KR101654263B1

KR101654263B1 - Real time control system of stereotactic ablative body radiotherapy, stereotactic body radiation therapy and control method of the same

Info

Publication number: KR101654263B1
Application number: KR1020150106620A
Authority: KR
Inventors: 김용배; 안승권
Original assignee: 연세대학교 산학협력단
Priority date: 2015-07-28
Filing date: 2015-07-28
Publication date: 2016-09-05

Abstract

A real-time control system of a stereotactic radiotherapy apparatus and a control method thereof are disclosed. The real-time control system of the stereotactic radiotherapy apparatus of the present invention is a system for real-time control of a stereotactic radiotherapy apparatus, in which, when a radiation is directed toward a target area using a radiation generating apparatus mounted on a robot head moving and rotating by a robot arm, A first X-ray generator provided in the robot head for irradiating a first X-ray toward a reference area having a target area and a relative coordinate; A first X-ray receiver for receiving a first X-ray passing through a reference area; And a controller for analyzing the image data of the first X-ray and the irradiation data of the radiation received by the first X-ray receiver and controlling the robot arm in real time so that the target area is located on the radiation irradiation path.

Description

TECHNICAL FIELD [0001] The present invention relates to a real-time control system for a stereotactic radiotherapy apparatus and a control method thereof,

Field of the Invention [0002] The present invention relates to a real-time control system of a stereotactic radiotherapy apparatus and a control method thereof, and more particularly to a real-time control system of a stereotactic radiotherapy apparatus and a method of controlling the same using radiation generated by a robot head moving and rotating by a robot arm Time control system of a stereotactic radiotherapy apparatus and a control method thereof, in which high-energy radiation exposure to healthy tissue around a target area is prevented during irradiation.

Recently, with the development of radiotherapy techniques, many treatment facilities equipped with various functions are appearing unlike the past. The development of radiation therapy techniques can be summarized in two major ways.

First, it is a method to obtain the radiation distribution that best matches the shape of the tumor. Three-dimensional conformal radiotherapy has been introduced as CT is used in radiotherapy. This is a method to treat the combination of the most appropriate radiation by accurately grasping the distribution of the tumor three-dimensionally.

However, some tumors are not spherical in shape, but are irregularly irregular, and tumors distributed in this shape can not be cured properly with only three dimensional stereolithography. Intensity modulated radiotherapy (IMRT) is a method designed to overcome this problem. Intensity modulated radiotherapy provides a more accurate dose distribution for tumors regardless of the shape of the tumor.

Second, it is a method of accurately delivering radiation to a patient's body according to a precise treatment plan. For this purpose, devices with various functions have been developed to obtain images for position confirmation on the treatment machine. Image-guided radiotherapy, which reduces the error range by precisely locating the treatment position immediately before treatment, , IGRT) have been developed.

In some of the image guiding methods, there is also a method of irradiating radiation reflecting the degree of movement of the tumor when breathing. Tumors in the lungs or liver are moved according to the patient's breathing, which is how to reduce the treatment range and improve the accuracy from the movement of the organ. This is called respiratory-gated radiotherapy, which is currently being used in clinical practice.

As described above, a method for precisely planning radiation therapy in the shape of a tumor and delivering the planned radiation accurately to the patient is the core of the development of radiation therapy. The name of the treatment device differs depending on the difference in function and performance between the manufacturer and the manufacturer. In addition to therapies commonly referred to as linear accelerators, there are tomotherapy, Cyberknife radiosurgery system, Novalis system, TrueBeam, Vero SBRT system, and so on.

The CyberKnife is a highly precise stereotactic radiotherapy device that is equipped with a small radiation generator on a robot arm with six degrees of freedom and focuses the radiation on the tumor in various directions.

The CyberKnife has the advantage of using the real - time image guidance technology without the invasive fixing mechanism to track the coordinates of the body skeleton image and the immobilized needle inserted into the body and to treat it precisely. Unlike gamma knife, which can treat only brain tumors, it can be used to treat cancer of the whole body, and it can be divided into several treatments instead of once.

Korean Patent Registration No. 750279 discloses an apparatus and method for compensating respiration and patient movement during treatment, and Patent Publication No. 750279 discloses an apparatus and method for compensating for respiration and patient movement in a target organ 151 imaged by a stereotaxic x- The inner markers 152 on the target organ 151 are positioned between the first x-ray source 160 and the second x-ray source 160, which are positioned at an angle relative to each other, similar to the diagnostic x- (Not shown). The x-ray source can generate first and second diagnostic x-ray beams 164 and 166 that pass through the target organ 151 near the internal markers 152, Respectively, and these receivers receive the x-ray beam and generate an electrical signal corresponding to the received x-ray. The orthogonal x-ray device is characterized in that the precise location of the internal marker 152 is determined by analyzing the generated image.

However, the device for compensating respiration and patient movement during treatment of the patent publication No. 750279 includes a first detection device (internal marker, imaging device) that periodically generates position data relating to an internal target area of the patient's body In addition, a second sensing device is required which continuously generates position data about one or more external sensors for the patient's body.

