CN104117150A - Cancer therapy system based on cyber knife - Google Patents
Cancer therapy system based on cyber knife Download PDFInfo
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- CN104117150A CN104117150A CN201410300585.9A CN201410300585A CN104117150A CN 104117150 A CN104117150 A CN 104117150A CN 201410300585 A CN201410300585 A CN 201410300585A CN 104117150 A CN104117150 A CN 104117150A
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Abstract
The invention provides a cancer therapy system based on a cyber knife. The cancer therapy system comprises a robot projection system, a real-time image tracking and positioning system, an infrared synchronous breath tracking system, an automated therapy bed and an intelligent therapy plan system. The robot projection system comprises a mechanical arm and a linear accelerator, the real-time image tracking and positioning system comprises two thousand volts X-ray infrared cameras and corresponding non-crystal digital video detectors; the infrared synchronous breath tracking system is composed of three infrared cameras installed on a ceiling and three infrared diode generators fixed on a breath tracking waistcoat; the automatic therapy bed is designed based on a PID adjustment controller and can freely adjust for five degrees of freedom; the intelligent therapy plan system is used for providing comprehensive therapy design and therapy scheme. The therapy system can achieve accurate positioning of a movable cancer, and reduces harm to human healthy organs while improving therapy accuracy.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, particularly a kind of system of tumor treatment based on ejected wave cutter.
Background technology
X-ray therapy is the main therapy for the treatment of cancer, and it is killed by the tumoricidal DNA of high-energy ray, but radiotherapy when killing cancerous cell, also can injure near organ, and produce the side effect be difficult to prediction.Tumor can be followed human body respiration motion, so radiation area must have larger scope, just can guarantee that tumor can receive enough radiological doses, but this has increased the toxic damages of health tissues.Therefore, improving radiotherapy precision, reduce the injury to health organ, is the key issue that tumour radiotherapy field must solve.
Ejected wave cutter therapy system is a depletion of blood, painless, nothing anesthesia " operation " process.For the patient who is reluctant to undergo surgery or the reluctant focus of traditional operation mode, ejected wave cutter is a splendid selection.
In view of this, be necessary to provide a kind of system of tumor treatment based on ejected wave cutter, to meet practical application needs.
Summary of the invention
The object of the invention is: a kind for the treatment of tumor system based on ejected wave cutter is provided, it carries out from movable pendulum position patient by image-guided system and synchronous tracking system and follows the tracks for the treatment of, can realize the tumor of motion is accurately located, it is the most accurate radiotherapy apparatus at present, when improving treatment precision, reduced the injury to health organ.
The technical solution adopted in the present invention is: a kind of system of tumor treatment based on ejected wave cutter, comprise that robot throws lighting system, real-time imaging tracking location system, infrared ray and synchronously breathe tracking system, automatization's therapeutic bed, intelligentized treatment planning systems, it is characterized in that:
Robot throws lighting system and comprises mechanical arm and linear accelerator, and mechanical arm is comprised of the robotic arm of 6 movable joints, and linear accelerator is 6mV linear accelerator; Linear accelerator is arranged on robotic arm; Mechanical arm is that double closed-loop control system is that two closed loop PID carry out cascade, by dynamic adjustment output error, improves control accuracy, designs respectively the double closed-loop control system of position, speed and the acceleration in 6 joints according to double closed-loop control system design;
Real-time imaging tracking location system comprises two KV level shadowgraph machines and the corresponding non-crystalline silicon digital image detector being arranged on ceiling; Shadowgraph machine provides a pair of right angle image on each treatment node, automatization's therapeutic bed both sides intersect relative non-crystalline silicon digital image detector directly provides high-resolution digitized image, image is through digitized processing, and compare with the synthetic DRR image of patient CT data, thereby also accurately go out fast the displacement of patient in therapeutic process, and guide mechanical arm correction displacement;
Infrared ray is synchronously breathed tracking system and is comprised of 3 thermal cameras and 3 the red diodes generator LED that are fixed on breathing tracking vest that are arranged on ceiling, LED is with the real-time model of 32 times/s frequency transmitting chest exercise and the non real-time Image model of pulmonary's motion, by digital information conversion, set up 3 kinds of respiratory movement models, thereby instruct the mechanical arm target area that follows the trail of the objective;
Automatization's therapeutic bed adopts based on PID adjustment control, and design can be adjusted the therapeutic bed of 5DOF automatically, can realize up/down, front and back, left/right, roll, tilts forward and back, thereby realize the flexible adjustment to therapeutic bed;
Intelligentized treatment planning systems is used for providing comprehensive treatment design and therapeutic scheme.
