CN105727459A - Image-guided particle implanting system - Google Patents
Image-guided particle implanting system Download PDFInfo
- Publication number
- CN105727459A CN105727459A CN201610258798.9A CN201610258798A CN105727459A CN 105727459 A CN105727459 A CN 105727459A CN 201610258798 A CN201610258798 A CN 201610258798A CN 105727459 A CN105727459 A CN 105727459A
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- Prior art keywords
- guide plate
- seeds implanted
- image
- seeds
- planning software
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1002—Intraluminal radiation therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1014—Intracavitary radiation therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/103—Treatment planning systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
- A61N2005/1012—Templates or grids for guiding the introduction of sources
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1085—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy characterised by the type of particles applied to the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The invention discloses an image-guided particle implanting system. A posture mount is employed for fixing a patient and a particle implanting guide plate, particle implanting planning software generates a radiotherapy plan, and a numerical controlled machine tool is used to process guiding holes in the guide plate according to the radiotherapy plan to assist positioning and orientating of planting needles. Verification of the plan during a treating process and after the treatment is facilitated. The image-guided particle implanting system improves particle planting accuracy, and saves treatment time and consumables cost.
Description
Technical field
The present invention relates to medical instruments field material being implanted to human body, specifically provide a kind of image and guide seeds implanted system.
Background technology
Generally use in clinic to the radiotherapy technology of human body therapy tumor with seeds implanted at present.The performance level of the manual acupuncture operation of traditional doctor to rely on specialized capability and the operating experience of doctor, and operation degree of accuracy is low, it is impossible to realize expected effects.
Along with the development of medical science, occur in that seeds implanted guide plate.Doctor uses mechanical arm to determine point of puncture and puncture angle under the guiding of CT scan equipment, and then seeds implanted pin is inserted into the patient along the equidistant space on seeds implanted guide plate, it is intended that the degree of depth implants particle.The method improves the degree of accuracy of operation to a certain extent, but mechanical arm and guide plate also to adjust accordingly when multiple angles puncture, accuracy is improved, it is necessary to constantly CT scan verifies the accuracy in treatment path, complex operation for keeping consistent with treatment plan.
A kind of 3D is separately had to print guide plate, doctor uses 3D technology to print 3D guide plate after formulating treatment plan, this guide plate is different from conventional guide plate, 3D printing guide plate adds guide function and has planned implantation position and the angle of seeds implanted pin, can once generate the inserting needle path of multiple seeds implanted pins of different directions, it is also possible to the inserting needle path of multiple seeds implanted pins of a CT scan simultaneous verification different directions.This guide plate overcomes the shortcoming of conventional guide plate complex operation, further increases the degree of accuracy for the treatment of, but 3D prints the overlong time of guide plate, and second positioning can produce error and reduce accuracy, and 3D prints with high costs simultaneously.
Summary of the invention
For the problems referred to above, it is desirable to provide a kind of image guides seeds implanted system.
The technical solution used in the present invention is: a kind of image guides seeds implanted system, including seeds implanted planning software, body position fixing holder, seeds implanted guide plate, seeds implanted guide plate processing method and treatment plan verification method；
Seeds implanted guide plate processing method comprises the steps: to use body position fixing holder immobilized patients, treats scanning position and carries out CT scan, it is thus achieved that the CT image at scanning position；Seeds implanted planning software formulates, according to CT image, the plan of implantation；Seeds implanted planning software automatically generates seeds implanted guide plate nc program according to inserting needle direction and the position of implantation plan, is sent to Digit Control Machine Tool；Digit Control Machine Tool performs processor, processes pilot hole on seeds implanted guide plate.Compared with 3D printing template, template process velocity of the present invention is fast.After having planned, the whole process automatically generating seeds implanted guide plate nc program and numerical control machine tooling pilot hole can complete within a few minutes.Patient directly utilizes the good guide plate of rapid processing on CT bed and carries out seeds implanted, it is not necessary to reorientate, and so not only reduces the workload of resetting, and avoids second positioning error.
