JP2014128352A - Collision prevention interlock device for radiation therapy apparatus and radiation therapy - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a collision prevention interlock device to make possible the therapy which makes the most of the operation range of a radiation therapy apparatus.SOLUTION: A collision prevention interlock device 1 comprises a collision determination simulator 2 which deploys a 3D model of a therapy apparatus 5 and a patient 3D model 23 in a virtual space 20 and executes a simulation to determine whether or not a collision exists between a 3D model of the apparatus 5 operating under control information sig1 and the patient 3D model 23, and between 3D models of the apparatus 5. The collision determination simulator 2 comprises: an interlock determination unit for determining whether or not a determination target distance, i.e. a distance between determination target 3D models, is equal to or less than an interlock threshold value; and an interlock information generation unit which generates information to stop the operation of the apparatus 5 when the determination target distance is equal to or less than the threshold value, and outputs the information as interlock information sig2 to a therapy apparatus control unit 4.

Description

  The present invention relates to a radiotherapy apparatus that performs cancer treatment by irradiating an affected area of a patient with radiation such as X-rays, gamma rays, and particle beams. In particular, the apparatus of the treatment apparatus and the apparatus of the patient or the treatment apparatus physically collide with each other. The present invention relates to a collision prevention interlock device that prevents this.

  In recent years, development and construction of cancer treatment devices (particularly called particle beam treatment devices) using particle beams such as protons and heavy ions have been promoted in radiotherapy devices for cancer treatment. As is well known, particle beam therapy using particle beams can irradiate the cancer affected area more intensively than conventional radiotherapy such as X-rays and gamma rays, that is, pinpointing according to the shape of the affected area. Can be irradiated with a particle beam and can be treated without affecting normal cells. Since the particle beam therapy system is larger than the radiotherapy system using X-rays and gamma rays, the particle beam therapy system further complicates the method of physically preventing collision between the therapy device and the patient or the therapy device. It has become.

  In radiotherapy, when a treatment plan is created, it is checked in advance whether or not the treatment device and the patient or the treatment device collide (physical interference) (for example, Patent Document 1). In Patent Literature 1, a radiation treatment plan is made in a region showing an angle at which the radiation treatment apparatus, the treatment bed, and the patient do not physically interfere with each other. In Patent Document 1, information on center coordinates (x, z) of a treatment bed (treatment table) and a patient's body height (h), treatment bed shape data stored in a memory in advance, and radiation It is described that, based on the treatment device shape data, an irradiation angle at which the radiation treatment device does not physically interfere with the treatment bed and the patient is calculated, and the calculation result is displayed.

  In Patent Document 1, the amount of deviation between the position of the affected part of the patient and the isocenter is calculated during radiotherapy, and based on the amount of deviation, the position of the treatment bed, the turning angle R around the guide z-axis of the rotating gantry, and By moving and adjusting the traveling angle S around the rotation axis G with respect to the guide of the rotating member in an optimal combination as appropriate, the center of the affected area moves to the isocenter. At this time, if an irradiation angle is set in a region where physical interference between the radiation therapy apparatus, the treatment bed, and the patient is erroneously set, the irradiation planning apparatus will control the radiation therapy apparatus to the control apparatus of the radiation therapy apparatus. A signal for stopping activation (collision prevention interlock processing) was transmitted.

  Further, in Patent Document 2, the medical staff is determined to perform the collision prevention interlock process, the position sensor is attached to the medical staff, and the position information is transmitted to the space check function. The function of estimating the movement path of the therapeutic device up to now from the control information and preventing interference with the medical staff is presented.

Japanese Patent Laying-Open No. 2006-174885 (0040 to 0044 stages, FIGS. 2 and 6) JP 2008-220553 A (0017 stage to 0025 stage, 0034 stage, FIGS. 1 and 3)

As described above, in radiotherapy, it is determined that there is a high possibility that the treatment device and the patient or the treatment device collide with respect to the drive of the treatment device so that the treatment device and the patient or the treatment device do not collide (physical interference). In such a case, a process for stopping the driving of the treatment apparatus, that is, a collision prevention interlock process is performed. In the prior art of Patent Document 1, in order to realize the collision prevention interlock processing based on the control information (irradiation angle setting information) of the control device and the area information in which physical interference is calculated in advance, In many cases, the interference area is widened, the interference area is set by avoiding complicated calculations, and the driving range of the treatment apparatus is limited more than necessary, resulting in treatment restrictions.

  Since the control device that drives the treatment device requires certainty and robustness, it is configured by a controller device such as a sequencer. The controller device excels at high-speed and reliable processing, but complicated calculations are difficult. Therefore, the controller device is located at the position of the contour of the device to be controlled in the treatment room space, and with the surrounding treatment device. It is not realistic to grasp (calculate) whether or not there is a positional relationship. For this reason, a function for performing a collision prevention interlock process with emphasis on the safe side based on the control information of the control target apparatus is provided. For example, when the irradiation angle of the irradiation nozzle is 90 degrees and the treatment table rotation angle is 30 degrees, depending on the slide position and rotation position of the irradiation nozzle, the attachment shape of the irradiation nozzle tip, the height of the treatment table, etc. Regardless of whether the treatment table interferes or not, avoid calculation based on complicated combination conditions, and say, “There is a possibility of interference at a position where the irradiation angle of the irradiation nozzle is 90 degrees and the treatment table rotation angle is 30 degrees. Therefore, this combination may not be allowed (a collision prevention interlock condition) ”.