The second detection device includes one or more infrared markers adaptively attached to a patient's body and an infrared imaging device for imaging the infrared markers. The processor receives the periodic position data related to the internal target area and the continuous position data from the external sensor, and based on the position data obtained from the external sensors, the x-ray is directed to the position of the patient's target area, By creating a correspondence between the locations of the external sensors, the movement of the patient during treatment is compensated.

However, in Patent Publication No. 750279, only the second detecting device which obtains the position data of the internal marker by the first detecting device intermittently and obtains the position data of the external marker while the radiation is irradiated, Since the radiation treatment is performed by calculating and correcting the position of the target area and the actual passage area irradiated with the actual high energy radiation, there is a problem that an error necessarily occurs.

Although the processor calculates the target area based on the data obtained by analyzing the position data of the first detection device and the second detection device in advance, the data obtained by analyzing the position data of the first detection device and the second detection device can be used for the radiation therapy Even though the whole patient gets the data in a stable state and continuously upgrades while healing, the patient's breathing volume and pattern may suddenly change in the case of intense tension in actual radiation therapy, and unexpected coughing and repulsive movements in the actual treatment, The conventional method of intermittently acquiring static images is a method in which the relative position of the target is different from the previously analyzed data when the patient moves while acquiring the data, Resulting in serious consequences of radiation exposure.

When the Cyberknife radiosurgery system is used, the error of the target area is clinically observed to be about 1 mm, and the occurrence of errors in the target area is the most important factor that increases the irradiation area of high energy radiation. Increasing the irradiation area of the energy radiation increases the amount of healthy tissue exposed to high energy radiation and causes the complication due to treatment side effects or radiation exposure.

(0001) Korean Patent Publication No. 750279 (registered on August 8, 2007)

It is an object of the present invention to provide a robot head which moves and rotates by means of a robot arm and which uses a radiation generating device to irradiate the target area with radiation, Time control system of a stereotactic radiotherapy apparatus and a method of controlling the stereotactic radiotherapy apparatus in which high-energy radiation exposure to healthy tissue around a target area is prevented by precisely obtaining positional data of a target area by tracking correction.

According to the present invention, said object is achieved by a method of irradiating a target region with a radiation beam, which is mounted on a robot head moving and rotating by a robot arm, A first X-ray generator provided in the robot head for irradiating a first X-ray toward a reference region having the target region and relative coordinates; A first X-ray receiver for receiving the first X-ray passing through the reference area; And a control unit for analyzing the image data of the first X-ray received by the first X-ray receiver and the radiation irradiation path data and controlling the robot arm in real time so that the target region is positioned on the radiation irradiation path Time control system of the stereotactic radiotherapy apparatus.

The first X-ray receiver includes a receiving surface that is symmetrical with the traveling path of the robot head with respect to the couch on which the patient lies so that the first X-ray passing through the reference area is received even if the robot head moves and rotates Lt; / RTI >

A second X-ray generator for irradiating a second X-ray toward the reference area; A second X-ray receiver for receiving the second X-ray passing through the reference area; A third X-ray generator for irradiating a third X-ray toward the reference area; And a third X-ray receiver for receiving the third X-ray that has passed through the reference area, wherein the control unit is further configured to control the image processing unit to generate image data of the second X- And analyzing the image data of the third X-ray received by the receiver to generate position data of the reference area.

The first X-ray receiver, the second X-ray receiver, and the third X-ray receiver may be integrally formed to share the receiving surface.

The first X-ray receiver may be configured to be movable on the opposite side of the robot head with respect to the couch on which the patient lies so that the first X-ray passing through the reference region may be received even if the robot head moves and rotates have.

Wherein the first X-ray generator is rotatably installed at an end of the robot head about the radiation generator, and the control unit controls the rotation angle of the first X-ray generator while controlling the rotation of the first X- Dimensional position data of the reference region in real time by analyzing the change of the image data of the first X-ray according to the change.

According to the present invention, said object is achieved by an image processing method comprising the steps of: processing a three-dimensional image of the inside of a body around a target area through a computer tomography; A target setting step of generating reference position data of a reference area having the target area and relative coordinates based on a contrast difference or an internal marker of the image in the three-dimensional image; The control unit transmits the image data of the second X-ray irradiated from the second X-ray generator to the second X-ray receiver and the image data of the third X-ray irradiated by the third X-ray generator and received by the third X- A pre-compensation step of analyzing the positional data with the position data to generate the pre-position data of the reference area, and controlling the robot arm such that the target area is positioned on the radiation irradiation path of the radiation generating apparatus through the pre-position data; And the controller analyzes the image data of the first X-ray irradiated from the first X-ray generator and received by the first X-ray receiver and the radiation irradiation path data of the radiation generating apparatus while the radiation generating apparatus irradiates the radiation, And a real-time compensation step of generating the real-time position data of the reference area and controlling the robot arm such that the target area is located on the radiation irradiation path through the real-time position data, And the robot arm is controlled in real time so that the target region is located on the radiation irradiation path, while controlling the robot arm in real time.

In the target setting step, a single line map in a single direction is formed on a curved surface portion having a difference in light and darkness of the skull or frame in the three-dimensional image, and the line map is selected as the reference region. have.

In the target setting step, a rectangular point map may be formed on a plurality of protrusions having a light and dark difference of the spine in the three-dimensional image, and the point map may be selected as the reference area.

