KR102568269B1 - System for monitoring patient motion in radiation therapy based on inertial measurement unit sensor - Google Patents

Abstract

The present invention relates to a patient movement monitoring system during radiation therapy based on an inertial measurement unit sensor, comprising: an inertial measurement unit (IMU) sensor attached to a patient's body; a controller for outputting a corrected motion data signal after removing a final disturbance data signal generated according to a disturbance signal estimation process from the motion data signal of the patient input from the inertial measurement device sensor; and a display unit for displaying the corrected motion data signal output from the control unit in a visually recognizable form, thereby eliminating and correcting the disturbance signal according to the influence of the magnetic field in the radiation treatment environment to more accurately grasp the patient's motion. let it be

Description

Patient movement monitoring system during radiation therapy based on inertial measurement device sensor

The present invention relates to a system for monitoring patient movement during radiation therapy based on an inertial measuring device sensor, and more particularly, inertia that enables the patient's movement to be detected more accurately by removing and correcting a disturbance signal according to the influence of a magnetic field under a radiation treatment environment. It relates to a patient movement monitoring system during radiation therapy based on a measuring device sensor.

Radiation therapy is one of the three major cancer treatment methods along with surgery and chemotherapy, and is a treatment method in which radiation is irradiated to a tumor volume (cancer tissue) to destroy it. Radiation therapy is performed with the goal of intensively irradiating radiation to the tumor volume (cancer tissue) while irradiating a minimum dose to surrounding normal tissues and major organs.

Radiation therapy obtains the patient's body image data with medical imaging equipment such as CT, MRI, and PET, obtains the treatment dose distribution using a treatment planning system based on the body image data, and based on this treatment dose distribution, the tumor volume ( It is performed by irradiating radiation to cancer tissue).

In relation to such radiation therapy, photon beam-based radiation therapy methods are widely practiced, and 3D Conformal Radio Therapy (3D CRT), Intensity Modulated Radio Therapy (IMRT), and volumetric radiotherapy are used. Treatment methods such as volume modulated arc therapy (VMAT) are being used.

In addition, photon beam-based radiation therapy is performed by treatment methods such as Image Guided Radiation Therapy (IGRT) and Respiratory Gated Radiation Therapy (RGRT) to enable more precise radiation irradiation. .

However, in the photon beam-based radiation treatment method, there is still the possibility of exposure of surrounding normal tissues to the tumor volume (cancer tissue) during radiation treatment, and accordingly, a number of technologies for monitoring the patient's respiration and movement during radiation treatment have been developed. It is becoming.

In this regard, as a method for monitoring the patient's movement during radiation therapy, an optical method for monitoring the patient's movement by tracking and detecting the movement of an optical marker attached to the patient's body using a camera, an inertial method attached to the patient's body A motion sensor method for tracking and detecting a patient's motion based on information from an Inertial Measurement Unit (IMU) sensor has been introduced.

However, the optical method has the advantage of high accuracy, but the disadvantage of not being able to monitor the patient's movement because the movement of the optical marker cannot be tracked and detected when an obstacle (eg, patient fixation device, radiation therapy device, etc.) is placed between the camera and the marker. In addition, the motion sensor method using an inertial measurement unit (IMU) sensor has a disadvantage in that the monitoring accuracy of the patient's movement is lower than the optical method because it is affected by the magnetic field in the radiation treatment environment.

Korean Registered Patent Publication No. 10-1751168 (registered on June 20, 2017) Korean Patent Publication No. 10-2016-0126398 (published on 2016.11.02)

In solving the above problems, an object of the present invention is to monitor the movement of a patient during radiation therapy based on an inertial measurement device sensor to more accurately determine the movement of a patient by removing and correcting a disturbance signal according to the influence of a magnetic field in a radiation treatment environment. in providing the system.

In addition, an object of the present invention is to monitor the patient's movement by tracking and detecting the movement of an optical marker attached to the patient's body using a camera. It is to provide a patient motion monitoring system during radiation therapy based on an inertial measurement device sensor that presents a new methodology for removing and correcting disturbance signals according to the influence of a magnetic field in a radiation therapy environment by configuring a signal estimation process.