  For this reason, even if the “positional relationship between the patient and the treatment device” determined to be the optimal treatment device position in the treatment plan can be treated without any interference, it is actually after the treatment plan or The collision prevention interlock determination performed during the treatment plan may make it impossible to carry out the treatment, which hinders selection of an optimal treatment method (treatment plan).

  In addition, the prior art of Patent Document 2 performs a collision determination between a medical staff and a device that performs a predetermined series of control operations from completion of rough positioning to completion of positioning, and calculates a movement path that avoids interference in advance. doing. Further, in addition to a predetermined series of control operations, it is also described that a route for avoiding interference between medical staff and the apparatus is constantly monitored, but the optimal treatment method (treatment plan) described above is also described. It cannot be selected.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to enable treatment using the operating range of the treatment apparatus to the maximum.

  A control apparatus for inputting control information of the movable device from the radiotherapy apparatus and outputting interlock information to the radiotherapy apparatus, and a treatment apparatus 3D which is a 3D model of the radiotherapy apparatus for each treatment room for performing radiotherapy The treatment device 3D model database storing the model, the patient 3D model database storing the patient 3D model which is the patient 3D model, the treatment device 3D model and the patient 3D model are arranged in the virtual space, and the operation is performed based on the control information A collision determination simulator for executing a collision determination simulation for determining whether or not there is a collision between the treatment apparatus 3D model and the patient 3D model and a collision between the treatment apparatus 3D models. The collision determination simulator uses the distance between the treatment device 3D model and the patient 3D model and the distance between the treatment device 3D models as the determination target distance, an interlock determination unit that determines whether the determination target distance is equal to or less than an interlock threshold, When the distance is equal to or less than the interlock threshold value, an interlock information generation unit is provided that generates information for stopping the operation of the radiation therapy apparatus and outputs this information as interlock information to the therapy apparatus control unit.

The collision prevention interlock device of the radiotherapy apparatus according to the present invention performs a collision determination simulation for determining the presence or absence of a collision between 3D models to be determined based on control information of the radiotherapy apparatus during radiotherapy in a virtual space. When the determination target distance is equal to or less than the interlock threshold, the information for stopping the operation of the radiotherapy apparatus is output as the interlock information, so that the radiotherapy using the operating range of the therapy apparatus to the maximum can be performed. .

1 is a block diagram of a collision prevention interlock device and a radiation therapy system according to Embodiment 1 of the present invention. It is an operation | movement image figure of the collision prevention interlock apparatus of FIG. It is a schematic block diagram of the treatment apparatus of FIG. It is a figure which shows the structure of the particle beam irradiation apparatus of FIG. It is a flowchart of the collision prevention interlock device of FIG. It is a figure explaining the function of the collision prevention interlock device by Embodiment 2 of this invention. It is a flowchart of the collision prevention interlock device by Embodiment 2 of this invention. It is a figure which shows the ringing sound correspondence table | surface of the collision prevention interlock apparatus by Embodiment 3 of this invention. It is an operation | movement image figure of the collision prevention interlock apparatus by Embodiment 4 of this invention. It is a block diagram of the collision prevention interlock device and radiation therapy system by Embodiment 5 of this invention.

Embodiment 1 FIG.
FIG. 1 is a block diagram of a collision prevention interlock device and a radiation therapy system according to Embodiment 1 of the present invention, and FIG. 2 is an operation image diagram of the collision prevention interlock device according to Embodiment 1 of the present invention. 3 is a schematic configuration diagram of a particle beam therapy apparatus which is an example of the therapy apparatus of FIG. 1, and FIG. 4 is a diagram illustrating a configuration of the particle beam irradiation apparatus of FIG. The collision prevention interlock device 1 includes a collision determination simulator 2, a treatment device 3D model database 3, a patient 3D model database 6, and a treatment device control unit 4. The radiotherapy system 8 includes a collision prevention interlock device 1 and a treatment device 5. The collision determination simulator 2 is a software function that performs a collision determination simulation, and is built on a computer. The collision determination simulator 2 arranges the 3D model (rotating gantry 3D model 21, irradiation nozzle 3D model 22, treatment table 3D model 24, etc.) and the patient 3D model 23 of the treatment apparatus 5 in the virtual space 20, and based on the control information sig1. The collision between the 3D model of the treatment device 5 (rotating gantry 3D model 21, irradiation nozzle 3D model 22, treatment table 3D model 24, etc.) and the patient 3D model 23, and the 3D model of the treatment device 5 (rotating gantry 3D model) 21, a collision determination simulation for determining whether or not there is a collision between the irradiation nozzle 3D model 22 and the treatment table 3D model 24).