System of tumor treatment based on ejected wave cutter as above, it is characterized in that, robotic arm has 6 movable joints, by computer controlled automatic, on the sphere of different radii, there are 100 fixing nodes, each node has 12 projecting directions, robotic arm can accurately move and stop on assigned address, can form at most 1 200 beams, the centers such as employing or non-Isocenter irradiation, irradiation distance is 650-1000mm.
System of tumor treatment based on ejected wave cutter as above, is characterized in that, the secondary collimator that lighting system also comprises diameter 5～60mm is thrown by robot, and manipulator and control chassis, strengthen cooling system, potentiation software module; The size of beam determines by secondary cylindrical collimator, and collimator diameter is 5-60mm, has 12 kinds of specifications, and maximum penumbra <7mm leaks the amount of penetrating lower than 0.1%.
System of tumor treatment based on ejected wave cutter as above, is characterized in that, infrared ray is synchronously breathed tracking system and set up respiratory movement model and at least need 3 images, and the first two image is used for building model, and the 3rd image is for determining model.
The present invention compared with prior art tool has the following advantages: 1. frameless fixing.Ejected wave cutter is to use health bone structure or gold mark or lung tissue as the therapy system with reference to labelling, no longer needs heavy fixed mount is installed, and has alleviated patient's misery, contingent error while also having eliminated mounting and fixing support.
2. treatment cycle is short.The treatment of ejected wave cutter radiation shell only needs just can finish for 1-5 time to treat, and reason is that the lonizing radiation absorption path of ejected wave cutter is more, treat more concentrated, more remarkable treatment effect.
3. treatment precision is high.Can from more than 1900 rays, select best line of incidence, focus on from different directions and irradiate tumor, the lethality that tumor is produced is as surgical cut effect, due to its accuracy, so can produce very accurate surgical cut effect in the edge of tumor, the damage that the normal structure of tumor periphery is subject to is less.
4. automatic integratedization of perfect information.Position, target area, 6 degree of freedom location of mechanical arm, processes by image, calculates target area translation and rotation error, automatically adjusts therapeutic bed and mechanical arm position, then automatically starts linear accelerator and starts to irradiate according to a fixed sequence.
5. synchronous breathing followed the tracks of.It is one of state-of-the-art subsystem of ejected wave cutter system that synchronous breathing is followed the tracks of, and eliminates the adverse effect of respiratory movement to stereotactic radiotherapy.The tumor motion track that the respiration motion cycle of taking according to thermal camera and Image Location System are taken, the correlation models of external markers motion in setting up, and the checking of comparing in whole therapeutic process, target area real time position in the assessment breathing cycle, controls mechanical arm by feedback system and is synchronized with the movement with breathing.In treating out the process of bundle, synchronously breathe tracking system and be close to the position of revising in real time accelerator, the target area motion that mechanical arm dynamic synchronization motion compensation respiratory movement produces.If the shift error of any point exceeds the scope that user sets, the analysis according to treatment irradiation system to tumor motion, triggering system stops irradiating, and adjusted position postpone is proceeded to irradiate.In whole therapeutic process, synchronously breathe the conformal index that tracking system can guarantee organ of locomotion high dose, make up the deficiency of other radiosurgery systems, realize locomotor stereotactic radiotherapy.
6. static immobilization correction and Kinematic Positioning in treating.Ejected wave cutter not only can be treated tumor and the optimum focus of each position static state of whole body accurately, can also treat the tumor with breathing campaign, as constitutional and metastatic tumo(u)rs such as lung, liver, pancreas, prostate and kidneys.
