsmöglichkeiten wie der Patientenlagerungstisch am Strahlentherapiegerät verfügt, aus einem Paar aus Röntgenröhre und Bildverstärker/Flat Panel, das sich robotergesteuert ausrichtet sowie aus einer nachgeschalteten Auswertealgorithmik, mit der zum Beispiel digitale Ausblendungen des Strahlenfeldes vorgenommen werden.7. X-ray systems according to claims 1 to 5 as a therapy simulator consisting of a Patient table that has the same setting options as the Patient positioning table on the radiotherapy device has a pair of X-ray tubes and image intensifier / flat panel, which aligns itself robotically and from one downstream evaluation algorithm with which, for example, digital suppression of the Radiation field can be made. 8. Röntgensysteme nach den Ansprüchen 1 bis 5, als Multifunktions-Röntgengerät zur Diagnostik, bestehend aus einem Patientenlagerungstisch, der spezielle Lagerungen des Patienten ermöglicht, aus einer robotergeführten Aufnahmetechnik mit Röntgenröhre und Flat-Panel, welche sich optimal durch selbstgesteuerte objektive Reproduzierbarkeit auf den Röntgenfokus ausrichten kann sowie aus einer Auswertealgorithmik zur Korrektur von Bildfehlern.8. X-ray systems according to claims 1 to 5, as a multi-function X-ray device Diagnostics, consisting of a patient table, the special positioning of the Enables patients from a robot-guided imaging technology with X-ray tube and Flat panel, which is optimally based on self-controlled, objective reproducibility Can align X-ray focus as well as from an evaluation algorithm to correct Image errors. 9. Röntgensysteme nach den Ansprüchen 1 bis 8, dadurch gekennzeichnet, dass die Roboter- Mechanik als
  • 1. 9.1 frei bewegliches System auf der Basis von Industrierobotern mit kardanisch aufgehängten, drehbaren Röntgenröhren und Bildverstärker/Flat Panel, die alle Freiheitsgrade erlauben oder
  • 2. 9.2 modifizierte C-Bögen mit Teleskopverschiebung kardanisch gelagerter Röntgenaufnahmetechnik, die insbesondere für Therapiesimulatoren einsetzbar sind oder
  • 3. 9.3 mit weniger Bewegungsfreiheitsgraden oder sogar als ortsfestes System zur Wirkung kommt, wenn eine der beiden Komponenten Röntgenröhre und Bildverstärker/Flat Panel die notwendigen Bewegungsfreiheitsgrade besitzt, ausgelegt ist.
9. X-ray systems according to claims 1 to 8, characterized in that the robot mechanics as
  • 1. 9.1 freely movable system based on industrial robots with gimbal-mounted, rotatable X-ray tubes and image intensifier / flat panel, which allow all degrees of freedom or
  • 2. 9.2 modified C-arms with telescopic displacement of gimbal-mounted X-ray technology, which can be used in particular for therapy simulators or
  • 3. 9.3 comes into effect with fewer degrees of freedom of movement or even as a stationary system if one of the two components x-ray tube and image intensifier / flat panel has the necessary degrees of freedom of movement.
10. Rönigensysteme nach den Ansprüchen 1 bis 9, dadurch gekennzeichnet, dass sie mit
  • 1. 10.1 einer Sensorik zur
    • 1. 10.1.1 Ermittlung der Steuerdaten, die zur Positionierung der Röntgenaufnahmekomponenten sowie zur Positionierung der Röntgentechnik mit Hilfe von Stereokameras, Abstandsmessern zur Haut oder Markern auf der Haut
    • 2. 10.1.2 Überwachung von Sicherheitsabständen zwischen Anlage und Patienten mit Hilfe von Berührungsschalterleisten, Infrarotsensoren oder Abstandsmessern erforderlich sind,
  • 2. 10.2 einer Algorithmik zur
    • 1. 10.2.1 Generierung von DRR
    • 2. 10.2.2 Bildfusionierung und schneller digitaler Bildbearbeitung ausgestattet sind.
10. royal systems according to claims 1 to 9, characterized in that they with
  • 1. 10.1 a sensor system for
    • 1. 10.1.1 Determination of the control data required for positioning the X-ray recording components and for positioning the X-ray technology using stereo cameras, distance meters to the skin or markers on the skin
    • 2. 10.1.2 Monitoring of safety distances between the system and the patient using touch switch strips, infrared sensors or distance meters are required,
  • 2. 10.2 an algorithm for
    • 1. 10.2.1 Generation of DRR
    • 2. 10.2.2 image fusion and faster digital image processing are equipped.
11. Röntgensysteme nach den Ansprüchen 1 bis 10, dadurch gekennzeichnet, dass sie in der Strahlentherapie durch Photosensoren an ein raumfestes Lasersystem gekoppelt und damit auf ein raumfestes Koordinatensystem mit Ursprung im Isozentrum des Bestrahlungsgerätes ausgerichtet werden.11. X-ray systems according to claims 1 to 10, characterized in that they are in the Radiation therapy coupled by photo sensors to a spatially fixed laser system and thus on a fixed coordinate system originating in the isocenter of the radiation device be aligned.
DE20109313U 2001-05-27 2001-05-27 Robot-assisted X-ray systems for imaging and localization in radiation therapy Expired - Lifetime DE20109313U1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE20109313U DE20109313U1 (en) 2001-05-27 2001-05-27 Robot-assisted X-ray systems for imaging and localization in radiation therapy
DE10127235A DE10127235A1 (en) 2001-05-27 2001-05-27 Robot-assisted X-ray system for imaging and locating in radiotherapy has automation equipment in the form of robot connected to X-ray imaging components