  The treatment device 3D model database 3 stores 3D models of all treatment devices necessary for the collision determination simulation for each treatment room. The patient 3D model database 6 stores a patient 3D model 23 created for each typical body shape of the patient. The treatment device control unit 4 is an input / output interface that exchanges control information sig1 and interlock information sig2 with the treatment device 5. The collision determination simulator 2 is connected to the treatment device 3D model database 3, the patient 3D model database 6, and the treatment device control unit 4, and the treatment device control unit 4 is connected to the treatment device 5.

FIG. 2 shows the relationship between the real space 10 that is the target of the collision determination simulator 2 and the virtual space 20 configured in the collision determination simulator 2. The real space 10 is an actual treatment room space. The rotating gantry 11 rotates the irradiation nozzle 12 360 degrees to irradiate the affected part of the patient 13 with radiation (charged particle beam 31 or the like) at an arbitrary angle. A patient 13 is placed on the treatment table 14. In addition, the irradiation nozzle 12a is the irradiation nozzle 12 when it exists in a 1st position, and the irradiation nozzle 12b shown with the broken line is the irradiation nozzle 12 when it exists in a 2nd position. The irradiation nozzle 12 is the most downstream side of the radiotherapy apparatus (particle beam therapy apparatus), and is a tip portion where the patient 13 is irradiated with radiation. The rotating gantry 11, the irradiation nozzle 12, and the treatment table 14 are movable devices of the treatment device 5.

  The virtual space 20 is constructed with the same geometric arrangement (geometry) as the real space 10 of the treatment room. In FIG. 2, the rotating gantry 3D model 21, the irradiation nozzle 3D model 22 (22 a and 22 b in FIG. 2), and the treatment table 3D model 24 are shown as the treatment device 3D model. The rotating gantry 3D model 21 is a three-dimensional model (3D model) of the rotating gantry 11, and the irradiation nozzle 3D model 22 is rotated 360 degrees in the same manner as the rotating gantry 11. The irradiation nozzle 3D model 22 is a three-dimensional model of the irradiation nozzle 12. The irradiation nozzle 3D model 22a corresponds to the irradiation nozzle 12a, and the irradiation nozzle 3D model 22b shown by a broken line corresponds to the irradiation nozzle 12b. The patient 3D model 23 is a three-dimensional model of the patient 13, and the treatment table 3D model 24 is a three-dimensional model of the treatment table 14. The control information sig1 represents control information transmitted from the real space 10 to the virtual space 20, that is, control information transmitted from the treatment device 5 to the collision determination simulator 2. The control information sig1 is equivalent to a control signal for controlling each device including the movable device of the treatment device 5. Based on this control information sig1, the collision determination simulator 2 converts the treatment device 3D model (rotating gantry 3D model 21, irradiation nozzle 3D model 22, treatment table 3D model 24, etc.) in the virtual space 20 in real time. The same operation as that of the treatment device 5 is performed. The interlock information sig2 is interlock information transmitted from the virtual space 20 to the real space 10, that is, interlock information transmitted from the collision determination simulator 2 to the treatment device 5.

  As an example of the treatment apparatus 5, a particle beam treatment apparatus 51 and a particle beam irradiation apparatus 58 will be described with reference to FIGS. The particle beam therapy system 51 includes a beam generation device 52, a beam transport system 59, and particle beam irradiation devices 58a and 58b. The beam generator 52 includes an ion source (not shown), a pre-stage accelerator 53, and a charged particle accelerator 54. The particle beam irradiation device 58b is installed in a rotating gantry (not shown). The particle beam irradiation device 58a is installed in a treatment room having no rotating gantry. The role of the beam transport system 59 is in communication between the charged particle accelerator 54 and the particle beam irradiation devices 58a and 58b. A part of the beam transport system 59 is installed in a rotating gantry (not shown), and the part has a plurality of deflection electromagnets 55a, 55b, and 55c.

  A charged particle beam, which is a particle beam such as a proton beam generated by an ion source, is accelerated by the front-stage accelerator 53 and is incident on the charged particle accelerator 54 from the incident device 46. The charged particle accelerator 54 is, for example, a synchrotron. The charged particle beam is accelerated to a predetermined energy. The charged particle beam emitted from the emission device 47 of the charged particle accelerator 54 is transported to the particle beam irradiation devices 58a and 58b through the beam transport system 59. The particle beam irradiation devices 58 a and 58 b irradiate the affected part of the patient 13 with a charged particle beam. The reference numeral 58 of the particle beam irradiation apparatus is used as a whole, and 58a and 58b are used in the case of distinction.

The charged particle beam 31 generated by the beam generator 52 and accelerated to a predetermined energy is guided to the particle beam irradiation device 58 via the beam transport system 59. In FIG. 4, the particle beam irradiation apparatus 58 includes an X-direction scanning electromagnet 32 and a Y-direction scanning electromagnet 33 that scan the charged particle beam 31 in the X direction and the Y direction that are perpendicular to the charged particle beam 31, and a position monitor 34. A dose monitor 35, a dose data converter 36, a beam data processing device 41, a scanning electromagnet power source 37, and an irradiation management device 38 that controls the particle beam irradiation device 58. The irradiation management device 38 includes an irradiation control computer 39 and an irradiation control device 40. The dose data converter 36 includes a trigger generation unit 42, a spot counter 43, and an inter-spot counter 44. In FIG. 4, the traveling direction of the charged particle beam 31 is the −Z direction.