Accompanying drawing explanation
Fig. 1 is the workflow diagram of the tumor treating system tumor based on ejected wave cutter of the present invention.
The specific embodiment
In order to understand better the present invention, below in conjunction with embodiment, further illustrate content of the present invention, but content of the present invention is not only confined to the following examples.Those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values are equally within the listed claims limited range of the application.
System of tumor treatment based on ejected wave cutter of the present invention comprises: robot throwing lighting system, real-time imaging tracking location system, infrared ray are synchronously breathed tracking system, automatization's therapeutic bed, intelligentized treatment planning systems.Respectively each subsystem is described in detail below.
Robot throws lighting system and is characterised in that: this system comprise control flexibly, mechanical arm and light and handy 6MV linear accelerator accurately.Mechanical arm is comprised of 6 joints, all can rotate freely, very flexible, can arrive any position of health.Mechanical arm is to design according to double closed-loop control system, double closed-loop control system is that two closed loop PID carry out cascade, by dynamic adjustment output error, improve control accuracy, design respectively the double closed-loop control system of position, speed and the acceleration in 6 joints, thereby realize the self adaptation adjustment in 6 joints of mechanical arm, improve the control accuracy of ejected wave cutter manipulator motion system.
Particularly, lighting system is thrown by robot: this system is partly comprised of mechanical arm, linear accelerator, mechanical arm software, throwing lighting system software etc.Mechanical arm is comprised of robotic arm and the robotic arm control software of 6 movable joints.Robotic arm has 6 movable joints, by computer controlled automatic, on the sphere of different radii, there are 100 fixing nodes, each node has 12 projecting directions, robotic arm can accurately move and stop on assigned address, can form at most 1 200 beams.The centers such as employing or non-Isocenter irradiation, irradiation distance is 650-1000mm, adjusts at any time as required.Linear accelerator comprises the 6mV linear accelerator that only weighs 150 kg, close rate 300 cGy/min.Throwing lighting system also comprises the secondary collimator of diameter 5～60mm, and manipulator and control chassis, strengthen cooling system, potentiation software module.Linear accelerator is arranged on robotic arm and random device arm moves neatly.The size of beam determines by secondary cylindrical collimator, and collimator diameter is 5-60mm, has 12 kinds of specifications, and maximum penumbra <7mm leaks the amount of penetrating lower than 0.1%.
Real-time imaging tracking location system is characterised in that: this system comprises two KV level X-ray production apparatus and the corresponding non-crystalline silicon digital image detector being arranged on ceiling.Ejected wave cutter is the continuous position of taking patient exposure target area before treatment and in treatment, and it can accurately judge the trickle displacement of target area, and therapy area is located accurately.
Realize accurate locate mode: shadowgraph machine provides a pair of right angle image on each treatment node, therapeutic bed both sides intersect relative non-crystalline silicon digital image detector directly provides high-resolution digitized image, image is through digitized processing, and compare with the synthetic DRR image of patient CT data, thereby also accurately go out fast the displacement of patient in therapeutic process, and guide mechanical arm correction displacement.
Infrared ray is synchronously breathed tracking system and is characterised in that: it comprises that 3 thermal cameras and front are with the vest of 3 red emission devices, and thermal camera is with the speed record breathing cycle of 32 frames/s.The infrared ray of ejected wave cutter synchronously breathes tracking system and Image Location System can be monitored continuously in treatment and the variation of real-time tracing knub position, controls mechanical arm and is synchronized with the movement with breathing, the change in location of the tumor target area that compensation respiratory movement produces.This system has overcome the disappearance of the tumor target area exposure dose that respiratory movement causes, and has reduced the irradiated volume of normal surrounding tissue and irradiation dose.
Infrared synchronous respiratory system operation principle: formed with the red diodes generator (LED) being fixed on breathing tracking vest by 3 thermal cameras on ceiling.LED, with the real-time model of 32 times/s frequency transmitting chest exercise and the non real-time Image model of pulmonary's motion, sets up 3 kinds of respiratory movement models by digital information conversion, thereby instructs the mechanical arm target area that follows the trail of the objective.Setting up respiratory movement model at least needs 3 images, and the first two image is used for building model, and the 3rd image is for determining model.