Body position fixing holder includes arc pressuring plate, platen elevation regulates device and guide plate bracket.Arc pressuring plate is used for auxiliary positioning patient, to guarantee that the relative position relation between patient and guide plate remains unchanged.Four angles of arc pressuring plate have platen elevation to regulate device, it is possible to regulate the height of pressing plate, make pressing plate be pressed in patient with suitable dynamics, carry out auxiliary positioning patient.Arc pressuring plate has different size, the different body parts of patient or same patient to adapt to different building shape.Having arc track groove on pressing plate, described guide plate bracket can slide in arc track groove；Seeds implanted guide plate is arranged on guide plate bracket, can slide in arc track groove with guide plate bracket.Compared with printing guide plate with 3D, consumables cost of the present invention is cheap, and all of arc track groove, guide plate, guide plate bracket material can with common medical PVC materials.
Seeds implanted guide plate has the label for determining seeds implanted guide plate position and attitude.Seeds implanted planning software determines position and the attitude of seeds implanted guide plate by these seeds implanted guide plate labels of display on CT image.
Seeds implanted planning software can receive and show CT, ultrasonic, MR or PET image.Utilize these images, it is possible to set on seeds implanted planning software and implant the inserting needle direction of each implant needle, position and the degree of depth in the works.Final particle is implanted planning software and is automatically generated seeds implanted guide plate nc program according to inserting needle direction and the position of each implant needle.
Treatment plan verification method comprises the steps: to carry out CT scan when implant needle is placed on human body skin along the hole that guide plate is planned, planning software obtains CT image and the placement location of implant needle, direction and radiotherapy planning are verified；Implant needle is implanted when human body arrives affected part and is carried out CT scan, and planning software obtains CT image and placement location and radiotherapy planning to implant needle are verified；Treatment enforcement carries out CT scan after completing, and checks the actual position implanting particle and calculates actual emanations.Compared with mechanical hand and conventional guide plate, the present invention can once generate the inserting needle path of multiple implant needles of different directions, it is also possible to the inserting needle path of multiple implant needles of a CT scan simultaneous verification different directions.
The present invention uses seeds implanted planning software to generate radiotherapy planning, use Digit Control Machine Tool processing guide plate according to radiotherapy planning, guide seeds implanted, and can with after treatment, plan be verified over the course for the treatment of, the present invention can improve the degree of accuracy of seeds implanted, saves treatment time and consumables cost.
Accompanying drawing explanation
Fig. 1 body position fixing holder and seeds implanted guide plate；
Fig. 2 seeds implanted guide plate side view (on) and top view (under).
Detailed description of the invention
Embodiment 1
Specific embodiment of the present invention is that a kind of image guides seeds implanted system, including seeds implanted planning software, body position fixing holder, seeds implanted guide plate, seeds implanted guide plate processing method and treatment plan verification method；
Seeds implanted guide plate processing method comprises the steps: to use body position fixing holder immobilized patients, treats scanning position and carries out CT scan, it is thus achieved that the CT image at scanning position；Seeds implanted planning software formulates, according to CT image, the plan of implantation；Seeds implanted planning software automatically generates seeds implanted guide plate nc program according to inserting needle direction and the position of implantation plan, is sent to Digit Control Machine Tool；Digit Control Machine Tool performs processor, processes pilot hole on seeds implanted guide plate；
Body position fixing holder includes arc pressuring plate, platen elevation regulates device and guide plate bracket；Four angles of described arc pressuring plate have platen elevation to regulate device, and pressing plate has arc track groove, and described guide plate bracket can slide in arc track groove；Seeds implanted guide plate is arranged on guide plate bracket, can slide in arc track groove with guide plate bracket.Fig. 1 is the body position fixing holder in this embodiment and seeds implanted guide plate, in figure, 101 is therapeutic bed, 102 is arc pressuring plate, 103 is guide plate bracket, 104 is seeds implanted guide plate, 105 is the fixation postures fixed mount locking device to therapeutic bed, and 106 is the locking device adjusting arc pressuring plate height, and 107 is the resting guide bracket locking device to arc pressuring plate.
Seeds implanted guide plate has the label for determining seeds implanted guide plate position and attitude.Fig. 2 be a seeds implanted guide plate side view (on) and top view (under), in figure, 201 is the pilot hole that Digit Control Machine Tool processes；202 is metal marker thing, and this label is different from seeds implanted guide plate density of material, readily identifies on CT image.Seeds implanted planning software can be automatically identified label by Threshold segmentation, it is also possible to by manually identifying these labels on software.
