CN105031830A - Particle ray treatment apparatus - Google Patents
Particle ray treatment apparatus Download PDFInfo
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- CN105031830A CN105031830A CN201510305028.0A CN201510305028A CN105031830A CN 105031830 A CN105031830 A CN 105031830A CN 201510305028 A CN201510305028 A CN 201510305028A CN 105031830 A CN105031830 A CN 105031830A
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Abstract
The invention provides a particle ray treatment apparatus which can enable multiple patients to receive treatment through simultaneous irradiation of particle rays in multiple treatment rooms. The particle ray treatment apparatus comprises: breathing guiding devices (22) for guiding breathing based on target breathing waveforms (WIb); switching devices (32) for switching the tracks of particle beams; and irradiation devices (21) synchronously controlling irradiation with the target breathing waveforms (WIb). Controllers (4) synchronously control the breathing guiding devices (22) and switching devices of the multiple treatment rooms (6). The controllers (4) adjust the period and the phase of the target breathing waveform (WIb) of the breathing guiding device (22) of each treatment room (6), enable irradiation time (TI) synchronizing with the target breathing waveform (WIb) of each treatment room (6) not to be overlapped, and also controls the switching devices (32) so as to switch the tracks of the particle beams according to the respective irradiation time (TI) of each treatment room (6).
Description
The application is international filing date is " on JIUYUE 9th, 2010 ", application number is " 201080067834.4 ", is entitled as the divisional application of the application of " particle-beam therapeutic apparatus ".
Technical field
The present invention relates to and the charged particle beam irradiation comprising the heavy particle ray such as proton radiation or carbon ray is carried out the medical treatment device for the treatment of and particle-beam therapeutic apparatus to affected parts such as cancers.
Background technology
Charged particle beam (hereinafter referred to as particle beam) is irradiated to treatment target and affected part by particle-beam therapeutic, give to destroy to treat to affected tissue, need to irradiate enough dosage to irradiation object and affected tissue, and need suppression to be irradiated to the dosage of surrounding tissue.Therefore, exposure dose, range of exposures (hereinafter referred to irradiation field) is controlled according to the shape of irradiation object.For the irradiation object that position, form change along with breathing, breathing phases is measured, thus in position, the breathing phases of form stable, irradiate particle beam (for example, referring to patent documentation 1 and 2).
On the other hand, the beam providing source of particle-beam therapeutic and the equipment of accelerator comparatively huge, even if having multiple therapeutic room in facility, generally also by switching the particle beam path exported by accelerator, particle beam can be supplied to each therapeutic room.Therefore, in order to make most of patients that treatment can be accepted, and propose there is following particle-beam therapeutic apparatus, such as, footpath of satisfying the need switches the control of electric magnet and makes an effort, to shorten the particle-beam therapeutic apparatus (such as with reference to patent documentation 3) of the time needed for toggle path; Guide and breathe to make it breathe according to the service cycle of accelerator etc., thus shorten the particle-beam therapeutic apparatus (such as with reference to patent documentation 4) for the treatment of time.
Prior art document
Patent documentation
Patent documentation 1: Japanese Patent Laid-Open 2006-288875 publication ([0037] ~ [0040] section, Fig. 7 ~ Fig. 9)
Patent documentation 2: international publication number WO2006/082651A1 ([0092 ~ 0096] section, Figure 16)
Patent documentation 3: Japanese Patent Laid-Open 2010-63725 publication ([0069] section, Fig. 3)
Patent documentation 4: international publication number WO2009/150708A1 ([0021] ~ [0026] section, Fig. 1, Fig. 6)
Summary of the invention
Invent technical problem to be solved
But no matter be which kind of particle-beam therapeutic apparatus, the therapeutic room that can carry out treating in a time period can only be the therapeutic room setting path in multiple therapeutic room, and in other treatment room, be only limitted to carry out treatment prepare, the stand-by operation etc. such as to tidy up.Therefore, i.e. each operation of enable shortening, the recruitment carrying out patient's number for the treatment of also is limited.
The present invention completes to solve the problem, and its object is to obtain a kind of by particle ray being irradiated to multiple therapeutic room at the same time thus can making the particle-beam therapeutic apparatus of multiple treatment patients.
The technical scheme that technical solution problem adopts
The feature of particle-beam therapeutic apparatus of the present invention is, comprising: multiple therapeutic room, the transport path of particle beam, the transport path of this particle beam will speed up device and is connected with each therapeutic room of above-mentioned multiple therapeutic room, switching device shifter, this switching device shifter is arranged in above-mentioned transport path, and the track switching above-mentioned particle beam makes the particle beam penetrated from above-mentioned accelerator be provided to any one therapeutic room above-mentioned multiple therapeutic room, breathe guiding device, this breathing guiding device is arranged in each therapeutic room of above-mentioned multiple therapeutic room, and based target respiratory waveform guides the breathing of patient, irradiation unit, this irradiation unit is arranged in each therapeutic room of above-mentioned multiple therapeutic room, thered is provided particle beam is formed as correspond to the irradiation field of irradiation object, and at least synchronously controls irradiation that above-mentioned irradiation object is carried out with above-mentioned target respiratory waveform, and controller, breathing guiding device in the therapeutic room of the plural specified quantity of this controller at least in the above-mentioned multiple therapeutic room of Synchronization Control and above-mentioned switching device shifter, above-mentioned controller adjusts cycle and the phase place of above-mentioned target respiratory waveform, to make the therapeutic room of afore mentioned rules quantity, the irradiation time non-overlapping synchronous with above-mentioned target respiratory waveform, and above-mentioned controller also controls the switching instant of the beam trajectory of above-mentioned switching device shifter, the track of above-mentioned particle beam is correspondingly switched with the above-mentioned irradiation time of each therapeutic room making the therapeutic room according to afore mentioned rules quantity.
Invention effect
According to particle-beam therapeutic apparatus of the present invention, the particle beam provided can be irradiated to multiple therapeutic room with time-sharing format within the breathing cycle by accelerator, thus can simultaneously by particle-beam exposure to multiple therapeutic room.Therefore, a kind of particle-beam therapeutic apparatus that can make multiple treatment patients can be obtained.
Accompanying drawing explanation
Fig. 1 is the integrally-built figure of the particle-beam therapeutic apparatus for illustration of embodiments of the present invention 1.