In the real-time compensation step, the controller controls the rotation of the first X-ray generator around the radiation generator, while changing the image data of the first X-ray according to the rotation angle change of the first X- And generate three-dimensional position data of the reference region in real time.

According to the present invention, the controller analyzes the image data of the first X-ray and the radiation path data of the first X-ray received by the first X-ray receiver and controls the robot arm in real time so that the target area is positioned on the radiation irradiation path, When irradiating the target region with the radiation generating apparatus mounted on the robot head moved and rotated by the robot head, it is possible to correct the position of the target region by correcting by direct tracking of the target region or the adjacent anatomical structure without referring to the outside- It is possible to provide a real-time control system of a stereotactic radiotherapy apparatus and a control method thereof, in which accurate data is obtained, and thus high-energy radiation exposure to healthy tissue around the target area is prevented.

1 is a perspective view of a real-time control system of a stereotactic radiotherapy apparatus according to an embodiment of the present invention.
2 is a partial perspective view of a real-time control system of the stereotactic radiotherapy apparatus of FIG.
Figure 3 is a cross-sectional view of a real-time control system of the stereotactic radiotherapy apparatus of Figure 1;
4 is a cross-sectional view of a real-time control system of a stereotactic radiotherapy apparatus according to another embodiment of the present invention.
5 is a flowchart showing a control method of a real-time control system of a stereotactic radiotherapy apparatus of the present invention.
FIGS. 6 and 7 are diagrams showing a state in which a line map is formed in the anatomical structure of the tumor in the operation window of the cyber knife. FIG.
FIG. 8 is a diagram showing a point map formed in the anatomical structure of the tumor in the operation window of the cyber knife. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, the well-known functions or constructions are not described in order to simplify the gist of the present invention.

A real-time control system and a control method of a stereotactic radiotherapy apparatus of the present invention are characterized in that when a radiation generating apparatus mounted on a robot head moving and rotating by a robot arm is used to irradiate radiation toward a target area, By precisely obtaining the positional data of the target region by correcting by direct tracking of the target region or the adjacent anatomical structure without reference, high-energy radiation exposure to healthy tissue around the target region is prevented.

FIG. 1 is a perspective view of a real-time control system of a stereotactic radiotherapy apparatus according to an embodiment of the present invention, FIG. 2 is a partial perspective view of a real-time control system of the stereotactic radiotherapy apparatus of FIG. 1, FIG. 4 is a cross-sectional view of a real-time control system of a stereotactic radiotherapy apparatus according to another embodiment of the present invention, FIG. 5 is a block diagram of a real-time control system of the stereotactic radiotherapy apparatus of the present invention FIGS. 6 and 7 are diagrams showing a state in which a line map is formed in the anatomical structure of the tumor in the operation window of the cyber knife, FIG. 8 is a diagram showing a state in which the proximity of the tumor Figure showing a point map formed on an anatomical structure.

1, a real-time control system 1 of a stereotactic radiotherapy apparatus according to an embodiment of the present invention includes a robot arm A, a robot arm A, Ray generator 10, the first X-ray generator 10, the first X-ray generator 10, the second X-ray generator 10, and the second X- The X-ray receiver 20, the control unit 30, the second X-ray generator 40, the second X-ray receiver 50, the third X-ray generator 60 and the third X- .

3, the robot head L equipped with the radiation generating apparatus is moved and moved along a spherical work space W connecting a plurality of spatial nodes by the robot arm A. And irradiates the target region T while rotating. With reference to USP 8655429, a plurality of spatial nodes and a spherical workspace W connecting them are formed around a target region T to which radiation is irradiated.

The cyber knife is an apparatus dedicated to stereotactic radiotherapy, which is highly precise and has a high degree of precision, in which a compact radiation generator is mounted on a robot arm (A) having six degrees of freedom to intensively irradiate a tumor region in various directions. The arm A irradiates the target region T with the radiation while moving and rotating along a spherical work space W connecting a plurality of spatial nodes.

Korean Patent Registration No. 750279 filed by the same applicant as U.S.P. No. 8655429 discloses an apparatus and method for compensating respiration and patient movement during radiation therapy through a cyber knife.

Patent Publication No. 750279 relates to an inner marker attached to a target organ that is imaged by a stereotactic X-ray apparatus, wherein the inner markers on the target organ are positioned at a predetermined angle relative to each other similar to the diagnostic X- And is imaged by an X-ray source and a second X-ray source.

The X-ray source may generate first and second diagnostic X-ray beams that pass through the target organ near the internal marker, which are received by the first and second X-ray receivers, respectively, Receives the beam, and generates an electric signal corresponding to the received X-ray. The stereotactic X-ray apparatus is characterized in that the precise position of the internal marker is determined by analyzing the generated image.

The second detection device includes one or more infrared markers adaptively attached to a patient's body and an infrared imaging device for imaging the infrared markers. The processor receives the periodic position data related to the internal target area and the continuous position data from the external sensor, and based on the position data obtained from the external sensors, the X-ray is directed to the position of the target area of the patient, By creating a correspondence between the locations of the external sensors, the movement of the patient during treatment is compensated.