Seeds implanted planning software receives, by network and the file interface of dicom standard, CT, ultrasonic, the MR or PET image that meet dicom standard definition, and shows in software.
Seeds implanted planning software can set that implantation the inserting needle direction of each implant needle, position and the degree of depth in the works.Three-dimensional CT view data can be pressed cross section, coronalplane, sagittal plane and any oblique section and be shown by seeds implanted planning software, and user can arrange inserting needle direction, position and the degree of depth on the tangent plane that these are different.
Seeds implanted planning software determines position and the attitude of seeds implanted guide plate by seeds implanted guide plate label on CT image.Then seeds implanted planning software is according to inserting needle direction and the position of implanting each implant needle in the works, on inserting needle track-span to seeds implanted guide plate, will determine corresponding pilot hole position on guide plate and direction.In conjunction with guide plate fixed position on Digit Control Machine Tool, seeds implanted planning software automatically generates NC machining program.
Treatment plan verification method comprises the steps: to carry out CT scan when all implant needles are placed on human body skin along the hole that guide plate is planned, planning software obtains CT image and the placement location of implant needle, direction and radiotherapy planning are verified；All implant needles enter when human body arrives designated depth and carry out CT scan, and planning software obtains CT image and placement location and radiotherapy planning to implant needle are verified；Treatment enforcement carries out CT scan after completing, and checks the actual position implanting particle and calculates actual emanations.
Concrete operations are as follows:
Regulate arc pressuring plate height with immobilized patients, arc track groove is likely to the direction resting guide bracket into pin and guide plate.Arc pressuring plate has different size, to adapt to the different parts of different patients or same patient.Patient position to be scanned is carried out CT scan, it is thus achieved that the CT image at scanning position, CT image should comprise seeds implanted guide plate.Seeds implanted planning software is installed on computers, uses seeds implanted planning software to receive the CT image of patient.Seeds implanted planning software determines position and the attitude of seeds implanted guide plate according to the label on seeds implanted guide plate, and doctor sketches out the profile of tumor on software and plans entry point and inserting needle direction, formulates radiotherapy planning.Postpone a meeting or conference through guide plate outside inserting needle path.Planning software automatically generates nc program, is sent to Digit Control Machine Tool.Doctor takes off guide plate from guide plate bracket, and puts into the holder on numerical control machine tool.Digit Control Machine Tool performs processor, gets out pilot hole on guide plate.Take off guide plate, sterilization, place back in guide plate bracket.All implant needles insert in guide plate along pilot hole, and before implant needle enters human body, scanning computed tomography verifies position and the direction of implant needle.After all implant needles enter human body arrival designated depth, scanning computed tomography verifies position and the direction of implant needle again.If verifying errorless, implant particle.Treat scanning computed tomography after enforcement completes, check the actual position and actual emanations of implanting particle.
Claims (8)
1. an image guides seeds implanted system, it is characterised in that: include seeds implanted planning software, body position fixing holder, seeds implanted guide plate, seeds implanted guide plate processing method and treatment plan verification method；
Described seeds implanted guide plate processing method comprises the steps:
Use body position fixing holder immobilized patients, treat scanning position and carry out CT scan, it is thus achieved that the CT image at scanning position；
Seeds implanted planning software formulates, according to CT image, the plan of implantation；
Seeds implanted planning software automatically generates seeds implanted guide plate nc program according to inserting needle direction and the position of implantation plan, is sent to Digit Control Machine Tool；
Digit Control Machine Tool performs processor, processes pilot hole on seeds implanted guide plate.
2. body position fixing holder described in claim 1, it is characterised in that body position fixing holder includes arc pressuring plate, platen elevation regulates device and guide plate bracket；Four angles of described arc pressuring plate have platen elevation to regulate device, and pressing plate has arc track groove, and described guide plate bracket can slide in arc track groove；Seeds implanted guide plate is arranged on guide plate bracket, can slide in arc track groove with guide plate bracket.
3. seeds implanted guide plate described in claim 1, it is characterised in that have the label for determining seeds implanted guide plate position and attitude on guide plate.
4. seeds implanted planning software described in claim 1, it is characterised in that this software can receive and show CT, ultrasonic, MR or PET image.
5. seeds implanted planning software described in claim 1, it is characterised in that this software can set that implantation the inserting needle direction of each implant needle, position and the degree of depth in the works.