A patient movement monitoring system during radiation therapy based on an inertial measurement unit sensor according to an embodiment of the present invention includes an inertial measurement unit (IMU) sensor attached to a patient's body; a controller for outputting a corrected motion data signal after removing a final disturbance data signal generated according to a disturbance signal estimation process from the motion data signal of the patient input from the inertial measurement device sensor; and a display unit displaying the corrected motion data signal output from the controller in a visually recognizable form.

In this case, the controller may be configured to remove noise from the motion data signal of the patient input from the sensor of the inertial measurement device and then remove the final disturbance data signal generated according to the disturbance signal estimation process.

In addition, the control unit may be configured to output a corrected motion data signal in the form of a one-dimensional data signal through dimension reduction conversion after removing the final disturbance data signal.

In addition, the control unit measures the inertia when a motion data signal of the patient is input from an optical patient motion monitoring device that tracks and detects the motion of an optical marker attached to the patient's body using a camera and monitors the motion of the patient. A final disturbance data signal generated and updated in real time according to the disturbance signal estimation process is removed from the patient's motion data signal input from the device sensor, and then a corrected motion data signal is output. When the motion data signal is not input, the final disturbance data signal previously generated and stored according to the disturbance signal estimation process is removed from the motion data signal of the patient input from the sensor of the inertial measurement device, and then the corrected motion data signal is output. can be configured.

Meanwhile, the control unit tracks and detects the movement of the optical marker attached to the patient's body using the patient's movement data signal input from the inertial measurement device sensor and the camera to monitor the patient's movement. It may be configured to perform the disturbance signal estimation process using the patient's motion data signal input from

In this case, the disturbance signal estimation process may include: an integrated data input step of inputting patient motion data signals from the inertial measurement device sensor and the optical patient motion monitoring device; a noise removal step of removing noise from the motion data signals of the patient respectively inputted from the inertial measuring device sensor and the optical patient motion monitoring device; The patient's motion data signal input from the inertial measurement device sensor from which noise is removed in the noise removal step is compared with the patient's motion data signal input from the optical patient motion monitoring device from which noise is removed in the noise removal step. a disturbance data signal extraction step of extracting a disturbance data signal among the motion data signals of the patient input from the inertial measurement device sensor; a corrected disturbance data signal generation step of generating a corrected disturbance data signal by performing curve fitting on the disturbance data signal extracted in the disturbance data signal extraction step; and a final disturbance data signal generation step of generating a new final disturbance data signal by updating a previously stored final disturbance data signal based on the corrected disturbance data signal generated in the corrected disturbance data signal generation step.

At this time, in the step of extracting the disturbance data signal, the motion data signal of the patient input from the sensor of the inertial measurement device from which noise has been removed in the step of noise removal and the optical patient motion monitoring device from which noise has been removed in the step of noise removal are obtained. a domain conversion step of converting the input patient motion data signal from a time-sequential data signal to a frequency domain; The patient's motion data signal input from the inertial measurement device sensor converted to the frequency domain in the domain conversion step and noise removed in the noise removal step in the domain conversion step and the noise in the noise removal step converted to the frequency domain in the domain conversion step A frequency domain disturbance data signal for extracting a frequency domain disturbance data signal among the patient motion data signals input from the inertial measurement device sensor by comparing the count values of the patient motion data signals input from the removed optical patient motion monitoring device. extraction step; and an inverse domain transformation step of inversely transforming the frequency domain disturbance data signal extracted in the frequency domain disturbance data signal extraction step into a time series data signal in the frequency domain.

As described above, the system for monitoring patient movement during radiation therapy based on the inertial measurement device sensor according to the present invention eliminates and corrects the disturbance signal according to the influence of the magnetic field under the radiation treatment environment, thereby enabling more accurate detection of the patient's movement.