However, in Patent Publication No. 750279, only the second detecting device which obtains the accurate position data of the internal marker by the first detecting device intermittently and obtains the positional data of the external marker while the radiation is irradiated, There is a problem in that an error necessarily occurs in the target region where the irradiation is planned and the actual passage region where the actual high energy radiation is irradiated, because the radiation treatment is performed by calculating and correcting the position of the target region through the target region.

1 and 3, the first X-ray generator 10 and the first X-ray receiver 20 are arranged in a reference region (not shown) in the direction in which the radiation is irradiated from the robot head L, To obtain image data of the first X-ray X1 in real time, and is operated together with the robot head L at the time of radiotherapy.

The reference area is an area having a target area and relative coordinates, and is set in a part where the contrast difference can be confirmed in the part observed with the target area in the X-ray image data, and the control part tracks the reference area The positional data of the target area is calculated to irradiate the target area with the radiation. Of course, when the tumor shows a difference in contrast in the X-ray image data, the relative coordinates of the target region and the reference region may be zero by setting the tumor as the reference region.

For reference, the cyber knife provides a device specialized in setting reference position data of a reference region called MultiPlan System in a target setting step (S120) which will be described later. Information on the MultiPlan System can be found on ACCURAY's online and offline publications, so a detailed explanation will be omitted.

As shown in FIGS. 6 to 8, the reference region may be formed by forming a line map or a point map at a site where a difference in contrast between a vertebra and a skull near the tumor can be confirmed using a MultiPlan System . Of course, if the difference in contrast between the tumor itself can be identified, the tumor itself can be traced.

The image data of the first X-ray X1 emitted from the first X-ray generator 10 and transmitted through the reference area and received by the first X-ray receiver 20 are transmitted to different objects such as organs and bones in the body And the difference in the density of the object such as normal tissues and cancer cells, the first X-ray image shows the difference in contrast between the organs, bone, normal tissue and cancer cells visually.

The first X-ray generator 10, the first X-ray receiver 20, the second X-ray generator 40, the second X-ray receiver 50, the third X-ray generator 60, The technical principle of obtaining the image data of the inside of the body through the body 70 is known technology as described in Korean Patent Registration No. 750279 and USP 8655429, and a detailed description thereof will be omitted below .

As shown in Figs. 1 and 2, the first X-ray generator 10 is installed at the end of the robot head L. [ Preferably, the end of the robot head L is provided with a multileaf collimator (MLC) for irradiating various types of radiation, and the first X-ray generator 10 is disposed around the axis of the collimator C And are installed with a predetermined radial spacing.

The first X-ray generator 10 is installed in a state where the first X-ray generator 10 is spaced apart from the collimator C with a certain radius around the axis of the collimator C so that the robot head L is moved to the robot arm A The relative distance and relative angle between the collimator C and the first X-ray generator 10 are maintained.

The irradiation path P of the radiation irradiated from the radiation generating device of the robot head L and the first X-ray generator 10, the second X-ray generator 40 and the third X-ray generator The X-ray irradiation paths X1, X2, and X3 irradiated from the X-ray source 60 are shown as straight lines toward the target region T. This shows the center line of the radiation and X-ray irradiation path for easy understanding, It is to be understood that the radiation radiated from the first X-ray generator C and the X-rays irradiated from the first X-ray generator 10, the second X-ray generator 40 and the third X-ray generator 60 spread out at a certain angle.

3, the radiation irradiated from the robot head L and the first X-ray X1 emitted from the first X-ray generator 10 are transmitted through the target region T together with the reference region.

The reference region is mapped to an internal marker inserted in the body around a tumor or a portion where a difference in contrast between a tumor and a normal tissue is observed in a three-dimensional image obtained by a computer tomography in a target setting step (S120) .

The control unit 30 controls the robot arm A so that the irradiation path P of the radiation irradiated from the robot head L passes through the target area T even if the body moves by breathing or motion. A detailed description thereof will be given later with a description of the control method (S100) of the real-time control system of the stereotactic radiotherapy apparatus.

The control unit 30 analyzes the 2D image data of the first X-ray X1 received by the first X-ray receiver 20 and the radiation irradiation path P data emitted from the collimator C in real time during the radiation treatment The target area T and the radiation irradiation path P are analyzed so that the target area T is located on the irradiation path P when the target area T and the irradiation path P are not coincident with each other The robot arm A is controlled in real time.

More specifically, the first X-ray generator 10 is installed with a certain radius around the axis of the collimator C, so that even if the robot head L moves and rotates by the robot arm A during the radiation treatment, The controller 30 controls the first X-ray generator 10 so that the relative distance between the first X-ray generator 10 and the first X-ray generator 10 and the relative angle between the vector component of the distance from the collimator C, A robot for matching the target region T with the irradiation path P with the vector component of the distance of the target region T deviated from the irradiation path P as the main variable in the image data of the X- The moving distance and rotation angle of the arm A are calculated.

That is, the real-time control system (1) of the stereotactic radiotherapy apparatus of the present invention deviates from the conventional art in which the positional data of the target area is predicted by calculation based on the positional data of the external marker, 1 X-ray generator 10 is installed to directly track the position data of the target region T through the image data of the first X-ray X1 obtained in real time, Thereby solving the error problem.

Referring to FIG. 2, the first X-ray generator 10 may be rotatably installed at the end of the robot head L about the collimator C.