Fig. 2 is the functional block diagram of the structure of the control system of particle-beam therapeutic apparatus for illustration of embodiments of the present invention 1.
Fig. 3 is the sequential chart for illustration of multiple therapeutic room of the particle-beam therapeutic apparatus of embodiments of the present invention 1 and the cooperation control of induction system.
Fig. 4 is the flow chart of the action of particle-beam therapeutic apparatus for illustration of embodiments of the present invention 1.
Fig. 5 is the flow chart of the action of particle-beam therapeutic apparatus for illustration of embodiments of the present invention 2.
Detailed description of the invention
Embodiment 1
Below, the structure of the particle-beam therapeutic apparatus of embodiments of the present invention 1 is described.Fig. 1 to Fig. 4 is for illustration of the structure of the particle-beam therapeutic apparatus of embodiments of the present invention 1, Fig. 1 is the figure of the structure representing particle-beam therapeutic apparatus, Fig. 2 is the functional block diagram for illustration of the structure relevant to the control of particle-beam therapeutic apparatus, and Fig. 3 is the figure of the Control timing sequence representing breathing navigation in particle-beam therapeutic apparatus, each therapeutic room and induction system.In addition, Fig. 4 is the flow chart of the action for illustration of particle-beam therapeutic apparatus.
First, the general configuration of Fig. 1 to particle-beam therapeutic apparatus is utilized to be described.In Fig. 1, particle-beam therapeutic apparatus comprises: as synchrotron and the circular accelerator 1 (hereinafter referred to as accelerator) of charged particle beam providing source; Comprise the irradiation system 2 of the irradiation unit be arranged in each therapeutic room; Will speed up device 1 to be connected with each therapeutic room, charged particle beam is delivered to from accelerator the induction system 3 of irradiation unit of each therapeutic room; And the control system 4 of these systems of cooperation control (being hereinafter called subsystem).And the feature structure of the particle-beam therapeutic apparatus of embodiments of the present invention is, the phase controlling that the breathing of the irradiation unit of Shi Ge therapeutic room guides and the irradiation unit of other treatment room and the path of induction system switch synchronised.First each structure is described, describes in detail afterwards and utilize the synchronous coordination realized.
< accelerator >
Accelerator 1 comprises: become the vacuum pipe 11 that charged particle beam carries out the orbital path rotated; For the charged particle provided by prime accelerator 5 being incided the incidence mount 12 in vacuum pipe 11; Charged particle trajectory is made to deflect to form charged particle deflection electric magnet 13a, 13b, 13c, 13d (being referred to as 13) along the charged particle beam of the swing-around trajectory rotation in vacuum track 11; The charged particle be formed on swing-around trajectory is assembled with convergence electric magnet 14a, 14b, 14c, 14d (being referred to as 14) of preventing it from dispersing; The high frequency voltage synchronous with it is applied to the radio-frequency acceleration cavity 15 making it accelerate to the charged particle rotated; The charged particle beam obtained for having carried out accelerating in accelerator 1 is fetched into the outer and ejecting device 16 penetrated to induction system 3 of accelerator 1; And the swing-around trajectory of charged particle is carried out to the six types of severe debility disease electric magnet 17 of resonance excitation to make charged particle beam penetrate from ejecting device 16.
In addition, also comprise the not shown device for controlling each several part, such as: deflection electric magnet 13 comprises the deflection electromagnet control device controlled the exciting current of deflection electric magnet 13; Radio-frequency acceleration cavity 15 comprises for providing the high frequency source of high frequency voltage and the high audio-frequency control device for controlling high frequency source to radio-frequency acceleration cavity 15; The Accelerator control device 41 other parts such as deflection electromagnet control device, high audio-frequency control device, convergence electric magnet 14 being controlled to whole accelerator 1 is comprised in control part 4.But, in technical conceive of the present invention, do not limit the control to accelerator 1 itself, be therefore not limited to said structure, and in the nature of things, as long as charged particle beam can be stablized the various variation injecting to induction system 3, be all allowed to.
In addition, for simplifying object, in the drawings prime accelerator 5 is recorded as an equipment, but in fact, prime accelerator 5 comprises the ion source (ion beam generation mechanism) producing the charged particle (ion) such as proton, carbon (heavy particle) and the linear accelerator system of produced charged particle being carried out to initial acceleration.And the charged particle inciding accelerator 1 from prime accelerator 5 can be accelerated by high-frequency electric field, and while utilizing Magnet to make it bending, be accelerated to 70% ~ 80% of about light velocity.
< induction system >
Be radiated into by the charged particle beam after accelerator 1 accelerates and be called that HEBT (carry: in the induction system 3 of HighEnergyBeamTransport) system by high energy beam.Induction system 3 comprises: the vacuum pipe (main pipeline 31m, therapeutic room A pipeline 31A and therapeutic room B pipeline 31B are referred to as vacuum pipe 31) becoming the transport path of charged particle beam; Namely electric magnet 32 is switched to the switching device shifter that the beam trajectory of charged particle beam switches; And make beam deflection be the deflection electric magnet 33 of predetermined angular.Then, utilize switching electric magnet 32 to change as required and provide abundant energy and the track (31A direction, 31B direction) of the charged particle beam advanced in the transport path formed by vacuum pipe 31 by accelerator 1, led the irradiation unit be arranged in TA room.
< irradiation system >
Irradiation system 2 comprises: the charged particle beam provided by induction system 3 is formed as the irradiation field corresponding with the size of irradiation object and patient's affected part, the degree of depth to irradiate the irradiation unit 21 of affected part; And the breathing had when being called irradiation guides, breathes the navigation feature portion 22 of navigation feature.Then, at least with breathe navigate linkedly, according to breathe navigate in phase place in cycle of target respiratory waveform of using, control ON/OFF and irradiation object and affected part irradiated.In addition, described by " being arranged at irradiation unit in TA room " in illustrating in induction system, from the view point of therapeutic efficiency, it (is 6A, 6B in figure that particle-beam therapeutic apparatus generally comprises multiple therapeutic room.Be referred to as therapeutic room 6).That is, for irradiation system 2 shown here, be equipped with irradiation unit 21 and navigation feature portion 22 in each therapeutic room 6, such as, the irradiation system 2A of therapeutic room 6A comprises irradiation unit 21A and navigation feature portion 22A.