  The X direction scanning electromagnet 32 is a scanning electromagnet that scans the charged particle beam 31 in the X direction, and the Y direction scanning electromagnet 33 is a scanning electromagnet that scans the charged particle beam 31 in the Y direction. The position monitor 34 detects beam information for calculating a passing position (center of gravity position) and a size of a beam through which the charged particle beam 31 scanned by the X direction scanning electromagnet 32 and the Y direction scanning electromagnet 33 passes. The beam data processing device 41 calculates the passing position (center of gravity position) and size of the charged particle beam 31 based on beam information composed of a plurality of analog signals detected by the position monitor 34. Further, the beam data processing device 41 generates an abnormality detection signal indicating an abnormal position or size abnormality of the charged particle beam 31 and outputs this abnormality detection signal to the irradiation management device 38.

  The dose monitor 35 detects the dose of the charged particle beam 31. The irradiation management device 38 controls the irradiation position of the charged particle beam 31 in the affected area of the patient 13 based on the treatment plan data created by the treatment planning device (not shown), is measured by the dose monitor 35, and is a dose data converter 36. When the dose converted into digital data reaches the target dose, the charged particle beam 31 is moved to the next irradiation position. The scanning electromagnet power source 37 sets the set currents of the X direction scanning electromagnet 32 and the Y direction scanning electromagnet 33 based on control inputs (commands) to the X direction scanning electromagnet 32 and the Y direction scanning electromagnet 33 output from the irradiation management device 38. Change.

  Here, the scanning irradiation method of the particle beam irradiation apparatus 58 is a raster scanning irradiation method in which the charged particle beam 31 is not stopped when the irradiation position of the charged particle beam 31 is changed, and the beam irradiation position is the same as the spot scanning irradiation method. A method of moving between spot positions one after another is adopted. The spot counter 43 measures the irradiation dose while the beam irradiation position of the charged particle beam 31 is stopped. The spot-to-spot counter 44 measures the irradiation dose while the beam irradiation position of the charged particle beam 31 is moving. The trigger generation unit 42 generates a dose expiration signal when the dose of the charged particle beam 31 at the beam irradiation position reaches the target irradiation dose.

  FIG. 5 is a flowchart of the collision prevention interlock device according to the first embodiment of the present invention. The collision prevention interlock device 1 executes step S001 of the initial process and step S011 of the collision determination process. Step S001 of the initial process is composed of steps S002 to S0005, and step S011 of the collision determination process is composed of steps S012 to S0016.

  The operation of the collision prevention interlock device 1 will be described with reference to FIG. In step S002, when the particle beam treatment is started, the patient ID and the treatment ID planned in the treatment plan are selected, and the selected patient ID and the treatment ID are input to the collision determination simulator 2. Not only the manual input by the input means of the computer constituting the collision determination simulator 2, but also an interface that is automatically input when the patient ID and the treatment ID are input to the treatment apparatus 5 may be provided. In step S003, the collision determination simulator 2 acquires the necessary treatment device 3D model from the treatment device 3D model database 3 from the treatment ID. Further, the collision determination simulator 2 acquires the most appropriate patient 3D model 23 from the patient ID from the patient 3D model database 6.

  In step S004, the collision determination simulator 2 displays the treatment device 3D model (rotating gantry 3D model 21, irradiation nozzle 3D model 22, treatment table 3D model 24, etc.) and patient 3D model 23 in the virtual space 20 in the collision determination simulator 2. To place. The initial position to be arranged is set based on the control information sig 1 transmitted from the treatment device 5 in the real space 10, thereby having the same geometric positional relationship as the real space 10. In step S005, the model arrangement of the virtual space 20 is completed, and the collision determination process in the next step S011 is performed. In this collision determination process, a collision determination simulation is executed by real-time processing (about 30 times / second) for the device subjected to the collision determination simulation.

  Next, patient positioning and treatment are started, and in step S012, the treatment table 14 on which the irradiation nozzle 12 and the patient 13 of the treatment apparatus 5 are placed moves to the planned position. In step S013, the treatment apparatus 5 always transmits the control information sig1 of the irradiation nozzle 12 and the treatment table 14 to the collision determination simulator 2 via the treatment apparatus control unit 4. The collision determination simulator 2 of the collision prevention interlock apparatus 1 receives the control information sig1 of the irradiation nozzle 12 of the treatment apparatus 5 and the treatment table 14 of the treatment apparatus 5 via the treatment apparatus control unit 4. The collision determination simulator 2 executes a simulation of the operation of the treatment apparatus 5 (collision simulation) based on the control information sig1. Specifically, the collision determination simulator 2 controls the treatment device 3D model in the virtual space 20 in the same manner as the treatment device 5 in the real space 10 based on the received control information sig1.