The first X-ray generator 10 is provided at the end of the robot head L, that is, at the tip end of the robot head L, with the collimator C as the center, And a rotation section R that rotates around the collimator C and the rotation angle of the rotation section R can be adjusted by the control of the control section 30. [

Although not shown in detail, a return gear is formed along the circumferential direction on the inner circumferential surface of the rotation part R, and a pinion gear which is rotated by a motor and engages with the return gear is provided inside the rotation part R, .

2, the first X-ray generator 10 is arranged so that the irradiation angle of the first X-ray X1 is adjusted in accordance with the distance from the target area T to the collimator C, 1 X-ray generator 10 in the direction perpendicular to the direction in which the X-ray generator 10 is installed.

The relative angle between the collimator C and the first X-ray generator 10 is automatically adjusted by the control unit when the distance from the target area T, that is, the radius of the spherical work space W, is set.

When the first X-ray generator 10 is rotatably mounted on the end of the robot head L with the collimator C as the center, even if the robot arm A moves and rotates, the collimator C and the first X- The relative angle between the collimator C and the first X-ray generator 10 changes while the relative distance between the generators 10 is maintained.

3, the robot head L moves along the spherical work space W and irradiates the target region T with radiation through the radiation generator in a state where the robot head L is stopped for each predetermined space node , The control unit 30 controls the rotation of the first X-ray generator 10 for each spatial node while changing the 2D image data of the first X-ray X1 according to the rotation angle change of the first X- The 3D position data of the target area T can be generated in real time.

1 and 3, the first X-ray receiver 20 is configured to continuously receive the first X-ray X1 passing through the target area T even if the robot head L moves and rotates And a receiving surface F which is symmetrical with the moving path of the robot head L on the basis of the couch B on which the patient lies.

More specifically, the first X-ray receiver 20 includes a plurality of conventional plate-type X-ray receivers (see U.S. Patent No. 6,865,429), and forms a shape in which the sides are connected to each other around the couch B And a bucket of a polygonal or curved surface that accommodates the cowl B as a whole.

As shown in FIGS. 1 and 3, the first X-ray receiver 20 has eight X-ray receiving sections connected in an octagonal shape on a plan view and three stages in a height direction. When a total of the X-ray receiving units on the floor are added, a total of 25 X-ray receiving units are formed in a combined form. Of course, the number and shape of the X-ray receiving portions can be combined as various polygons, curved surfaces, and singular numbers.

3, the robot head L equipped with the radiation generating apparatus moves along the spherical work space W and irradiates the target region T with radiation in a state where it is stopped for each predetermined space node The first X-ray X1 passing through the target area T is guided to the first X-ray receiver 20 even if the robot head L moves and rotates, .

1 and 3, the second X-ray generator 40, the second X-ray receiver 50, the third X-ray generator 60, and the third X- T and the second X-ray image data and the third X-ray image data in the body including the first X-ray source, the second X-ray source, and the first X-ray source disclosed in U.S. Patent No. 8655429 X-ray receiver and a second X-ray receiver.

The second X-ray generator 40 irradiates the second X-ray X2 toward the reference area and the second X-ray receiver 50 receives the second X-ray X2 that has passed the reference area, The X-ray generator 60 irradiates the third X-ray X3 toward the reference area and the third X-ray receiver 70 receives the third X-ray X3 that has passed through the reference area. The control unit 30 analyzes the image data of the second X-ray X2 received by the second X-ray receiver 50 and the image data of the third X-ray X3 received by the third X- Thereby generating the pre-position data of the reference area.

The controller 30 controls the robot arm A so that the target area T is positioned on the irradiation path P of the robot head L by the pre-position data of the reference area in the pre- Respectively. A detailed description thereof will be given later with a description of the control method (S100) of the real-time control system of the stereotactic radiotherapy apparatus.

3, in the real-time control system 1 of the stereotactic radiotherapy apparatus according to the embodiment of the present invention, the first X-ray receiver 20, the second X-ray receiver 50 and the third X Line receiver 70 are integrally formed to share the receiving surface F. [

As described above, the first X-ray receiver 20 is configured such that the first X-ray receiver 20 is positioned on the basis of the couch B on which the patient lies so that the first X-ray X1 passing through the reference area continues to be received even if the robot head L moves and rotates And a receiving surface F symmetrical with the moving path of the robot head L. The receiving surface F has a polygonal or curved bucket shape accommodating the cowl B as a whole.

Accordingly, the X-ray receiving unit 2n disposed at a position symmetrical to the second X-ray generator 40 with respect to the target area T among the plurality of X-ray receiving units of the first X- Ray generator 60 and the third X-ray generator 60, which are integrally formed with the X-ray receiver 50 and share the receiving surface F, and are positioned on the target area T among the plurality of X-ray receiving units of the first X- The X-ray receiving unit 2n + 1 disposed symmetrically is formed integrally with the third X-ray receiver 70 to share the receiving surface F. [

4, the first X-ray receiver 20 includes a first X-ray X1 passing through the target area T even if the robot head L moves and rotates, May be formed on the opposite side of the robot head L on the basis of the couch B on which the patient lies down to receive the cuff B.