In order to realize breathing navigation feature, navigation feature portion 22 comprises: for measuring the patient respiratory determinator 22a of the breathing state of patient; Mensuration information based on patient respiratory determinator 22a allows synchronized with breath device 22c patient being irradiated to particle ray; And for the respiration information guiding device 22b to patient education's information relevant to synchronized with breath.
< control system >
For the control system of the large complicated system be made up of multiple subsystem like this, general, mostly by subsystems being carried out to the special sub-controller that controls and commanding entirety and the master controller that controls is formed.In the control system 4 of the particle-beam therapeutic apparatus of embodiments of the present invention 1, also adopt the structure of this master controller and sub-controller.For the sake of simplicity, to control system relevant with the control of accelerator 1, induction system 3, these three subsystems of irradiation system 2 in the control system of particle-beam therapeutic apparatus, namely, as shown in the figure, comprise Accelerator control portion 41, induction system control part 43, irradiation system control part 42 and overall control part 40 control system 4 be described.
Utilize the Fig. 2 schematically showing Control system architecture, control system 4 is described.In addition, in the controller of particle-beam therapeutic apparatus, generally use work station, computer.Therefore, also controller is called " computer " in a lot of situation.Such as, the master controller 40 in Fig. 2 is actually the function on computer, and is called as irradiation system public computer as a rule, but it can be used as the controller with certain function to treat herein.In addition, equipment computer for controlling is equivalent to the sub-controller 42 that sub-system and irradiation system 2 carry out controlling, and the appropriate section of the controller corresponding to irradiation system 2A, 2B of being distributed in each therapeutic room 6A, 6B is distinguished as 42A, 42B.Thus, in the control system 4 of particle-beam therapeutic apparatus (system), comprising: master controller 40; And accelerator 1 controller, irradiation system 2 controller, induction system 3 controller, i.e. sub-controller 41,42,43.Further, each sub-controller 41,42,43 is coordinated to carry out control action by the timing deictic function be arranged in master controller 40.In addition, timing deictic function itself also as such as described in patent documentation 3, can export for carrying out synchronous timing signal.In addition, in fig. 1 and 2, the position of sub-controller etc. exist different, this is because in FIG, unification is recited as controller 4, and is be that benchmark is described with control object in fig. 2, therefore, whether does not differently represent its physical location.That is, as controller, physically how configuring not is essential problem.
" operating board " that be connected with equipment computer for controlling (sub-controller 42A, 42B) is the terminals such as so-called keyboard, display etc., or control chamber, i.e. human-machine interface oral area.Operating board is arranged on therapeutic room 6 and mostly and in the irradiation operating room that is provided separately of therapeutic room.The next stage of equipment computer for controlling is linked with console panel.Particularly, described in bracket, console panel is driver, the amplifier and PLC (ProgrammableLogicController: programmable logic controller (PLC)) etc. of control object and various equipment.Equipment is linked with via on the further next stage of console panel.Equipment comprising the motor of each axle movement for making treatment table, driving the motor etc. of the X-ray image-pickup device in irradiation unit, and usually, above-mentioned irradiation unit 21, navigation feature device 22 are also included.
But, be recorded in the particle-beam therapeutic apparatus of present embodiment 1, for the control relevant with navigation feature portion 22, not via the console panel be arranged in each therapeutic room 6, but directly controlled by master controller 40.Its reason is, as described below, in the particle-beam therapeutic apparatus of present embodiment 1, not control independently to breathe navigation in a therapeutic room, and need to control it in phase mutually with other treatment room and induction system, therefore, by reduce further via equipment, thus avoid because produce dead time (delays) and cause timing generation deviation situation.But, like this directly might not connect, in the nature of things, as long as can sequential be guaranteed, also can carry out suitable change.
Other effect of navigation feature portion irradiation system public computer (master controller 40) comprises: command whole particle-beam therapeutic apparatus as described above; As needing the controller synchronously carrying out the equipment controlled with accelerator system 1, induction system 3, itself bear the function of sub-controller 42.This be also why in Fig. 1 by 42 notes in bracket.
Thus, relevant with breathing guiding device 22 in sub-controller 42 controlling functions is born by master controller 40.For equipment such as the motor of other each axle movement being such as used for making treatment table, the motor of the X-ray image-pickup device driven in irradiation unit, usually control via sub-controller 42.These treatment table motor, X-ray image-pickup device motor can not move in beam exposure process.That is, this is because they do not need synchronizedly to control with the control of accelerator system 1, induction system 3.In order at notify status to each other, between irradiation system public computer (master controller 40) and the equipment computer for controlling (sub-controller 42) of irradiation system, exchange following signal: represent that the irradiation system 2 of which therapeutic room 6 has completed locate and be in Ready (ready) signal that can carry out the state of irradiating; Inform that the irradiation system 2 of which therapeutic room 6 has irradiated beam and completed the signal etc. of irradiation.In simple terms, the meaning of sequential affair is carried out exactly.Namely, irradiation system public computer (master controller 40) is being contrast to inject line pipe and manage with the effect in the associating of sub-controller 42, such as " irradiation system 2 of which therapeutic room 6 is fought for the beam from accelerator ", once make decision to this, the order among the sub-controller 42 that just can determine each therapeutic room 6 afterwards.
But, as will be described later, in the particle-beam therapeutic apparatus of embodiments of the present invention 1, need the breathing of each therapeutic room of Synchronization Control, beam switching.That is, only order can not be decided by the sub-controller of each therapeutic room.Therefore, be not, by equipment computer for controlling (sub-controller 42), command value is sent to navigation feature portion 22, but directly command value be sent to navigation feature portion 22 from irradiation system public computer (master controller 40).
In addition, the function of the formation irradiation field in the function of irradiation system 2 is not essential part of the present invention.Therefore, the description to irradiation unit 21 structure is omitted.On the other hand, to navigate the beam gating (beamgate) being connected and controlling the ON/OFF that irradiation object irradiates for breathing, need synchronous with induction system 3, therefore, although in fig. 2 unmarked, this beam gating is directly controlled by master controller 40.And, although need synchronously to carry out with accelerator system 1 to control wave the equipment that electric magnet or scanning electro-magnet etc. are also irradiation units 21, based on identical reason, directly controlled by irradiation system public computer 40.