  In step S014, the distance between each model of the treatment apparatus 3D model and the distance between the treatment apparatus 3D model and the patient 3D model 23 are set as the determination target distance, and it is determined whether or not the determination target distance is equal to or less than the interlock threshold. To do. A case where there is one interlock threshold, that is, a common interlock threshold is used will be described. It is determined whether or not the shortest distance between the patient 13 of the collision simulation target and the model of the treatment apparatus 5 is equal to or less than the interlock threshold (interlock determination). When the interlock threshold value is different between the models to be determined, it is determined whether the distance between the models is equal to or less than the respective interlock threshold value. The process of step S014 is a process of the interlock determination unit of the collision determination simulator 2.

  In step S014, if the determination target distance is equal to or smaller than the interlock threshold, the process moves to step S015. If the determination target distance is not equal to or smaller than the interlock threshold, it is determined in step S016 whether the treatment is finished. . In step S015, the collision determination simulator 2 issues an alarm and simultaneously gives interlock information sig2 such as a stop command for stopping the operation of the treatment device 5 to the treatment device 5 via the treatment device control unit 4. Notice. The treatment device 5 executes processing such as stopping based on the interlock information sig2. The collision determination simulator 2 stops the collision determination simulation performed in real time, clears information such as the treatment device 3D model, and prepares for the next treatment start (start of the collision determination simulation). The process of issuing a warning in step S015 is a process of a warning / alarm generating unit of the collision determination simulator 2. The process of generating a stop command or the like in step S015 is a process of the interlock information generation unit of the collision determination simulator 2.

  If the collision determination simulator 2 determines in step S016 that the treatment has not ended, the collision determination simulator 2 returns to step S013 and executes a collision simulation. When a series of treatments are finished and the driving of the treatment device 5 is stopped, the collision determination simulator 2 receives control information sig1 for stopping the drive of the treatment device via the treatment device control unit 4. When the collision determination simulator 2 determines that the treatment is completed in step S016, the collision determination simulation is stopped in real time, the information such as the treatment device model is cleared, and the next treatment is started (collision determination simulation). To prepare for

  Since each device of the treatment device 5 is modeled in 3D in the virtual space 20, it is possible to accurately determine the shortest distance between the contours of the model, and limit the drive range of the treatment device 5 more than necessary. There is no end. Since the collision prevention interlock device 1 according to the first embodiment executes the simulation of the movement operation of the treatment device 5 in real time based on the control information sig1 of the treatment device 5, the interlock threshold value can be set to a value smaller than the conventional value. . The reason for this will be described in detail. In the radiotherapy system that constantly monitors with the detection data of the detector installed in the treatment device 5, since the treatment device 5 has already been determined to move, the time from the start of the interlock process to the stop of the treatment device 5 is determined. Since it is necessary, the interlock threshold is usually set to the safe side. However, since the collision prevention interlock device 1 according to the first embodiment performs a collision determination simulation based on the control information sig1 of the treatment device 5, the position of the device of the treatment device 5 is predicted before the actual position is reached. be able to. Since the collision prevention interlock device 1 according to the first embodiment can predict the position of the device of the treatment device 5 before it reaches the actual position, even if the interlock threshold is smaller than the conventional treatment device 5 devices can be stopped by the interlock threshold. Therefore, the collision prevention interlock device 1 according to the first embodiment can set the interlock threshold value to a value smaller than the conventional one.

  The radiation therapy system 8 including the collision prevention interlock device 1 according to the first embodiment executes the collision prevention interlock process with an interlock threshold smaller than the conventional one, that is, stops the operation of the radiation therapy device (treatment device 5). As a result, the driving range of the treatment apparatus 5 can be expanded and the optimum treatment method (treatment plan) can be selected as compared with the conventional case where the collision prevention interlock process must be performed with a large interlock threshold. it can. Since the collision prevention interlock device 1 according to the first embodiment executes a collision simulation based on the control information sig1 of the treatment device 5, it is not limited to automatic drive of the treatment device 5 (automatic drive of the treatment table 14, etc.), but manually It is possible to respond to driving, and the driving flexibility of the treatment apparatus 5 can be ensured. Therefore, the collision prevention interlock device 1 according to the first embodiment can secure the driving flexibility of the treatment device 5 and sufficiently perform the treatment using the maximum operating range of the treatment device 5, that is, the performance of the treatment device 5 sufficiently. It is possible to make effective treatment. In addition, the radiation therapy system 8 including the collision prevention interlock device 1 according to the first embodiment can utilize the operating range of the therapy device 5 to the maximum, and can execute an optimal therapy method.