That is, in another embodiment of the present invention, the first X-ray receiver 20 is in the form of a plate or a curved surface and is moved by the moving means (not shown) on the opposite side of the robot head L with respect to the couch B Thereby receiving the first X-ray X1.

Although not shown in detail, the moving means for moving the first X-ray receiver 20 may be a robot arm.

As an example, the robot arm that moves the first X-ray receiver 20 may have three degrees of freedom. That is, a first arm that is rotated (first degree of freedom) around the cowl (B), a second arm that moves (second degree of freedom) along the longitudinal direction of the first arm, Third degree of freedom). &Lt; / RTI > The first X-ray receiver 20 is coupled to the third arm and receives the first X-ray X1 while being moved by the robot arm A.

5, the control method S100 of the real-time control system of the stereotactic radiotherapy apparatus of the present invention includes an image processing step S110, a target setting step S120, a pre-compensation step S130, Step S140.

The image processing step S110 is a step of processing a three-dimensional image of the inside of the body around the target area T through a computer tomography, Data is obtained.

The three-dimensional data centered on the target area T is visually represented on a monitor as a DRR (Digitally Reconstructed Radiographs) image. The medical staff confirms the morphology and position of the tumor through DRR images, and the method of tracking the reference area in the radiotherapy according to the shape and location of the tumor is selected.

The target setting step S120 is a step of generating reference position data of a reference region having a target region T and a relative coordinate based on a contrast difference of an image or an internal marker in a three-dimensional image, It provides six target tracking algorithms that can be selected according to the location.

In the target setting step S120, the medical staff selects one of six target trekking algorithms according to the type and position of the tumor identified in the three-dimensional image.

The target trekking algorithms include 6D Skull Tracking System, Fiducial Tracking System, Xsight Spine Tracking System, Xsight Spine Prone Tracking System, Xsight Lung Tracking System and Lung Optimized Treatment.

Each of the target trekking algorithms will be briefly described below.

The 6D Skull Tracking System is a tracking algorithm that traces the reference region using the anatomical features of the bone when treating the skull region. It traces the reference region using the pixel intensity and brightness difference between the DRR image and the X- Lt; / RTI >

The Fiducial Tracking System tracks the reference area using an internal marker (Fiducial). The Fiducial Tracking System is only applicable to the areas where internal markers can be planted. At least three internal markers are required for 6D tracking to correct both translational and rotational directions.

The Xsight Spine Tracking System tracks the bone structure of the cervical, thoracic, lumbar, and sacral spines as a reference area without any internal markers when the patient is lying down.

The Xsight Spine Prone Tracking System is a specialized algorithm for patients who receive treatment for the vertebrae in a lying down posture and provides a tracking mode that combines Xsight Spine Tracking algorithm and Synchrony Respiratory Tracking system to compensate for real- do. The patient is first aligned by Xsight Spine Tracking, and motion during treatment is corrected through Synchrony.

The Synchrony Respiratory Tracking system corresponds to the second detection device of Patent Publication No. 750279 and continuously generates position data regarding one or more external sensors for the patient's body so that the position data obtained from the external sensors A correspondence between the internal reference region and the position of the external sensors is generated so that the X-ray is directed to the position of the reference region of the patient, thereby compensating the movement of the patient during treatment.

The Xsight Lung Tracking System uses an image intensity difference between the treatment site and its surrounding background to have an algorithm that tracks directly the tumor in the lung without an internal marker. The patient is first aligned by Xsight Spine Tracking and tracks the movement of the reference region through the Xsight Lung Tracking System.

Lung Optimized Treatment consists of a specialized algorithm for enabling Lung SBRT without internal markers, especially when the target area (T) is clearly visible and traceable to X-ray image data.

For reference, the cyber knife provides a device specialized in setting the reference position data of the reference area called MultiPlan System in the target setting step (S120). Information on the MultiPlan System can be found on ACCURAY's online and offline publications, so a detailed explanation will be omitted.

The reference area is obtained by using a MultiPlan System to form a mesh at the vertebral area near the tumor. Of course, if the difference in contrast between the tumor itself can be identified, the tumor itself can be trekked.

As described above, the 6D Skull Tracking System utilizes the anatomical features of the bone, the Xsight Spine Tracking System and the Xsight Spine Prone Tracking System have an algorithm for forming a spine mesh, and the Fiducial Tracking System forms a mesh And the Xsight Lung Tracking System and Lung Optimized Treatment can track the tumor itself.

After capturing a 2D or 3D image of a body using an X-ray, the software and hardware for the treatment applied to the treatment by distinguishing and tracking the portion having a difference in contrast between the 2D or 3D images are used in the medical field such as the MultiPlan System The detailed description will be omitted because it is a known technology for devices incorporating advanced technologies such as infrared radiation therapy devices.

However, the 6D Skull Tracking System consists of an algorithm that tracks the reference region using the anatomical features of the entire skull, and the Xsight Spine Tracking System and the Xsight Spine Prone Tracking System consist of an algorithm that tracks the reference region using the anatomical features of the vertebrae , There is a problem that the operation speed of the algorithm is slow.

Lung Optimized Treatment can not use Synchrony Respiratory Tracking when using a 0 view of a tumor close to the rib, so the spine is selected as the reference region and the reference region is tracked. However, in the case of the tumor close to the rib, The conventional method of selecting the spinal region as the reference region has a problem that the normal tissue near the tumor is exposed to high energy radiation.