Then, using Fig. 3 to illustrate in the particle-beam therapeutic apparatus of embodiments of the present invention 1, in order to irradiate the particle beam provided by accelerator in multiple therapeutic room in the mode of time-division processing simultaneously, and carrying out the method for coordination control to breathing to navigate.Respectively, show breathing navigation waveform WIb (A) in therapeutic room 6A on the top of Fig. 3, breathe the threshold value Th (A) of navigation waveform WIb (A) and the ON/OFF signal BG (A) of beam gating (beamgate), show breathing navigation waveform WIb (B) in therapeutic room 6B at the middle part of Fig. 3, breathe the threshold value Th (B) of navigation waveform WIb (B) and the ON/OFF signal BG (B) of beam gating (beamgate), BL represents datum line.The bottom of Fig. 3 represents the beam trajectory (path) that in induction system 3, beam switching electric magnet 32 switches.And the transverse axis in Fig. 3 represents the timing corresponding with the several breathing cycle, to Fig. 3 entirety general (synchronously), then more represent timing in the future the closer to right side.For the situation of breathing navigation waveform (WIb (A) and WIb (B) is referred to as WIb, Th (A) and Th (B) is referred to as Th), the longitudinal axis represents breathing state, being suction condition upward, is downwards expiration state.For the situation of the ON/OFF signal (BG (A) and BG (B) is referred to as BG) of beam gating, the upside of the longitudinal axis represents conducting state, downside represents off-state, for the situation of track, the upside of the longitudinal axis represents that setting track (path) makes it towards therapeutic room 6A, and the downside of the longitudinal axis represents that setting track (path) makes it towards therapeutic room 6B.
In addition, in the respiration information guiding device 22b being arranged at each therapeutic room 6, with along with the process of time, the mode of rolling from right to left are to show the navigation waveform (target respiratory waveform) in figure, patient navigates to breathing according to the display of the target respiratory waveform of this rolling.Now, when using the laser displacement gauge etc. of the abdominal exercise such as measuring patient in respiration measuring device 22a, if the unit of display of the longitudinal axis to be set to the output of laser displacement gauge, then show by making target respiratory waveform and actual measured value overlap, thus can visually illustrate and the skew of navigating to patient on one side, breathing is navigated.
Generally speaking, the affected part internal organs of patient, are in the most stable position when expiration state (below of the longitudinal axis), therefore, carry out treatment plan based on the position of the irradiation object under expiration state, shape, also can carry out beam exposure under expiration state.Threshold value Th in figure represents the reference value allowing beam exposure.Respiration gated signal BG represents that target respiratory waveform WIb is lower than conducting during threshold value Th.In the treatment, allow to irradiate when both waveforms of target respiratory waveform and the actual breathing state of not shown expression all reach below threshold value.Herein, Synchronization Control for the purpose of simplifying the description, then omit the explanation of the control about the waveform based on the actual breathing state of expression.
Herein, the path for induction system switches, and existing situation is, as long as a therapeutic room starts treatment, then till this treatment terminates, all in midway, path can not be switched to other treatment room, can not such path switching induction system within a breathing cycle as shown in the lower part of Figure 3.That is, until terminate, to after a patient is irradiated, to irradiate other patients.In the particle-beam therapeutic apparatus of present embodiment, owing to sharing the charged particle beam provided by accelerator 1 in time, therefore, respiration gated conducting simultaneously cannot be made in therapeutic room 6A and therapeutic room 6B.But, in the particle-beam therapeutic apparatus of present embodiment, between therapeutic room 6A and therapeutic room 6B, carrying out repeatedly to switch (in units of the breathing cycle) path in once irradiating, thus section can irradiate particle beam to multiple patient at one time simultaneously, that is, multiple patient can be made to accept particle-beam therapeutic simultaneously.Next, its implementation is described in detail.
General, the breathing cycle of the mankind is not constant, and its length also varies with each individual.But, breathing guider etc. can be utilized to guide to make it breathe by certain cycle.Its reason is, although breathing is arranged by autonomic nerve, also can arrange action by realizing exceptionally.Therefore, in patent documentation 4, carry out breathing with the cycle adapted with the accelerator cycle and navigate.Even if just in this case, also can not irradiate in other treatment room during a therapeutic room carries out irradiating.Therefore, in the particle-beam therapeutic apparatus of embodiments of the present invention, in therapeutic room 6A and therapeutic room 6B, the cycle of breathing by making target is consistent and dephase ormal weight, and prescribed phases in the cycle switches transport path charged particle beam being transported to therapeutic room 6A and 6B, thus particle-beam therapeutic can be carried out at the same time in therapeutic room 6A and 6B.For the cycle, the average respiratory cycle of people can be set to that is during 2 seconds to 20 seconds, and can phase offset be adjusted, make respiration gated in therapeutic room 6A and therapeutic room 6B can not conducting simultaneously (ON).The following flow chart with reference to Fig. 4 is described.
By the cycle (step S10) that the cycle set that target is breathed adapts to for meeting subject patient simultaneously.If by the periodical input of setting to master controller 40, then master controller 40 determines the phase place (skew) of each therapeutic room, calculate with offset after the path switching timing TC (step S20) of induction system 3 corresponding to phase place.Then, the timing indicator be built in master controller 40 carries out following instruction.Timing indicator indicates phase place to have offset target to breathe timing to breathing guider 22A, 22B of each therapeutic room 6A, 6B.Then, timing indicator is to path switching device (control device of the switching electric magnet 32 in Fig. 1 or sub-controller 43) instruction timing, make to irradiate in A room when the respiration gated conducting of therapeutic room A, carry out irradiating (step S30) in B room when the respiration gated conducting of therapeutic room B.Thus, as long as each therapeutic room is ready, then can as shown in Figure 3, in therapeutic room 6A and therapeutic room 6B, section carries out irradiation particle beam (step S40) simultaneously at one time.