  As described above, the collision prevention interlock device 1 according to the first embodiment receives the control information sig1 of the movable device from the radiation therapy device (therapeutic device 5) and interlock information to the radiation therapy device (therapeutic device 5). A treatment device control unit 4 that outputs sig2, and a treatment device 3D model (rotary gantry 3D model 21, irradiation nozzle 3D model 22, treatment device 3D) that is a 3D model of a radiation treatment device (treatment device 5) for each treatment room that performs radiation treatment Treatment apparatus 3D model database 3 storing a 3D model 24), a patient 3D model database 6 storing a patient 3D model 23 which is a 3D model of the patient 13, and a treatment apparatus 3D model (rotary gantry 3D model 21, irradiation) Nozzle 3D model 22, treatment table 3D model 24, etc.) and patient 3D model 23 are arranged in virtual space 20 The collision between the treatment device 3D model (rotating gantry 3D model 21, irradiation nozzle 3D model 22, treatment table 3D model 24, etc.) and the patient 3D model 23 operating based on the control information sig1, and the treatment device 3D model (rotating gantry) 3D model 21, irradiation nozzle 3D model 22, treatment table 3D model 24, and the like). The collision determination simulator 2 of the collision prevention interlock apparatus 1 includes the distance between the treatment apparatus 3D model (rotating gantry 3D model 21, irradiation nozzle 3D model 22, treatment table 3D model 24, etc.) and the patient 3D model 23, and the treatment apparatus 3D model. An interlock determination unit that determines whether a distance between the rotation gantry 3D model 21, irradiation nozzle 3D model 22, treatment table 3D model 24, and the like is a determination target distance and the determination target distance is equal to or less than an interlock threshold, and a determination target An interlock information generating unit that generates information for stopping the operation of the radiation therapy apparatus (therapeutic apparatus 5) when the distance is equal to or less than the interlock threshold, and outputs this information to the therapy apparatus control unit 4 as interlock information sig2. Have The collision prevention interlock device 1 according to the first embodiment determines whether or not there is a collision between 3D models to be determined based on the control information sig1 of the radiotherapy device (therapeutic device 5) during radiotherapy in the virtual space 20. Information for stopping the operation of the radiotherapy apparatus (therapeutic apparatus 5) is output as the interlock information sig2 when the determination target distance is equal to or less than the interlock threshold value. Thus, it is possible to perform treatment using the operating range of the treatment device 5 to the maximum.

  The radiotherapy system 8 of Embodiment 1 generates a charged particle beam 31 and accelerates it to a predetermined energy by an accelerator (charged particle accelerator 54), and a charged particle beam accelerated by the beam generating device 52. A particle beam therapy system 51 including a beam transport system 59 for transporting 31 and a particle beam irradiation apparatus 58 for irradiating a patient 13 with a charged particle beam 31 transported by the beam transport system 59; Since the collision prevention interlock device 1 that prevents the collision between the particle beam therapy device 51 and the patient 13 is provided when the movable device moves, the operating range of the treatment device 5 can be utilized to the maximum. Can perform the optimal treatment method.

Embodiment 2. FIG.
In the first embodiment, the same control is performed in the virtual space 20 based on the control information sig1 transmitted from each device of the treatment device 5 in the real space 10, and the virtual space 20 is the same as the real space 10. The method of configuring the positional relationship between the patient 13 and the treatment device 5 with geometry and performing a collision determination simulation has been described. In the second embodiment, an example will be described in which a warning boundary (warning threshold) having a distance between objects longer than the interlock boundary (interlock threshold) is set separately from the interlock boundary (interlock threshold).

  FIG. 6 is a diagram for explaining the function of the collision prevention interlock device according to the second embodiment of the present invention, and FIG. 7 is a flowchart of the collision prevention interlock device according to the second embodiment of the present invention. As shown in FIG. 6, an interlock boundary 26 and a warning boundary 27 having a longer distance between objects than the interlock boundary are set in the virtual space 20. In FIG. 6, when the irradiation nozzle 3D model 22 moves in the direction indicated by the arrow 29 and moves to the position of the irradiation nozzle 3D model 22c indicated by the broken line, a part of the warning boundary 27 is indicated by a circle 28. It shows a state exceeding. The collision prevention interlock device 1 according to the second embodiment performs determination using a plurality of determination thresholds (interlock threshold, warning threshold), and performs individual processing for each determination threshold.

  The flowchart of FIG. 7 differs from the flowchart of FIG. 5 in that steps S017 and S018 are added. The different parts will be explained. In step S014, an interlock determination is performed. If the determination target distance is not equal to or less than the interlock threshold, a warning determination in step S017 is performed. If it is determined in step S017 that the determination target distance is equal to or smaller than the warning threshold value, the process proceeds to step S018. If the determination target distance is not equal to or smaller than the warning threshold value, the process proceeds to step S016. In step S018, the collision determination simulator 2 issues a warning having a lower response level than the warning, and at the same time, the treatment apparatus 5 is provided with an interface such as a deceleration instruction for reducing the moving speed via the treatment apparatus control unit 4. The lock information sig2 is notified. Thereafter, the collision determination simulator 2 returns to step S013. The treatment device 5 decelerates the moving speed based on the deceleration command of the interlock information sig2. In the second embodiment, the interlock information sig2 includes a deceleration command and a stop command. The process of step S017 is a process of the warning determination unit of the collision determination simulator 2. The process of issuing a warning in step S018 is a process of a warning / alarm generating unit of the collision determination simulator 2. The process of generating the deceleration command in step S018 is the process of the interlock information generation unit of the collision determination simulator 2.