Automatically controlling therapeutic bed system features is: the line that the therapeutic bed of ejected wave cutter can be realized in X, Y, Z direction moves and the correction on rotation, inclination, skew direction, with the error amount of 0.1mm He0.1Du Wei unit, is judged.High precision in control therapeutic bed had both guaranteed the accuracy of position, therapy area, had greatly shortened treatment time again.
Employing is based on PID adjustment control, and design can be adjusted the therapeutic bed of 5DOF automatically, can realize up/down, front and back, left/right, roll, tilts forward and back, thereby realize the flexible adjustment to therapeutic bed.
Intelligentized treatment planning systems is: this system provides comprehensive treatment design and therapeutic scheme, has very quick, accurate, visual high target area and describes and plan function; There is forward, reverse, conformal plan function He Dan center, multicenter, Fei Deng center plan several functions, can accurately merge MR, 3D Angio, the images such as PET; Optimizing process is allowed adjustment repeatedly, has accelerated optimal planning, and designs single, three paths make therapeutic process hommization more, are particularly suitable for old patient.
Ejected wave cutter is a kind of radiotherapy equipment, the functions such as powerful real time imaging guiding and dynamic tracing, when not increasing the suffered dosage of tumor normal surrounding tissue, have guaranteed that the tumor amount of being subject to improves greatly effectively, thereby it irradiates number of times and greatly reduce compared with conventional radiotheraphy, be generally 2-5 times.The workflow of ejected wave cutter is similar to conventional radiotheraphy, as shown in Figure 1.
Below specifically in conjunction with lung cancer therapy, the workflow of ejected wave cutter is described further.
1. position is fixed: ejected wave cutter is to use health bone structure or gold mark or lung tissue as the SRS therapy system with reference to labelling.For intracranial lesion, mainly with skull for following the trail of the objective; For Diagnosis of Chest Damage in Patients, or implant gold and be marked with gold and be designated as tracing object, or with breastbone and lung tissue for following the trail of the objective; For near pathological changes spinal column or spinal column, mainly with spinal column for following the trail of the objective.For the skeletal structure without suitable, assist to distinguish the position of tumor, will under B ultrasonic guiding, near tumor, implant 4-6 gold marks.Patient for making HONGGUANG and synchronously breathe tracking, also needs to dress synchronous tracking vest.For lung cancer therapy, need under B ultrasonic guiding, near tumor, implant 4-6 grain gold mark.
2. image data obtains: by Spiral CT scan more than 16 rows, obtain patient CT image, and bed thickness≤2mm, the incident angle of consideration beam, sweep limits will be much larger than conventional radiotheraphy.Ejected wave cutter is the continuous position of taking patient exposure target area before treatment and in treatment, the dissection image of rebuilding with planning system passes through closed-loop control system, repeatedly contrast, can accurately judge the trickle movement of target area in therapeutic process, and mobile message is transferred to mechanical arm from master operating system, by resetting system, carry out the trickle displacement of correction treatment target area, therapy area is located accurately.
3. target area is delineated: patient's image data is delineated to work station by DICOM 3.0 protocol transmission to image co-registration agent profile, or treatment planning systems, physics teacher carries out after pretreatment (image importing and fusion etc.) image data, supervisor doctor carries out target area and delineating of vitals or tissue around, and clear and definite target dose and around the dosage of vitals or tissue limit the quantity of.
4. formulate treatment plan: the target area figure that physics teacher delineates according to supervisor doctor, carry out planned, make the treatment plan fitting like a glove with shape of tumor, after supervisor doctor confirms, by DICOM RT protocol transmission to treating executive software system platform.
5. treatment is implemented: radiotherapy technology person first according to the laser positioning instrument of 3 directions in therapeutic room for patient does preliminary pendulum position, then utilize x ray real-time imaging tracking location system to revise treating forward swing position.Treatment executive software sends initial position instruction to accelerator, and mechanical arm moves according to treatment plan and stops.Accelerator goes out bundle; After the beam of some, X ray real-time imaging tracking location system is revised static immobilization in treatment.For the tumor with breathing campaign.Must use multiple Trancking Software patient is treated in Kinematic Positioning.Total treatment time is affected according to factors such as mode and paths by complexity, dosage, the throwing for the treatment of plan, is mostly 30～90 minutes.