In addition, now in Liang Ge therapeutic room, irradiate without the need to starting by force simultaneously, and can determine to irradiate beginning and irradiate to terminate for each therapeutic room.But, for the treatment in each therapeutic room, if only irradiate in the part of the prescribed phases of breathing navigation, even if then at multiple therapeutic room (6A, the time period of carrying out 6B) irradiating is overlapping, also can perform the treatment in each therapeutic room as treated in independent therapeutic room, its reason is within the breathing cycle, to carry out time-division processing to the particle beam from accelerator 1.
For the timing TC that path switches, in figure 3, such as, the timing that path is switched to therapeutic room 6B from therapeutic room 6A is set to TC
aB, the timing that the gating of therapeutic room 6A is switched to disconnection (OFF) from conducting (ON) is set to Tf
a, the gating of therapeutic room 6B is set to To from disconnecting the timing being switched to conducting
b, in addition, although not shown, the timing that path is switched to therapeutic room 6A from therapeutic room 6B is set to TC
bA, the timing that the gating of therapeutic room 6B is switched to disconnection from conducting is set to Tf
b, the gating of therapeutic room 6A is set to To from disconnecting the timing being switched to conducting
a, then preferably following formula (1) and formula (2) are set up.
TC
AB－Tf
A＜To
B－TC
AB···(1)
TC
BA－Tf
B＜To
A－TC
BA···(2)
Its reason is, at the time PC that the gating of the both sides of Liang Ge therapeutic room all disconnects
aB(=To
b-Tf
a), PC
bA(=To
a-Tf
b) in; " to the time of gating conducting from toggle path " is longer than " to the time of toggle path from disconnecting "; thus operate induction system 3 path switch electric magnet 32 time, can guarantee obtain from toggle path to orbitally stable time.
Then, the method generating target respiratory waveform is described.Although can manually generate target respiratory waveform, be the most naturally generate target respiratory waveform according to the situation of patient self.Display-object respiratory waveform the object making breathing consistent with it are, when planning and treatment time, reproduce the identical posture of affected part.Thus, patient first can be allowed to breathe under the posture loosened, measure with respiration measuring device 22a.Then, measured respiratory waveform being carried out finely tune, the time increases shortening, equalization etc., setting the suitable cycle for making therapeutic room 6A identical with the cycle of therapeutic room 6B.Now, when storing the general breathing waveform of patient in not shown therapy planning device, also can calculate the most suitable target breathing cycle based on stored waveform.In addition, selected meet subject patient simultaneously time, also automatically can select general breathing cycle close patient, that is, the patient easily making the cycle consistent.
In addition, in the above description, although adjust Liang Ge therapeutic room, make the cycle identical and there occurs phase offset, but in addition also can be set as following situation, such as, the cycle also can be made to have the relation of integral multiple, Row sum-equal matrix of going forward side by side makes irradiation time not overlap each other, therefore, be not limited to that there is the identical cycle, as long as make irradiation time not overlapping by adjustment cycle and phase place.
As mentioned above, the particle-beam therapeutic apparatus of 1 according to the present embodiment, comprising: multiple therapeutic room 6, navigation feature portion 22, this navigation feature portion 22 is arranged at each therapeutic room of multiple therapeutic room 6, is that based target respiratory waveform WIb is to guide the breathing guiding device of the breathing of patient, the transport path 31 of particle beam, the transport path 31 of this particle beam will speed up device 1 and is connected with each therapeutic room of multiple therapeutic room 6, switch electric magnet 32, this switching electric magnet 32 is arranged in transport path 31, is that the track switching particle beam makes the particle beam penetrated from accelerator 1 be provided to the switching device shifter of any one therapeutic room multiple therapeutic room 6, irradiation unit 21, this irradiation unit 21 is arranged in each therapeutic room of multiple therapeutic room 6, and provided particle beam is formed as the irradiation field corresponding with irradiation object, and at least synchronously controls the irradiation carried out irradiation object with target respiratory waveform WIb, and controller 4, the therapeutic room 6A of the plural specified quantity of this controller 4 at least in the above-mentioned multiple therapeutic room 6 of Synchronization Control, breathing guiding device 22 and the switching electric magnet 32 of 6B, controller 4 is configured to breathing guiding device 22 adjustment aim respiratory waveform WIb (A) of the therapeutic room to specified quantity, the cycle of WIb (B) and phase place, to make the therapeutic room 6A with specified quantity, irradiation time (TI (A) and TI (the B)) non-overlapping that the target respiratory waveform WIb of 6B is synchronous, and controller 4 also controls the switching instant TC switching electric magnet 32
aBwith the track making the irradiation time of each therapeutic room of the therapeutic room of quantity according to the rules (TI (A) and TI (B)) correspondingly switch particle beam, therefore, the particle beam penetrated by accelerator 1 that theres is provided can be accepted, to irradiate particle beam simultaneously with time-sharing format in the breathing cycle, in multiple therapeutic room.Therefore, the particle-beam therapeutic apparatus carrying out particle-beam exposure at the same time in multiple therapeutic room, make multidigit treatment patients can be obtained.
Especially, controller 4 is configured to adjust the breathing guiding device of the therapeutic room of specified quantity, to make generating period identical and the target respiratory waveform of phase place generation skew, therefore, easily can adjust, not overlap each other to make irradiation time.
Especially, the track switching instant that control room 4 is configured to track is switched to the second therapeutic room (such as 6B) from the first therapeutic room (such as 6A) the therapeutic room of specified quantity is set to TC
12, the irradiation of the first therapeutic room 6A is switched to disconnection from conducting and namely stops the moment of irradiating to be set to Tf
1, the moment that the irradiation of the second therapeutic room 6B is irradiated from disconnecting and being switched to conducting namely is set to To
2, then control switching instant and make [TC
12-Tf
1< To
2-TC
12] set up, therefore, when the path operating induction system 3 switches electric magnet 32, the time till playing orbitally stable from toggle path (track) is elongated, can carry out stable irradiation.
Embodiment 2.
In embodiment 1, the situation that therapeutic room is two is illustrated.But, generally speaking, in most cases main accelerator 1 correspondence three to four therapeutic rooms of particle-beam therapeutic apparatus.Therefore, in present embodiment 2, the situation that therapeutic room is more than three is described.
Term in following term and above formula embodiment 1 is shared, but, when the phase offset in multiple therapeutic room is described, can definition be re-started to several term.