A control method (SlOO) of a real-time control system of a stereotactic radiotherapy apparatus of the present invention is a method of controlling a real-time control system (S100) of a stereotactic radiotherapy apparatus of the present invention, in a target setting step (S120) a line map is formed, and the line map is selected as a reference area, thereby solving the problem as described above.

That is, as shown in FIG. 6, in the 6D Skull Tracking System, when a single long line map in one direction is formed only in the curved portion having a characteristic difference in contrast between the skulls, .

7, in the case of a tumor close to the ribs in the Lung Optimized Treatment, when a line map is formed along the longitudinal direction of the frame in the vicinity of the tumor rather than the spine, the reference region and the target region (T ) The relative change of relative coordinates by respiration is minimized, so that it is possible to perform the precise treatment that was impossible with conventional Lung Optimized Treatment in the case of a tumor close to the ribs.

In addition, as shown in FIG. 8, if a rectangular point map is formed on a plurality of protrusions having a difference in light and shade between spines in the Xsight Spine Tracking System and the Xsight Spine Prone Tracking System, So that the radiation treatment can be performed quickly.

The pre-compensation step S130 analyzes the image data of the second X-ray and the third X-ray X3 together with the reference position data so that the target area T is located on the irradiation path P of the robot head L Controlling the robot arm A such that the control unit 30 controls the robot arm A such that the second X-ray generator 40, the second X-ray receiver 50, the third X-ray generator 60, (70).

In the precompensating step S130, the controller 30 controls the image data of the second X-ray X2 irradiated by the second X-ray generator 40 and received by the second X-ray receiver 50, The image data of the third X-ray X3 irradiated by the generator 60 and received by the third X-ray receiver 70 is analyzed together with the reference position data to generate the pre-position data of the reference area, The robot arm A and the couch B are moved and rotated such that the target area T is positioned on the irradiation path P of the robot head L through the robot arm A. [

The real-time compensation step S140 is a step of controlling the robot arm A such that the target region T is positioned on the irradiation path P while simultaneously irradiating the target region T with high energy radiation, The first X-ray generator 10 and the first X-ray receiver 20 are operated.

That is, the control unit 30 irradiates the first X-ray receiver 20 and the first X-ray receiver 20 while the radiation generating apparatus mounted on the robot head L irradiates the radiation in the real-time compensation step S140, (P) data of the robot head (L) by generating image data of the first X-ray (X1) received in the target area (T) and generating the real-time position data of the reference area by analyzing the image data of the first X- The robot arm A is controlled to be positioned on the irradiation path P.

As described above, the first X-ray generator 10 is installed with a predetermined radius around the axis of the collimator C so that the robot head L is moved by the robot arm A during the radiation treatment The controller 30 controls the first X-ray generator 10 so that the distance between the collimator C and the first X-ray generator 10 and the relative angle between the collimator C and the first X- (T) and the radiation irradiation path (P) with the vector component of the distance of the target region (T) deviated from the irradiation path (P) as the main variable in the image data of the first X- The moving distance and the rotation angle of the matching robot arm A are calculated.

Therefore, the real-time control system (1) of the stereotactic radiotherapy apparatus of the present invention departs from the conventional technique of predicting the positional data of the target area by calculation based on the positional data of the external marker, 1 X-ray generator 10 to directly track the positional data of the reference region through the image data of the first X-ray X1 obtained in real time, thereby obtaining the target region T by indirect tracking, which is a problem of the conventional cyber knife Thereby solving the error problem.

The pre-compensation step (S130) and the real-time compensation step (S140) are performed alternately.

As described above, in the real-time control system 1 of the stereotactic radiotherapy apparatus of the present invention, the robot head L has a spherical work space W (FIG. 1) connecting a plurality of spatial nodes by the robot arm A (Step S130) and a real-time compensation step S140 (step S130) whenever the robot head L moves and rotates toward the plurality of spatial nodes, The robot arm L is moved such that the target region T is positioned on the irradiation path P in the pre-compensation step S130 even if the reference region moves while the robot head L moves the spatial node A) and then starts the real-time compensation step S140, the high-energy radiation in the real-time compensation step S140 is prevented from penetrating the normal tissue.

Meanwhile, in the real-time compensating step S140, the controller 30 controls the rotation of the first X-ray generator 10 with the collimator C as the center, while changing the rotation angle of the first X- The three-dimensional position data of the reference region can be generated in real time by analyzing the change of the image data of the first X-ray X1.

The three-dimensional position data of the reference region generated in real time in the real-time compensation step S140 is stored in the three-dimensional dictionary position data generated by the second X-ray image data and the third X-ray image data in the pre- And the position data of the reference region is accurately detected through the three-dimensional position data of the reference region generated in real time, thereby making it possible to perform more accurate treatment in the real-time compensation step (S140).