In addition, the patient movement monitoring system during radiation therapy based on the inertial measurement device sensor according to the present invention tracks and detects the movement of an optical marker attached to the patient's body using a camera to monitor the movement of the patient using a conventional optical method. By constructing a disturbance signal estimation process using the patient's motion data obtained from the monitoring device, we propose a new methodology to remove and correct disturbance signals according to the influence of magnetic fields in the radiation therapy environment.

1 is a block diagram illustrating a schematic configuration of a system for monitoring patient movement during radiation therapy based on an inertial measurement device sensor according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a jamming signal estimation process performed in the control unit shown in FIG. 1 .
FIG. 3 is a flowchart illustrating a specific example of the step of extracting the disturbing data signal shown in FIG. 2 .
4 is a diagram for explaining a patient movement monitoring system during radiation therapy based on an inertial measurement device sensor according to an embodiment of the present invention in terms of data input and output.

In the present invention, the accompanying drawings may be shown in an exaggerated expression for distinction and clarity from the prior art, and convenience of understanding the technology. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, and may vary according to the intention or custom of a worker or operator, so the definitions of these terms should be made based on the technical content throughout this specification. will be. On the other hand, the embodiments are only exemplary of the components presented in the claims of the present invention, do not limit the scope of the present invention, and the scope of rights should be interpreted based on the technical spirit throughout the specification of the present invention. .

1 is a block diagram showing a schematic configuration of a patient movement monitoring system during radiation therapy based on an inertial measurement device sensor according to an embodiment of the present invention, and FIG. 2 is a disturbance signal estimation performed by the control unit shown in FIG. 1 FIG. 3 is a flowchart illustrating a specific example of the step of extracting the disturbance data signal shown in FIG. 2, and FIG. 4 is a flow chart illustrating a patient movement during radiation therapy based on an inertial measurement device sensor according to an embodiment of the present invention. It is a drawing to explain the monitoring system in terms of data input and output.

Hereinafter, with reference to FIGS. 1 to 4 , a system for monitoring patient movement during radiation therapy based on an inertial measurement device sensor according to an embodiment of the present invention will be described in detail.

Patient motion monitoring system 100 during radiation therapy based on an inertial measurement unit sensor according to an embodiment of the present invention includes an inertial measurement unit (IMU) sensor 110, a control unit 120, and a display unit 130 includes

In particular, the control unit 120 uses a camera to track and detect the movement of an optical marker attached to the patient's body, and monitors the patient's movement. Patient's movement data input from the conventional optical patient movement monitoring device 140 There is a feature that uses signals. In this case, the optical patient movement monitoring device 140 may be a six-DOF optical patient movement monitoring device having information on three translational degrees of freedom and three rotational degrees of freedom. Since many of these 6DOF optical patient movement monitoring devices are well known, detailed technical descriptions of the corresponding devices will be omitted.

The inertial measurement device sensor 110 is configured to be attached to the patient's body.

The inertial measurement device sensor 110 may be a 3DOF inertial measurement device sensor having information on three rotational degrees of freedom based on a built-in 3-axis accelerometer and a 3-axis gyrometer.

It is more preferable that the inertial measurement device sensor 110 is installed simultaneously with an optical marker of the optical patient motion monitoring device 140 in one module to be attached to the patient in order to be attached to the patient's body.

The control unit 120 removes the final disturbance data signal generated according to the disturbance signal estimation process (S100) from the motion data signal of the patient input from the inertial measurement device sensor 110 and then outputs the corrected motion data signal. It is a configuration that serves to remove the disturbing signal, which is a set of signals having a specific frequency generated according to the influence of the magnetic field under the radiation treatment environment, from the patient's motion data signal input from the inertial measurement device sensor 110.

In this case, the controller 120 is configured to remove noise from the patient motion data signal input from the inertial measurement device sensor 110 and then remove the final disturbance data signal generated according to the disturbance signal estimation process (S100). It can be. More specifically, noise means a signal that is irregularly generated according to the characteristics of a communication or electronic device and is mixed with the patient's motion data signal input from the inertial measurement device sensor 110, and noise removal is performed using a moving average filter method. It can be performed in a preprocessing method that applies.