< breathing cycle >
As shown in Figure 3, target respiratory waveform is made up of the waveform periodically repeating identical patterns.Such as, interval there will be the maximum representing the maximum air condition of inspiration at regular intervals.This certain hour interval is called " breathing cycle " (C (A) or C (B), be referred to as C) (unit is time [sec (second)]).
< breathing phases >
As shown in Figure 3, target respiratory waveform WIb (A) and target respiratory waveform WIb (B) has identical breathing cycle C, but the position of the maximum of target respiratory waveform WIb (A) and target respiratory waveform WIb (B) offsets from each other.Thus, the skew produced in time when two same waveform are overlapped is called " phase offset ".This phase offset can be considered according to identical mode during consideration trigonometric function (sine, cosine).Thus, the unit of phase place is radian or degree (°).
< dutycycle (dutyratio) >
As shown in Figure 3, respiration gated signal BG can be decided according to target respiratory waveform WIb.In embodiment 1, describe and breathe WIb lower than the method making gating signal BG conducting during threshold value Th in target.Thus, respiration gated signal BG is that repetition is through width (time) conducting adjusted and PWM (PulseWidthModulation: the pulsewidth modulation) signal disconnecting binary signal.The ON time of respiration gated signal and the ratio of turn-off time can be represented with dutycycle.Specifically, dutycycle is defined as the ratio of ON time relative to integral cycle of signal.Such as, in time of conducting and disconnection than for 1:3, dutycycle is 0.25 (=1/ (1+3)).
Now, assuming that the dutycycle of respiration gated signal BG is 0.5 (1/2), and repeat ON/OFF.In this case, if dephase 180 degree, then the gating signal BG in Neng Shiliangge therapeutic room can not conducting simultaneously.That is, in these cases, in Liang Ge therapeutic room, beam exposure can only be carried out with time-sharing format at most simultaneously.It is desirable that when dutycycle is 0.5, can irradiate with time-sharing format in Liang Ge therapeutic room simultaneously.But, in fact also need the path switching time considering therapeutic room, therefore, also have other restrictions.
On the other hand, if consider the relation between the breathing of patient and the posture of affected part internal organs, then there is following situation.Threshold value Th is lower, then can reproduce the posture of affected part goodly.On the other hand, if reduce threshold value Th, then the dutycycle of respiration gated signal also corresponding reduction.
Flow chart Mingzhi of use Fig. 5 treats time-sharing method when number of chambers amount is more than 3.As prerequisite, dutycycle corresponding to the respiration gated signal BG of target breath signal WIb is slightly less than 0.5 (being slightly less than 1/2), can irradiate Liang Ge therapeutic room at the same time, but cannot section irradiate three therapeutic rooms at one time, that is, can cause existing and make the time of irradiation conducting equitant therapeutic room.Then, as target respiratory waveform WIb, prepare waveform WIb (α) and waveform WIb (β) these two timing group α, β (step S210) that phase place there occurs 180 degree of skews.
First, to the doctor etc. preparing in certain therapeutic room (such as 6A) in therapeutic room 6A ~ 6C to start to treat, operating board via irradiation system public computer (master controller 40) shows, to make the treatment situation that can confirm other treatment room (such as 6B, 6C).Herein, so-called treatment situation refers to whether be in target respiratory waveform group (α or β) in treatment and selected.Then, doctors etc. input α or β in the timing group of selection result and the target respiratory waveform managed by irradiation system public computer (master controller) according to the treatment situation of other treatment room, and will be set as inputted group (step S220).That is, each therapeutic room selects belong to group α or belong to the group organizing β.In addition, in this step 220S, also can not show Xiang doctor etc., and judge in the controller corresponding to each therapeutic room, select suitable group.Or, also can carry out the α of setting group respectively and group β in advance to each therapeutic room.
To the therapeutic room (sub-controller 42 or navigation feature portion 22) setting group, export the timing signal (step S230) corresponding to this group from master controller 40.By inputting this timing signal, thus display corresponds to the target respiratory waveform WIb of selected group in each therapeutic room.
If display-object respiratory waveform WIb, then patient progressively can adjust the breathing of oneself according to target respiratory waveform WIb.Herein, when all non-selected group α of multiple therapeutic room or group β, namely, when there is not the therapeutic room of ON time overlap (step S300 is "No"), then identical with the step S40 of embodiment 1, the irradiation (step S240) carrying out utilizing time-sharing format can be started.But, as precondition, when multiple therapeutic room selects same group, then selecting, in the therapeutic room of identical group, to there will be the situation of ON time overlap.In this case (step S300 is "Yes"), screening becomes the therapeutic room of time-division illumination object as follows.
The controller 40 with timing indicator more at least select the target respiratory waveform of each therapeutic room of same group, with the actual respiratory waveform (step S310) exported from patient respiratory determinator 22a.Then, result based on the comparison, gives a mark to the irradiation degree of readiness of each therapeutic room, when mark is higher than predetermined value, is judged as can carrying out irradiating and the therapeutic room (step S320) determined as time-division illumination object.Now, have selected in the therapeutic room of same group, if there is multiple therapeutic room that can carry out irradiating, then the therapeutic room that selection mark is the highest is as irradiation object.Or, consider the situation that mark is identical according to treatment content etc., also can be prioritized to therapeutic room in advance.Or, also mark can be set to " can irradiate " and " can not irradiate " these two values (0 or 1).
Thus, each therapeutic room belonging to group α or group β is defined as time-division illumination object, and in determined therapeutic room, show this therapeutic room is treatment target, starts to carry out treating (step S240).Thus, even if when the therapeutic room that can carry out time-division processing is two, also two can be selected from the therapeutic room of more than three, carry out timesharing treatment.On the other hand, not chosen therapeutic room was all holding state before another therapeutic room's completed treatment belonging to same group, and showed this holding state.
Illustrate the method for the marking of the irradiation preparation in step S250.
Method is the method for the error sum of squares calculating target respiratory waveform and actual respiratory waveform the most intuitively.Specifically, action as follows.If the breathing cycle will be set to T, then the error sum of squares Se of a kth breathing cycle can utilize the formula (3) of the integrated square Ie representing error to obtain.
(mathematical expression 1)
In formula, b (t) is actual respiratory waveform, and bobj (t) is target respiratory waveform.