6. seeds implanted planning software described in claim 1, it is characterised in that this software determines position and the attitude of seeds implanted guide plate by seeds implanted guide plate label on CT image.
7. seeds implanted planning software described in claim 1, it is characterised in that this software automatically generates seeds implanted guide plate nc program according to the inserting needle direction and position of implanting each implant needle in the works.
8. treatment plan verification method described in claim 1, it is characterized in that this verification method comprises the steps: to carry out CT scan when implant needle is placed on human body skin along the hole that guide plate is planned, planning software obtains CT image and the placement location of implant needle, direction and radiotherapy planning is verified；Implant needle is implanted when human body arrives affected part and is carried out CT scan, and planning software obtains CT image and placement location and radiotherapy planning to implant needle are verified；Treatment enforcement carries out CT scan after completing, and checks the actual position implanting particle and calculates actual emanations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610258798.9A CN105727459A (en) | 2016-04-25 | 2016-04-25 | Image-guided particle implanting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610258798.9A CN105727459A (en) | 2016-04-25 | 2016-04-25 | Image-guided particle implanting system |
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| CN105727459A true CN105727459A (en) | 2016-07-06 |
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| CN201610258798.9A Pending CN105727459A (en) | 2016-04-25 | 2016-04-25 | Image-guided particle implanting system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106139423A (en) * | 2016-08-04 | 2016-11-23 | 梁月强 | A kind of image based on photographic head guides seeds implanted system |
| CN110237442A (en) * | 2019-06-12 | 2019-09-17 | 山东新华医疗器械股份有限公司 | Plant treatment system is plugged after one kind is image-guided |
| CN110269768A (en) * | 2019-06-03 | 2019-09-24 | 南京医科大学 | For the location bed of Auxiliary Liver puncture procedure, guide plate and guide plate design method |
| CN110314288A (en) * | 2018-09-07 | 2019-10-11 | 上海黑焰医疗科技有限公司 | Guide the intracavitary positioning guide plate and production method of radion close-range treatment cancer |
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| JPH08238248A (en) * | 1995-03-06 | 1996-09-17 | Keiyuukai Moriya Keiyuu Biyouin | Decider for puncture needling angle and needling point for ct guide and puncture needle supporter |
| JP2010142537A (en) * | 2008-12-22 | 2010-07-01 | Yoshinari Umemura | Surgical guide for dental implant operation |
| CN101773411A (en) * | 2010-03-19 | 2010-07-14 | 福州浩联医疗科技有限公司 | Puncturing and positioning device |
| CN102895732A (en) * | 2012-10-19 | 2013-01-30 | 张建国 | Radioactive particle implanting template and fabrication method thereof |
-
2016
- 2016-04-25 CN CN201610258798.9A patent/CN105727459A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08238248A (en) * | 1995-03-06 | 1996-09-17 | Keiyuukai Moriya Keiyuu Biyouin | Decider for puncture needling angle and needling point for ct guide and puncture needle supporter |
| JP2010142537A (en) * | 2008-12-22 | 2010-07-01 | Yoshinari Umemura | Surgical guide for dental implant operation |
| CN101773411A (en) * | 2010-03-19 | 2010-07-14 | 福州浩联医疗科技有限公司 | Puncturing and positioning device |
| CN102895732A (en) * | 2012-10-19 | 2013-01-30 | 张建国 | Radioactive particle implanting template and fabrication method thereof |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106139423A (en) * | 2016-08-04 | 2016-11-23 | 梁月强 | A kind of image based on photographic head guides seeds implanted system |
| CN106139423B (en) * | 2016-08-04 | 2020-03-27 | 梁月强 | Image guide particle implantation system based on camera |
| CN110314288A (en) * | 2018-09-07 | 2019-10-11 | 上海黑焰医疗科技有限公司 | Guide the intracavitary positioning guide plate and production method of radion close-range treatment cancer |
| CN110269768A (en) * | 2019-06-03 | 2019-09-24 | 南京医科大学 | For the location bed of Auxiliary Liver puncture procedure, guide plate and guide plate design method |
| CN110237442A (en) * | 2019-06-12 | 2019-09-17 | 山东新华医疗器械股份有限公司 | Plant treatment system is plugged after one kind is image-guided |
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