In addition, the control unit 120 removes the final disturbance data signal generated according to the disturbance signal estimation process (S100) from the patient's motion data signal input from the inertial measurement device sensor 110, and then performs dimension reduction conversion to obtain a one-dimensional data signal. It may be configured to output a corrected motion data signal in the form of a data signal. More specifically, the control unit 120 removes noise and disturbance signals from the information data signal about the three rotational degrees of freedom input from the inertial measurement device sensor 110, and converts the corrected information data about the three rotational degrees of freedom into main components. It can be output as a one-dimensional data signal using a principle component analysis algorithm. A user (eg, a radiation therapist (in particular, may be in a monitoring room in a radiation treatment room)) is able to estimate movement such as a patient's breathing pattern based on these one-dimensional data signals.

In addition, the control unit 120 tracks and detects the movement of an optical marker attached to the patient's body using a camera to monitor the patient's movement, and the patient's movement data signal is input from the optical patient movement monitoring device 140. In this case, the final disturbance data signal generated and updated in real time according to the disturbance signal estimation process (S100) is removed from the patient's motion data signal input from the inertial measurement device sensor 110, and then the corrected motion data signal is output. and, when the patient's motion data signal is not input from the optical patient motion monitoring device 140, the disturbance signal estimation process (S100) is carried out from the patient's motion data signal input from the inertial measurement device sensor 110. Accordingly, after removing the previously generated and previously stored final disturbance data signal, the corrected motion data signal may be output. More specifically, the control unit 120 tracks the movement of the optical marker when an obstruction (eg, a patient fixing device, a radiation therapy device, etc.) is placed between the camera and the marker during operation of the optical patient movement monitoring device 140. If it cannot be detected, it is configured to recognize and remove the last disturbing data signal generated immediately before and pre-stored as a disturbing signal.

On the other hand, the control unit 120 tracks and detects the movement of the optical marker attached to the patient's body using the patient's movement data signal input from the inertial measurement device sensor 110 and the camera to monitor the patient's movement. The disturbance signal estimation process ( S100 ) may be performed using the patient motion data signal input from the optical patient motion monitoring device 140 .

In this case, the disturbance signal estimation process (S100) includes an integrated data input step (S110), a noise removal step (S120), a disturbance data signal extraction step (S130), a modified disturbance data signal generation step (S140), and final disturbance data A signal generating step (S150) may be included.

The integrated data input step ( S110 ) is a step in which motion data signals of the patient are respectively input from the inertial measurement device sensor 110 and the optical patient motion monitoring device 140 . At this time, the motion data of the patient is input in the form of time-series data (ie, time domain).

The noise removal step ( S120 ) is a step of removing noise from the patient's motion data signal inputted from the inertial measurement device sensor 110 and the optical patient motion monitoring device 140 respectively. More specifically, noise is generated irregularly according to the characteristics of communication or electronic devices, so that the patient's motion data signal input from the inertial measurement device sensor 110 and the patient's motion data signal input from the optical patient motion monitoring device 140 are generated. It refers to a signal mixed with the motion data signal, and the noise removal step (S120) may be performed by a preprocessing method applying a moving average filter method.

The disturbance data signal extraction step (S130) includes the motion data signal of the patient input from the inertial measurement device sensor 110 from which noise is removed in the noise removal step (S120) and the noise is removed in the noise removal step (S120). This is a step of comparing the patient's motion data signal input from the optical patient motion monitoring device 140 and extracting a disturbing data signal from the patient's motion data signal input from the inertial measurement device sensor 110 . That is, the patient inputted from the inertial measurement device sensor 110 based on the advantage of the optical patient movement monitoring device 140 capable of monitoring the patient's movement with relatively high accuracy without being affected by a magnetic field under a radiation treatment environment. It is to estimate and extract the disturbance data signal of the motion data signal of .

In this case, the disturbance data signal extraction step (S130) may further include a domain conversion step (S131), a frequency domain disturbance data signal extraction step (S132), and a domain inverse conversion step (S133).