In addition, if represent in time-discrete situation, then as shown in the formula shown in (4).
(mathematical expression 2)
In formula, n is the hits of a breathing cycle.
Score obtains by the mode such as deducting this error sum of squares Se from basis point.
In addition, be more simply the method that the respiration gated of comparison object respiratory waveform and the respiration gated of actual respiratory waveform carry out giving a mark.Now, preferably in a breathing cycle, the situation that time of target waveform benchmark and actual respiration gated of breathing both benchmark all conducting is longer.Thus, also the time of respiration gated conducting under this target waveform benchmark can be breathed the time of respiration gated conducting is mutually the same under benchmark time as mark with actual.
For above-mentioned marking, except current breathing cycle, also can consider one to two cycle in the past.So-called breathing state is constant refers to the state being applicable to carrying out beam exposure.
In addition, in the above example, in order to be easier to understand the therapeutic room of ON time overlap, using the example preparing ON time nonoverlapping group in advance to be illustrated, but being not limited to this.Such as, even if adjust the phase place of each therapeutic room, when ON time overlap (the step S300 of Fig. 5), also can select the therapeutic room that will become time-division illumination object from the therapeutic room of ON time overlap.
As mentioned above, the particle-beam therapeutic apparatus of 2 according to the present embodiment, controller 4 adopts following structure: namely, in multiple therapeutic room, such as, when existing as have selected the therapeutic room of same group, when the equitant therapeutic room of the irradiation time TI synchronous with target respiratory waveform WIb, the actual respiratory waveform that the target respiratory waveform WIb of the comparison equitant each therapeutic room of irradiation time TI and respiration measuring device 22a measures, result based on the comparison, from the equitant therapeutic room of irradiation time TI, select a therapeutic room as the object of Synchronization Control, namely be chosen to be and carry out with time-sharing format the object that irradiates, therefore, even if when therapeutic room's quantity be greater than can carry out therapeutic room's quantity of irradiating simultaneously, also successfully time-division illumination can be carried out.
Embodiment 3.
In above formula embodiment 1 or 2, describe the situation under following prerequisite: namely, the therapeutic room simultaneously can irradiated with time-sharing format is two, and the dutycycle of respiration gated signal BG is slightly less than 0.5.But as mentioned above, if reduce dutycycle, then threshold value Th can reduce, and can improve the repeatability of the posture of affected part.In existing particle-beam therapeutic apparatus, if reduce dutycycle, then treatment time once can increase, and can connect subject patient's number can reduce, and therefore, needs to guarantee higher dutycycle.But, when the particle-beam therapeutic apparatus of the present invention adopting time-sharing format to irradiate simultaneously, even if reduce dutycycle, also the quantity of the therapeutic room that can simultaneously irradiate can be increased, therefore, can maintain and can connect subject patient's number, and the stability of affected part posture can be improved.Therefore, the dutycycle of respiration gated signal can be set to Neng Shisange therapeutic room and carry out that irradiate, more smaller than 0.33 value (being slightly less than 1/3) with time-sharing format simultaneously.In this case, phase place is offset by 120, generate three target respiratory waveform group α, β, γ, can come to irradiate to maximum three therapeutic rooms with time-sharing format simultaneously.
In addition, threshold value Th also can not be used just to generate respiration gated signal BG.Originally target respiratory waveform WIb is just arbitrary value, and therefore, corresponding respiration gated signal BG is also arbitrary value.Such as, there is following situation: namely, be less than in the region of threshold value Th at target respiratory waveform WIb, only use latter half.Its starting point is because want the region using target respiratory waveform WIb smooth and stable as far as possible.In contrast, for the generation of the respiration gated signal of actual respiratory waveform, can easily understand that the method using threshold value Th.
In addition, the smaller value (being slightly less than 1/4) of lower ratio 0.25 is set in the dutycycle of the respiration gated signal by target respiratory waveform, phase place is offset by 90 degree, when generating four target respiratory waveform group α, β, γ, δ, can irradiate maximum four therapeutic rooms with time-sharing format simultaneously.
In addition, in the above example, in order to be easier to understand the therapeutic room of ON time overlap, using the example preparing ON time nonoverlapping group in advance to be illustrated, but being not limited to this.Dutycycle such as set by current time adjusts the phase place of each therapeutic room, when Continuity signal or overlap, suitably can reduce dutycycle.
Thus, the particle-beam therapeutic apparatus of 2 according to the present embodiment, controller 4 adopts following structure: namely, when there is the therapeutic room of the irradiation time TI overlap synchronous with target respiratory waveform WIb in multiple therapeutic room, adjust in the mode that the ratio of the irradiation time TI synchronous with target respiratory waveform WIb making each irradiation unit 22 reduces, make irradiation time TI not overlapping, therefore, even if when therapeutic room's quantity be greater than can carry out therapeutic room's quantity of irradiating simultaneously, also successfully can carry out time-division illumination.
Embodiment 4.
In the respective embodiments described above 1 to 3, the example of the dutycycle of mean allocation respectively timing group is illustrated.But, the part that the part being easily subject to breathing impact of close pulmonary and head etc. are not vulnerable to breathe impact may be there is in the position of irradiation object and patient.That is, the dutycycle of each timing group might not be set as average.Therefore, in the particle-beam therapeutic apparatus of present embodiment 4, in irradiation system public computer (master controller 40), prepare the timing group that dutycycle is different in advance.Doctors etc. can select suitable timing group according to the position of irradiation object and patient.Or master controller 40 also can extract duty cycle information from the information be stored in therapy planning device, selects suitable group based on extracted duty cycle information.
In this case, master controller 40, according to the dutycycle of the timing group of selected each therapeutic room, adjusts the phase offset of each timing group, makes ON time can not be overlapping.Such as, the dutycycle of the group α selected respectively three therapeutic rooms is 0.15, the dutycycle of group β is 0.4, when the dutycycle of group γ is 0.3, make β relative to α skew 72 degree, make γ relative to α skew 234 degree, then can guarantee the switching timing of 18 degree between each group, offset ON time, irradiate with time-sharing format simultaneously.
In addition, when the summation of the dutycycle of selected group is greater than 1, suitably restriction becomes the quantity of the therapeutic room of timesharing object like that as shown in Embodiment 2, makes summation be not more than 1, or as shown in Embodiment 3, carry out adjusting to reduce dutycycle.