The control unit 30 analyzes the image data of the first X-ray X1 received by the first X-ray receiver 20 and the data of the irradiation path P so that the target region T is irradiated with radiation The robot arm A is controlled in real time so as to be positioned on the path P so that the target region T is moved to the target position T by using the radiation generating apparatus mounted on the robot head L which moves and rotates by the robot arm A. It is possible to precisely obtain the positional data of the target region T by correcting by direct tracking of the target region T without referring to the external body movement when irradiating the target region T with respect to the target region T, It is possible to provide a real-time control system (1) and a control method (S100) of a stereotactic radiotherapy apparatus in which high-energy radiation exposure is prevented.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is obvious to those who have. Accordingly, it should be understood that such modifications or alterations should not be understood individually from the technical spirit and viewpoint of the present invention, and that modified embodiments fall within the scope of the claims of the present invention.

1: Real-time control system
10: first X-ray generator A: robot arm
20: First X-ray receiver L: Robot head
30: Control unit C: Collimator
40: second X-ray generator R:
50: second X-ray receiver T: target area
60: third X-ray generator P: radiation irradiation path
70: Third X-ray receiver B: Couch
X1: first X-ray W: workspace
X2: second X-ray
X3: third X-ray
F: receiving surface
S100: Control method of real-time control system
S110: Image processing step
S120: target setting step
S130: Pre-compensation step
S140: Real-time compensation step

Claims

There is provided a control system for positioning a target region on a radiation irradiation path even when the body moves when irradiating the target region with a radiation generator mounted on a robot head moving and rotating by a robot arm,
A first X-ray generator provided in the robot head for irradiating a first X-ray toward a reference region having a target region and a relative coordinate;
A first X-ray receiver for receiving the first X-ray passing through the reference area; And
And a controller for analyzing the image data of the first X-ray received by the first X-ray receiver and radiation irradiation path data and controlling the robot arm in real time so that the target region is located on the radiation irradiation path Time control system of stereotactic radiotherapy apparatus.

The method according to claim 1,
Wherein the first X-ray receiver has a receiving surface that is symmetrical with the traveling path of the robot head with respect to a couch where the patient lies to receive the first X-ray that has passed through the reference region even if the robot head moves and rotates Wherein the real-time control system of the stereotactic radiotherapy apparatus comprises:

3. The method of claim 2,
A second X-ray generator for irradiating a second X-ray toward the reference area;
A second X-ray receiver for receiving the second X-ray passing through the reference area;
A third X-ray generator for irradiating a third X-ray toward the reference area; And
And a third X-ray receiver for receiving the third X-ray passing through the reference area,
The control unit analyzes the image data of the second X-ray received by the second X-ray receiver and the image data of the third X-ray received by the third X-ray receiver to generate position data of the reference area A real - time control system for a stereotactic radiotherapy device characterized by.

The method of claim 3,
Wherein the first X-ray receiver, the second X-ray receiver, and the third X-ray receiver are integrally formed to share the receiving surface.

The method according to claim 1,
The first X-ray receiver is formed to be movable on the opposite side of the robot head with respect to the couch on which the patient lies so that the first X-ray passing through the reference region is received even if the robot head moves and rotates Time control system of stereotactic radiotherapy apparatus.

The method according to claim 1,
Wherein the first X-ray generator is rotatably installed at an end of the robot head around the radiation generator,
The controller controls the rotation of the first X-ray generator and analyzes the change of the image data of the first X-ray according to the rotation angle change of the first X-ray generator, Wherein the real-time control system of the stereotactic radiotherapy apparatus comprises:

An image processing step of processing the inside of the body into a three-dimensional image around a target area through a computed tomography;
A target setting step of generating reference position data of a reference area having the target area and relative coordinates based on a contrast difference or an internal marker of the image in the three-dimensional image;
The control unit transmits the image data of the second X-ray irradiated from the second X-ray generator to the second X-ray receiver and the image data of the third X-ray irradiated by the third X-ray generator and received by the third X- A pre-compensation step of analyzing the positional data with the position data to generate the pre-position data of the reference area, and controlling the robot arm such that the target area is positioned on the radiation irradiation path of the radiation generating apparatus through the pre-position data; And
The control unit analyzes the image data of the first X-ray irradiated from the first X-ray generator and received by the first X-ray receiver and the radiation irradiation path data of the radiation generating apparatus while the radiation generating apparatus is irradiating the radiation, And real-time compensation step of generating the real-time position data of the region and controlling the robot arm such that the target region is located on the radiation irradiation path through the real-
Wherein the robot arm is controlled in real time so that the target region is positioned on the radiation irradiation path while alternating between the pre-compensation step and the real-time compensation step.

8. The method of claim 7,
In the target setting step, a single long line map in one direction is formed on a curved surface portion having a difference in contrast between the skulls or frames in the three-dimensional image, and the line map is selected as the reference region Wherein the control system is a real-time control system of a stereotactic radiotherapy apparatus.

8. The method of claim 7,
Wherein in the target setting step, a point map in the form of a rectangle is formed on a plurality of protrusions having a light and dark difference of the vertebrae in the three-dimensional image, and the point map is selected as the reference region A method for controlling a real - time control system of an infrared radiotherapy apparatus.

8. The method of claim 7,
In the real-time compensation step, the controller controls the rotation of the first X-ray generator around the radiation generator, while changing the image data of the first X-ray according to the rotation angle change of the first X- And generating three-dimensional position data of the reference region in real time by analyzing the three-dimensional position data of the reference region.