In the domain conversion step (S131), the motion data signal of the patient input from the inertial measurement device sensor 110 from which noise is removed in the noise removal step (S120) and the noise removed in the noise removal step (S120) are performed. This is a step of converting the patient motion data signal input from the optical patient motion monitoring device 140 from a time-sequential data signal to a frequency domain. That is, the domain transformation step (S131) is a step of transforming data from the time domain to the frequency domain, and may be performed by applying a Fourier transform or the like.

In the frequency domain disturbance data signal extraction step (S132), the patient's input from the inertial measurement device sensor 110 converted to the frequency domain in the domain conversion step (S131) and noise removed in the noise removal step (S120) is performed. The motion data signal and the count value of the patient's motion data signal input from the optical patient motion monitoring device 140 converted to the frequency domain in the domain conversion step (S131) and noise removed in the noise removal step (S120) This is a step of extracting a frequency domain disturbance data signal among the patient's motion data signals input from the inertial measurement device sensor 110 by comparing . More specifically, in the step of extracting the frequency domain disturbance data signal (S132), the information on the three rotational degrees of freedom (noise removed and converted to the frequency domain) input from the inertial measurement device sensor 110 and the optical patient motion It may be performed by estimating and extracting a difference between coefficient values of information on three rotational degrees of freedom (noise removed and converted into a frequency domain) input from the monitoring device 140 as a frequency domain disturbance data signal.

The domain inverse transformation step (S133) is a step of inversely transforming the frequency domain disturbing data signal extracted in the frequency domain disturbing data signal extraction step (S132) into a time-sequential data signal in the frequency domain. That is, the inverse domain transform step (S133) is a step of transforming data from the frequency domain to the time domain, and may be performed by applying an inverse Fourier transform or the like.

The corrected disturbing data signal generating step (S140) is a step of generating a corrected disturbing data signal by performing curve fitting on the disturbing data signal extracted in the disturbing data signal extracting step (S130). At this time, since many techniques are known for performing the curve fitting, a detailed description thereof will be omitted.

The final disturbance data signal generation step (S150) is a step of generating a new final disturbance data signal by updating a pre-stored final disturbance data signal based on the modified disturbance data signal generated in the modified disturbance data signal generation step (S140). am. In this case, the final disturbance data signal generating step (S150) is performed by applying a weight to the modified disturbance data signal and the pre-stored final disturbance signal and summing them (e.g., (modified disturbance data signal * 0.1) + (registered disturbance data signal * 0.1) It can be performed to generate a new final disturbance data signal with the stored final disturbance data signal * 0.9)), and it was experimentally confirmed that increasing the weight of the previously stored final disturbance data signal is suitable for stable operation of the system.

The display unit 130 is a component that displays the corrected motion data signal output from the controller 120 in a visually recognizable form.

The display unit 130 may be a portable terminal (smartphone, tablet, laptop computer) of a user (eg, radiation therapy person (in particular, may be located in a monitoring room in a radiation treatment room)) or a separate terminal (in a monitoring room in a radiation treatment room). It may be a display module of a desktop, monitoring display device, etc.) provided.

On the other hand, in the inertial measurement device sensor-based patient movement monitoring system 100 during radiation therapy according to an embodiment of the present invention, data input from the inertial measurement device sensor 110 and the optical patient movement monitoring device 140 and , A database unit (not shown) for storing data generated by the control unit 120 may be further included.

Patient movement monitoring system 100 during radiation therapy based on an inertial measurement device sensor according to an embodiment of the present invention supplies power to the inertial measurement device sensor 110, the control unit 120 and the display unit 130 A power supply unit (not shown) may be further included.

The inertial measurement device sensor 110, the control unit 120, the display unit 130, and the optical patient motion monitoring device 140 can communicate with each other by applying various known wired and wireless communication methods. can be configured.

Hereinafter, with reference to FIG. 4 , an operation example of the patient motion monitoring system 100 during radiation therapy based on an inertial measurement device sensor according to an embodiment of the present invention will be briefly described.