Label declaration
1 accelerator (synchrotron)
2 irradiation systems (21: irradiation unit, 22: navigation feature portion (breathing guiding device) (22a: respiration measuring device))
3 induction systems (31: transport path, 32: switch electric magnet (switching device shifter))
4 control system (controller) (40: master controller)
6 therapeutic rooms
The C cycle
TC utilizes and switches the switching timing that electric magnet carrys out switch beams track
Synchronously stop the timing of irradiating with target respiratory waveform in Tf irradiation unit
The irradiation time that TI is synchronous with target respiratory waveform
Synchronously start the timing of irradiating with target respiratory waveform in To irradiation unit
WIb target respiratory waveform
Claims (6)
1. a particle-beam therapeutic apparatus, this particle-beam therapeutic apparatus is provided with multiple therapeutic room, described multiple therapeutic room has the breathing guiding device indicating breathing timing to patient, and, described particle-beam therapeutic apparatus is based on the phase place of the described breathing timing of offset setting respectively, described multiple therapeutic room is categorized into multiple groups, between the patient of the therapeutic room selected from each group of described multiple groups, adopt time-sharing format to irradiate particle ray simultaneously, the feature of described particle-beam therapeutic apparatus is
Comprise controller, this controller performs the step consisting of a therapeutic room of time-division illumination object selected in described multiple groups relative to comprising multiple therapeutic room,
Described controller is given a mark to the therapeutic room comprised in the group of described multiple therapeutic room irradiation degree of readiness separately, selects a described therapeutic room based on the value after described marking,
The error sum of squares of based target respiratory waveform and actual respiratory waveform, gives a mark to described irradiation degree of readiness.
2. a particle-beam therapeutic apparatus, this particle-beam therapeutic apparatus is provided with multiple therapeutic room, described multiple therapeutic room has the breathing guiding device indicating breathing timing to patient, and, described particle-beam therapeutic apparatus is based on the phase place of the described breathing timing of offset setting respectively, described multiple therapeutic room is categorized into multiple groups, between the patient of the therapeutic room selected from each group of described multiple groups, adopt time-sharing format to irradiate particle ray simultaneously, the feature of described particle-beam therapeutic apparatus is
Comprise controller, this controller performs the step selecting the therapeutic room of time-division illumination object the therapeutic room in described multiple groups in the group comprising multiple therapeutic room,
Described controller is given a mark to the therapeutic room comprised in the group of described multiple therapeutic room irradiation degree of readiness separately, selects a described therapeutic room based on the value after described marking,
Based target respiratory waveform and actual respiratory waveform become the length of the time that can allow the value of carrying out described irradiation simultaneously, give a mark to described irradiation degree of readiness.
3. particle-beam therapeutic apparatus as claimed in claim 1 or 2, is characterized in that,
Except the present breathing cycle, also consider that one to two cycle in the past gives a mark to described irradiation degree of readiness.
4. the system of selection of an irradiation object therapeutic room, multiple therapeutic room has the breathing guiding device indicating breathing timing to patient, in the particle-beam therapeutic apparatus being provided with described multiple therapeutic room, based on the phase place of the described breathing timing of offset setting respectively, described multiple therapeutic room is categorized into multiple groups, between the patient of the therapeutic room selected from each group of described multiple groups, adopt time-sharing format to irradiate particle ray simultaneously, now, the therapeutic room consisting of time-division illumination object relative to comprising multiple therapeutic room is selected in described multiple groups, described feature of penetrating the system of selection of subject room is, comprise:
To the operation that the therapeutic room comprised in the group of described multiple therapeutic room irradiation degree of readiness is separately given a mark; And
The operation of a described therapeutic room is selected based on the value after described marking,
Further, the error sum of squares of based target respiratory waveform and actual respiratory waveform is given a mark to described irradiation degree of readiness.
5. the system of selection of an irradiation object therapeutic room, multiple therapeutic room has the breathing guiding device indicating breathing timing to patient, in the particle-beam therapeutic apparatus being provided with described multiple therapeutic room, based on the phase place of the described breathing timing of offset setting respectively, described multiple therapeutic room is categorized into multiple groups, between the patient of the therapeutic room selected from each group of described multiple groups, adopt time-sharing format to irradiate particle ray simultaneously, now, the therapeutic room consisting of time-division illumination object relative to comprising multiple therapeutic room is selected in described multiple groups, described feature of penetrating the system of selection of subject room is, comprise:
To the operation that the therapeutic room comprised in the group of described multiple therapeutic room irradiation degree of readiness is separately given a mark; And
The operation of a described therapeutic room is selected based on the value after described marking,
Based target respiratory waveform and actual respiratory waveform become the length of the time that can allow the value of carrying out described irradiation simultaneously, give a mark to described irradiation degree of readiness.
6. the system of selection of the irradiation object therapeutic room as described in claim 4 or 5, is characterized in that,
Except the present breathing cycle, also consider that one to two cycle in the past gives a mark to described irradiation degree of readiness.
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| US20060118736A1 (en) * | 2003-03-07 | 2006-06-08 | Kunio Moriyama | Particle beam therapy system |
| CN101345815A (en) * | 2007-07-09 | 2009-01-14 | 佳能株式会社 | Imaging-control apparatus and method of controlling same |
| JP2010094357A (en) * | 2008-10-17 | 2010-04-30 | Mitsubishi Electric Corp | Particle beam treatment device |
| US20100207042A1 (en) * | 2008-06-09 | 2010-08-19 | Mitsubishi Electric Corporation | Particle beam treatment apparatus and respiration navigation apparatus used therefor |
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| US20060118736A1 (en) * | 2003-03-07 | 2006-06-08 | Kunio Moriyama | Particle beam therapy system |
| CN101345815A (en) * | 2007-07-09 | 2009-01-14 | 佳能株式会社 | Imaging-control apparatus and method of controlling same |
| US20100207042A1 (en) * | 2008-06-09 | 2010-08-19 | Mitsubishi Electric Corporation | Particle beam treatment apparatus and respiration navigation apparatus used therefor |
| JP2010094357A (en) * | 2008-10-17 | 2010-04-30 | Mitsubishi Electric Corp | Particle beam treatment device |
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