Ejected wave cutter system is with its accurate automatic machinery hands arm flexibly, x line real-time imaging navigation system, breathe the perfect adaptation of tracing system and 6mV linear accelerator, traditional radiosurgery treatment pinpoint accuracy that incomparable target area is irradiated is provided, no matter be to use bone structure, still adopt percutaneous implanted metal microgranule as the reference mark of location, tumor target area, all can obtain with past rigid metal frame is the spatial accuracy of position reference sign, and overcome the wound that has of traditional metal framework, nonrepeatability and require focus diameter can not surpass the defect of 3cm, and indication is extended to general tumour.
The content not being described in detail in this description belongs to the known prior art of professional and technical personnel in the field.
Claims (4)
1. the system of tumor treatment based on ejected wave cutter, comprises that robot throws lighting system, real-time imaging tracking location system, infrared ray and synchronously breathe tracking system, automatization's therapeutic bed, intelligentized treatment planning systems, it is characterized in that:
Robot throws lighting system and comprises mechanical arm and linear accelerator, and mechanical arm is comprised of the robotic arm of 6 movable joints, and linear accelerator is 6mV linear accelerator; Linear accelerator is arranged on robotic arm; Mechanical arm is that double closed-loop control system is that two closed loop PID carry out cascade, by dynamic adjustment output error, improves control accuracy, designs respectively the double closed-loop control system of position, speed and the acceleration in 6 joints according to double closed-loop control system design;
Real-time imaging tracking location system comprises two KV level shadowgraph machines and the corresponding non-crystalline silicon digital image detector being arranged on ceiling; Shadowgraph machine provides a pair of right angle image on each treatment node, automatization's therapeutic bed both sides intersect relative non-crystalline silicon digital image detector directly provides high-resolution digitized image, image is through digitized processing, and compare with the synthetic DRR image of patient CT data, thereby also accurately go out fast the displacement of patient in therapeutic process, and guide mechanical arm correction displacement;
Infrared ray is synchronously breathed tracking system and is comprised of 3 thermal cameras and 3 the red diodes generator LED that are fixed on breathing tracking vest that are arranged on ceiling, LED is with the real-time model of 32 times/s frequency transmitting chest exercise and the non real-time Image model of pulmonary's motion, by digital information conversion, set up 3 kinds of respiratory movement models, thereby instruct the mechanical arm target area that follows the trail of the objective;
Automatization's therapeutic bed adopts based on PID adjustment control, and design can be adjusted the therapeutic bed of 5DOF automatically, can realize up/down, front and back, left/right, roll, tilts forward and back, thereby realize the flexible adjustment to therapeutic bed;
Intelligentized treatment planning systems is used for providing comprehensive treatment design and therapeutic scheme.
2. the system of tumor treatment based on ejected wave cutter according to claim 1, it is characterized in that, robotic arm has 6 movable joints, by computer controlled automatic, on the sphere of different radii, there are 100 fixing nodes, each node has 12 projecting directions, robotic arm can accurately move and stop on assigned address, can form at most 1 200 beams, the centers such as employing or non-Isocenter irradiation, irradiation distance is 650-1000mm.
3. the system of tumor treatment based on ejected wave cutter according to claim 2, is characterized in that, the secondary collimator that lighting system also comprises diameter 5～60mm is thrown by robot, and manipulator and control chassis, strengthen cooling system, potentiation software module; The size of beam determines by secondary cylindrical collimator, and collimator diameter is 5-60mm, has 12 kinds of specifications, and maximum penumbra <7mm leaks the amount of penetrating lower than 0.1%.
4. the system of tumor treatment based on ejected wave cutter according to claim 1, it is characterized in that, infrared ray is synchronously breathed tracking system and is set up respiratory movement model and at least need 3 images, and the first two image is used for building model, and the 3rd image is for determining model.
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Application publication date: 20141029 |