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE20109313U DE20109313U1 (en) 2001-05-27 2001-05-27 Robot-assisted X-ray systems for imaging and localization in radiation therapy
DE10127235A DE10127235A1 (en) 2001-05-27 2001-05-27 Robot-assisted X-ray system for imaging and locating in radiotherapy has automation equipment in the form of robot connected to X-ray imaging components

Publications (1)

Publication Number Publication Date
DE20109313U1 true DE20109313U1 (en) 2001-08-23

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DE10127235A Withdrawn DE10127235A1 (en) 2001-05-27 2001-05-27 Robot-assisted X-ray system for imaging and locating in radiotherapy has automation equipment in the form of robot connected to X-ray imaging components

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1380262A1 (en) * 2002-07-12 2004-01-14 BrainLAB AG System for patient positioning for radiation therapy/radio surgery based on stereoscopic x-ray device
DE102004042063A1 (en) * 2004-08-31 2005-10-27 Siemens Ag Detector unit for X-ray equipment, has sensors which are designed as both proximity switches and also ultrasonic, laser or infrared sensors in order to detect position, magnitude and alignment of mobile unit by scanning mobile unit
EP1625876A1 (en) * 2004-08-12 2006-02-15 Siemens Aktiengesellschaft Method and device for radiotherapy
EP1758649B1 (en) * 2004-09-30 2009-05-27 Siemens Aktiengesellschaft Medical radiotherapy assembly
DE102008019345A1 (en) * 2008-04-17 2009-10-22 Kuka Roboter Gmbh X-ray device and medical workstation

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10210050A1 (en) 2002-03-07 2003-12-04 Siemens Ag Method and device for repetitive relative positioning of a patient
US7171257B2 (en) * 2003-06-11 2007-01-30 Accuray Incorporated Apparatus and method for radiosurgery

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1380262A1 (en) * 2002-07-12 2004-01-14 BrainLAB AG System for patient positioning for radiation therapy/radio surgery based on stereoscopic x-ray device
EP1625876A1 (en) * 2004-08-12 2006-02-15 Siemens Aktiengesellschaft Method and device for radiotherapy
US7820989B2 (en) 2004-08-12 2010-10-26 Siemens Aktiengesellschaft Method and apparatus for performing radiation treatment
US8148703B2 (en) 2004-08-12 2012-04-03 Siemens Aktiengesellschaft Apparatus for performing radiation treatment
DE102004042063A1 (en) * 2004-08-31 2005-10-27 Siemens Ag Detector unit for X-ray equipment, has sensors which are designed as both proximity switches and also ultrasonic, laser or infrared sensors in order to detect position, magnitude and alignment of mobile unit by scanning mobile unit
EP1758649B1 (en) * 2004-09-30 2009-05-27 Siemens Aktiengesellschaft Medical radiotherapy assembly
US7638779B2 (en) 2004-09-30 2009-12-29 Siemens Aktiengesellschaft Medical radiotherapy assembly
DE102008019345A1 (en) * 2008-04-17 2009-10-22 Kuka Roboter Gmbh X-ray device and medical workstation
US8548629B2 (en) 2008-04-17 2013-10-01 Kuka Laboratories Gmbh X-ray device and medical workplace

Also Published As

Publication number Publication date
DE10127235A1 (en) 2002-11-28

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Effective date: 20010927

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