  The collision prevention interlock device 1 according to the second embodiment provides an interlock boundary 26 and a warning boundary 27 so that when a device with the treatment apparatus 5 enters the warning boundary, a warning is issued (announcement). A control command (such as a deceleration command) for decelerating the operation of the treatment device 5 is given to the treatment device 5 in the real space 10, or a warning is sent to the medical staff. A control command such as a deceleration command or a warning can prompt an avoidance operation such as stopping the operation of the treatment device 5 before the collision prevention interlock process of the treatment device 5 is activated.

  The collision prevention interlock device 1 according to the second embodiment can stop the treatment device 5 at a position safer than the interlock boundary (interlock threshold) by this function. The stop of the treatment device 5 at the safe position may be a stop by a manual button of a medical staff or the treatment device 5 may be automatically decelerated and then stopped when a deceleration command is received. The automatic deceleration and the subsequent stop may be stopped, for example, when the treatment apparatus 5 is not manually interrupted and decelerates to a predetermined speed. Since the collision prevention interlock device 1 according to the second embodiment can stop the treatment device 5 at such a safe position, it is not necessary to perform a release operation according to a prescribed procedure that occurs after the collision prevention interlock processing is activated. Therefore, operational efficiency can be improved.

Embodiment 3 FIG.
In the third embodiment, as shown in FIG. 8, for each collision target, the ringing sound is divided for the interlock boundary (interlock threshold) and the warning boundary (warning threshold). FIG. 8 is a diagram showing a ringing sound correspondence table of the collision prevention interlock device according to Embodiment 3 of the present invention. In FIG. 8, the collision target is the irradiation nozzle 12 and the patient 13 (No. 1 in FIG. 8), and the irradiation nozzle 12 and other devices (No. 2 in FIG. 8) other than the treatment apparatus 5. showed that. When the collision target is the irradiation nozzle 12 and the patient 13 (No. 1 in FIG. 8), the ringing sounds at the time of the collision prevention interlock process and the warning are the ringing sound 1 and the ringing sound 2, respectively. When the collision target is the irradiation nozzle 12 and the other device (No. 2 in FIG. 8) other than the treatment device 5, the ringing sound at the time of the collision prevention interlock processing and the warning is the ringing sound 3 and the ringing, respectively. Sound 4.

  By providing a plurality of ringing sounds in this way, it is possible to instantaneously convey the situation to the medical staff in the treatment room. The plurality of ringing sounds are generated by a buzzer, a notification device, or the like based on an alarm or warning by the warning alarm generation unit. In the case of remote irradiation treatment, it is possible to sound a sound outside the treatment room and instantly inform the medical staff outside the treatment room.

  With this function, the collision prevention interlock device 1 according to the third embodiment allows the medical staff to grasp the state of the collision prevention interlock state or warning state of the patient 13 and the treatment apparatus 5 earlier than when performing display display or the like. Thus, it is possible to quickly start the countermeasure for the collision prevention interlock state or the warning state.

Embodiment 4 FIG.
In the fourth embodiment, an example will be described in which a medical staff is added to a target on which a collision determination simulation is executed. FIG. 9 is an operation image diagram of the collision prevention interlock device according to Embodiment 4 of the present invention. As shown in FIG. 7, a position sensor is attached to the medical staff 15 in the real space 10, and the position information sig 3 is input to the collision determination simulator 2 in the same manner as the control information sig 1 of the treatment apparatus 5. The collision prevention interlock device 1 according to the fourth embodiment moves the medical staff 3D model 25 created in the virtual space 20 to the same position as the real space 10 so that the medical staff 15 performs the collision prevention interlock process. It becomes possible to target.

  The medical staff 3D model 25 is a three-dimensional model created for each typical body shape of the medical staff 15, for example, and may be stored in the patient 3D model database 6 or the treatment apparatus 3D model database 3, or a dedicated database. May be stored.

  Since the collision prevention interlock device 1 according to the fourth embodiment can use this function to treat the medical staff 15 whose behavior cannot be grasped only by the control information sig1 of the device of the treatment device 5 as a target of the collision prevention interlock processing, Therefore, a safer treatment work is possible than in the first to third embodiments in terms of avoiding collision.

Embodiment 5 FIG.
In the fifth embodiment, an example in which a collision determination simulation is executed using a patient 3D model 23 created for each patient will be described. FIG. 10 is a block diagram of a collision prevention interlock device and a radiation therapy system according to Embodiment 5 of the present invention. As shown in FIG. 10, by using a patient model generation device 7 that captures a patient 13 and creates a patient 3D model 23 for each patient, the shape of the patient 3D model 23 in the virtual space 20 can be made more realistic. The patient 13 can be approached. The patient model generation device 7 includes a patient imaging unit that images the patient 13 and a patient model generation unit that generates a patient 3D model 23 based on data captured by the patient imaging unit. The patient imaging unit of the patient model generation device 7 assumes a device such as a 3D digitizer, but the device is not limited to this, and other devices may be used.

  Since the shape of the patient 3D model 23 on the virtual space 20 is closer to the shape of the patient 13 in the real space 10 by this function, the collision prevention interlock device 1 according to the fifth embodiment includes the collision prevention interlock process. In particular, it is possible to improve the collision prevention determination accuracy between the patient 13 and the treatment device 5.