The patient's motion data signals respectively input from the inertial measurement device sensor 110 and the optical patient motion monitoring device 140 have a time-sequential data form (ie, time domain).

At this time, when the inertial measurement device sensor 110 is a 3-DOF inertial measurement device sensor and the optical patient movement monitoring device 140 is a 6-DOF optical patient movement monitoring device, the above two images of FIG. 4 The same motion data signal is input.

At this time, when the inertial measurement device sensor 110 is operated, motion data signals are input in the entire period (t1 to t5). However, these motion data signals are mixed with noise signals generated irregularly according to the characteristics of communication or electronic devices and disturbance signals due to the influence of magnetic fields in a radiation treatment environment.

In addition, when the optical patient movement monitoring device 140 operates, a relatively accurate movement data signal is input, but when an obstacle (eg, a patient fixing device, a radiation therapy device, etc.) is placed between the camera and the marker, the movement of the optical marker is prevented. Intermittent sections (t2, t4) in which tracking cannot be detected occur. These motion data signals are mixed with noise signals that are irregularly generated according to the characteristics of communication or electronic devices.

In this situation, the control unit 120 removes the final disturbance data signal generated according to the disturbance signal estimation process (S100) from the patient's motion data signal input from the inertial measurement device sensor 110, and then corrects the lower part of FIG. In the disturbance signal estimation process (S100), a final disturbance data signal is generated using the motion data signal input from the optical patient motion monitoring device 140.

The corrected motion data is obtained by dimension reduction conversion after the control unit 120 removes the final disturbance data signal generated according to the disturbance signal estimation process (S100) from the patient motion data signal input from the inertial measurement device sensor 110. By being configured to output the corrected motion data signal in the form of a one-dimensional data signal through the above, it can be output and displayed in the form of the lower image of FIG. 4 .

In particular, the control unit 120 controls, from the inertial measurement device sensor 110 in the intervals t1, t3, and t5 of FIG. 4 (when the patient's motion data signal is input from the optical patient motion monitoring device 140) It is configured to output a corrected motion data signal after removing the final disturbance data signal generated and updated in real time according to the disturbance signal estimation process (S100) from the input patient motion data signal, and the intervals t2 and t4 in FIG. (When the patient's motion data signal is not input from the optical patient motion monitoring device 140), the disturbance signal estimation process (S100) is carried out from the patient's motion data signal input from the inertial measurement device sensor 110. Corrected movement after removing the previously generated and stored final disturbing data signal (specifically, the last disturbing data signal generated last in the t1 interval in the t2 interval and the last disturbing data signal generated last in the t3 interval in the t4 interval) configured to output a data signal.

Through this operation, the corrected motion data signal at the bottom of FIG. 4 is output and displayed on the display unit 130, and a user (e.g., a radiation therapist (in particular, may be in a monitoring room in a radiation treatment room)) Based on the data signal, it is possible to estimate movements such as the patient's breathing pattern.

As described above, the inertial measurement device sensor-based patient movement monitoring system during radiation therapy according to the present invention removes and corrects the disturbance signal according to the influence of the magnetic field under the radiation treatment environment to more accurately identify the patient's movement, and the camera Radiation therapy by constructing a disturbance signal estimation process by utilizing the patient's motion data obtained from a conventional optical patient motion monitoring device that tracks and detects the motion of an optical marker attached to the patient's body to monitor the patient's motion using We present a new methodology to eliminate and correct the disturbance signal according to the influence of the magnetic field in the environment.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but this is only exemplary, and various modifications and equivalent other embodiments are possible based on common knowledge in the field to which the technology belongs. should understand Therefore, the true technical protection scope of the present invention is based on the claims to be described below, and should be determined based on the specific contents of the above-described invention.

The present invention relates to a system for monitoring patient movement during radiation therapy based on an inertial measurement device sensor, and can be used in the medical industry related to radiation cancer therapy.