  It should be noted that the present invention can be combined with each other within the scope of the invention, and each embodiment can be modified or omitted as appropriate.

DESCRIPTION OF SYMBOLS 1 ... Collision prevention interlock device, 2 ... Collision judgment simulator, 3 ... Treatment apparatus 3D model database, 4 ... Treatment apparatus control part, 5 ... Treatment apparatus, 6 ... Patient 3D model database, 7 ... Patient model generation apparatus, 8 ... Radiation therapy system, 13 ... patient, 15 ... medical staff, 20 ... virtual space, 21 ... rotary gantry 3D model (treatment device 3D model), 22, 22a, 22b, 22c ... irradiation nozzle 3D model (treatment device 3D model), 23 ... Patient 3D model, 24 ... Treatment table 3D model (treatment device 3D model), 25 ... Medical staff 3D model, 31 ... Charged particle beam, 52 ... Beam generator, 54 ... Charged particle accelerator, 58, 58a, 58b ... Particle beam irradiation device, 59 ... beam transport system, sig1 ... control information, sig2 ... interlock information, sig3 ... Information.

Claims (8)

A collision prevention interlock device for a radiotherapy device for preventing a collision between the radiotherapy device and a patient when a movable device of the radiotherapy device for performing radiotherapy moves,
While inputting the control information of the movable device from the radiotherapy apparatus, a therapy apparatus control unit that outputs interlock information to the radiotherapy apparatus,
A treatment device 3D model database storing a treatment device 3D model, which is a 3D model of the radiation treatment device, for each treatment room performing the radiation treatment;
A patient 3D model database storing a patient 3D model, which is a 3D model of the patient, the treatment apparatus 3D model and the treatment apparatus 3D model arranged in a virtual space and operating based on the control information; A collision determination simulator for executing a collision determination simulation for determining whether there is a collision with the patient 3D model and a collision between the treatment apparatus 3D models;
The collision determination simulator is
An interlock determination unit that determines a distance between the treatment device 3D model and the patient 3D model and a distance between the treatment device 3D models as a determination target distance, and determines whether the determination target distance is equal to or less than an interlock threshold;
An interlock information generating unit that generates information for stopping the operation of the radiotherapy apparatus when the determination target distance is equal to or less than the interlock threshold, and outputs the information to the therapy apparatus control unit as the interlock information; An anti-collision interlock device for a radiotherapy apparatus, comprising: The collision determination simulator is
A warning determination unit that determines whether the determination target distance is equal to or less than a warning threshold greater than the interlock threshold;
The interlock information generation unit generates information for reducing the moving speed of the movable device when the determination target distance is equal to or less than the warning threshold and greater than the interlock threshold, and this information is used as the treatment device. The collision prevention interlock device for a radiotherapy device according to claim 1, wherein the interlock information is output to the control unit as the interlock information. The collision determination simulator is
A medical staff 3D model of the medical staff in the treatment room is placed in the virtual space;
Based on the position information from the position sensor that detects the position of the medical staff and the control information, the treatment device 3D model and the medical staff 3D model are operated in the virtual space,
The interlock determination unit also determines a distance between the treatment device 3D model and the medical staff 3D model as the determination target distance, and determines whether the determination target distance is equal to or less than the interlock threshold. The collision prevention interlock apparatus of the radiotherapy apparatus of 1. The collision determination simulator is
A warning determination unit that determines whether the determination target distance is equal to or less than a warning threshold greater than the interlock threshold;
The interlock information generation unit generates information for reducing the moving speed of the movable device when the determination target distance is equal to or less than the warning threshold and greater than the interlock threshold, and this information is used as the treatment device. The collision prevention interlock device of the radiotherapy device according to claim 3, wherein the interlock information is output to the control unit as the interlock information. The collision determination simulator is
When the determination target distance is less than or equal to the interlock threshold, an alarm is issued,
5. The collision prevention of the radiotherapy apparatus according to claim 2, further comprising a warning alarm generation unit that issues a warning when the determination target distance is equal to or less than the warning threshold value and greater than the interlock threshold value. Interlock device.   6. The collision prevention interlock device for a radiotherapy apparatus according to claim 5, wherein the warning alarm generation unit issues the warning or the warning by a different ringing sound for each determination target of the collision determination simulation.   The collision of the radiotherapy apparatus according to claim 1, wherein the patient 3D model is generated by a patient model generation apparatus that captures the patient and generates a 3D model for each patient. Prevention interlock device. Beam generator for generating charged particle beam and accelerating to predetermined energy by accelerator, beam transport system for transporting charged particle beam accelerated by said beam generator, and charged particle beam transported by said beam transport system A particle beam treatment apparatus comprising a particle beam irradiation apparatus for irradiating a patient with
The collision preventive interlock device for a radiotherapy apparatus according to any one of claims 1 to 7, which prevents a collision between the particle beam therapy apparatus and a patient when the movable device of the particle beam therapy apparatus moves. A radiation therapy system comprising:

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