100: patient movement monitoring system during radiation therapy based on inertial measurement device sensor
110: inertial measurement device sensor
120: control unit
130: display unit
140: optical patient movement monitoring device

Claims (7)

An inertial measurement unit (IMU) sensor attached to the patient's body;
The movement of the patient input from the sensor of the inertial measurement device is performed by removing the final disturbance data signal generated according to the disturbance signal estimation process from the patient's movement data signal input from the sensor of the inertial measurement device and then outputting the corrected motion data signal. A control unit that serves to remove a disturbance signal, which is a set of signals having a specific frequency, generated according to the influence of a magnetic field under a radiation treatment environment from a data signal; and
a display unit for displaying the corrected motion data signal output from the controller in a visually recognizable form;
including,
The control unit,
The patient's movement input from the optical patient movement monitoring device monitors the patient's movement by tracking and detecting the movement of the optical marker attached to the patient's body using the patient's movement data signal input from the inertial measurement device sensor and the camera. Characterized in that the jamming signal estimation process is performed using the data signal,
The jamming signal estimation process,
an integrated data input step of inputting motion data signals of the patient from the inertial measuring device sensor and the optical patient motion monitoring device;
a noise removal step of removing noise from the motion data signals of the patient respectively inputted from the inertial measuring device sensor and the optical patient motion monitoring device;
The patient's motion data signal input from the inertial measurement device sensor from which noise is removed in the noise removal step is compared with the patient's motion data signal input from the optical patient motion monitoring device from which noise is removed in the noise removal step. a disturbance data signal extraction step of extracting a disturbance data signal among the motion data signals of the patient input from the inertial measurement device sensor;
a corrected disturbance data signal generation step of generating a corrected disturbance data signal by performing curve fitting on the disturbance data signal extracted in the disturbance data signal extraction step; and
a final disturbance data signal generation step of generating a new final disturbance data signal by updating a previously stored final disturbance data signal based on the corrected disturbance data signal generated in the corrected disturbance data signal generation step;
It is characterized by including,
The control unit,
When the patient motion data signal is input from the optical patient motion monitoring device, the final disturbance data signal generated and updated in real time according to the disturbance signal estimation process is obtained from the patient motion data signal input from the inertial measurement device sensor. After removal, a corrected motion data signal is output, and when the patient motion data signal is not input from the optical patient motion monitoring device, the disturbance signal estimation process is performed in the patient motion data signal input from the inertial measurement device sensor. A patient movement monitoring system during radiation therapy based on an inertial measurement device sensor, characterized in that for outputting a corrected movement data signal after removing the final disturbance data signal previously generated and previously stored.
The method of claim 1, wherein the control unit,
Patient movement monitoring during radiation therapy based on the inertial measurement device sensor, characterized in that by removing noise from the patient's motion data signal input from the inertial measurement device sensor and then removing the final disturbance data signal generated according to the disturbance signal estimation process system.
The method of claim 1, wherein the control unit,
An inertial measurement device sensor-based patient movement monitoring system during radiation therapy, characterized in that for outputting a movement data signal corrected in the form of a one-dimensional data signal through dimensionality reduction conversion after removing the final disturbance data signal.
delete delete delete The method of claim 1, wherein the step of extracting the disturbing data signal comprises:
The patient's motion data signal input from the inertial measurement device sensor from which noise is removed in the noise removal step and the patient's motion data signal input from the optical patient motion monitoring device from which noise is removed in the noise removal step are time-series. a domain conversion step of converting the data signal into a frequency domain;
The patient's motion data signal input from the inertial measurement device sensor converted to the frequency domain in the domain conversion step and noise removed in the noise removal step in the domain conversion step and the noise in the noise removal step converted to the frequency domain in the domain conversion step A frequency domain disturbance data signal for extracting a frequency domain disturbance data signal among the patient motion data signals input from the inertial measurement device sensor by comparing the count values of the patient motion data signals input from the removed optical patient motion monitoring device. extraction step; and
an inverse domain transformation step of inversely transforming the frequency domain disturbance data signal extracted in the frequency domain disturbance data signal extraction step into a time-series data signal in the frequency domain;
Patient movement monitoring system during radiation therapy based on the inertial measurement device sensor, characterized in that it comprises a.