CN110787376A - Tumor patient positioning system based on proton imaging - Google Patents
Tumor patient positioning system based on proton imaging Download PDFInfo
- Publication number
- CN110787376A CN110787376A CN201911205196.7A CN201911205196A CN110787376A CN 110787376 A CN110787376 A CN 110787376A CN 201911205196 A CN201911205196 A CN 201911205196A CN 110787376 A CN110787376 A CN 110787376A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- patient
- treatment
- proton
- subsystem
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- 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
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
-
- 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
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1054—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using a portal imaging system
-
- 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
- A61N2005/1087—Ions; Protons
-
- 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
- A61N2005/1096—Elements inserted into the radiation path placed on the patient, e.g. bags, bolus, compensators
-
- 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
- A61N2005/1097—Means for immobilizing the patient
Abstract
The invention discloses a tumor patient positioning system based on proton imaging, which comprises three fixed frames, two treatment heads, an image guiding subsystem, a patient supporting subsystem, a respiratory motion management subsystem and a patient transferring device, wherein the three fixed frames are fixed on the two treatment heads; the two treatment heads are respectively scanning beams and scattering beams; the proton imaging-based tumor positioning and radiotherapy system has the advantages of compact structure, high precision and simple and convenient operation, reduces the volume and the cost, reduces the cost and improves the service efficiency; the proton imaging-based tumor positioning and radiotherapy system adopts an advanced MLC/compensator coordinate system as a two-dimensional coordinate system independent of a beam coordinate system, a coordinate origin is defined at the center of a beam, and when the MLC/compensator rotates anticlockwise to rotate in a positive direction, theta is formedcWhen equal to 0 °, + xcAxis and + xbThe axes coincide. The water equivalent length calculation equation needs to consider thetacTo obtain the position of the compensator's various points in the patient coordinate system.
Description
Technical Field
The invention belongs to the field of patient positioning, relates to a tumor patient positioning technology, and particularly relates to a proton imaging-based tumor patient positioning system.
Background
Tumor, one of the diseases seriously threatening human life, has become the key and difficult problem of global research, and due to the physical dose distribution of photon beams such as X-ray used in the traditional radiotherapy, the normal tissues near the tumor will be inevitably damaged during irradiation, which not only causes side effects, but also often limits the radiation dose to reduce the cure rate, and the requirements of patients can not be met. In contrast, the medical community is continuously exploring the advanced cancer treatment technology. The neutron, proton and heavy ion technology is one of the international advanced cancer treatment technologies, and brings hope to cancer patients. With the development of computer technology and medical imaging, proton radiation therapy is becoming the most rapidly growing field. Because the special physical characteristics of the Bragg peak are provided, the normal tissues in the body of a patient are effectively protected while cancer cells are killed. At the end of the bragg peak, the relative bioavailability reaches a maximum and drops off rapidly with the bragg peak. Compared with the traditional radiotherapy and proton therapy, proton therapy is taken as a new generation representative of 'precise therapy', the proton radiation enters a human body at a very high speed and a very small radiation dose by utilizing the unique physical characteristics of the proton radiation, rapidly reaches tumor tissues and releases the whole dose, and the irradiation dose of normal tissues and organs behind and on the side of the tumor is almost zero, so that the tumor tissues are killed and killed at the maximum irradiation dose, the damage of surrounding tissues and organs is avoided to the maximum extent, and more precise 'precise therapy' is realized.
Although the superiority of proton therapy is recognized worldwide, the proton therapy system in China is mainly introduced from abroad at present, the core technology depends on abroad, the purchase and maintenance cost is very high, and three major difficulties exist in building a therapy center: the cost is extremely expensive, the floor area is wide, and the construction time is long. These difficulties lead to high final treatment costs, which are not affordable for most patients, and thus the use of proton therapy for tumor therapy is difficult to popularize and promote. Under the current situation, the core technology of proton treatment is mastered, and the reduction of treatment cost is the central importance of the popularization of proton treatment systems. In order to solve this technical problem, a solution is now provided.
Disclosure of Invention
The invention aims to provide a tumor patient positioning system based on proton imaging.
The purpose of the invention can be realized by the following technical scheme:
a tumor patient positioning system based on proton imaging comprises three fixed frames, two treatment heads, an image guiding subsystem, a patient supporting subsystem, a respiratory motion management subsystem and a patient transferring device; the two treatment heads are respectively scanning beams and scattering beams;
wherein, the fixed frame is used for respectively fixing the horizontal and vertical treatment heads and the beam limiting device; the two treatment heads are respectively arranged horizontally and vertically; the device is used for respectively providing each energy point or uniformly scanned beam current for treatment according to the requirements of different patients;
the image guidance subsystem mainly guides and establishes a patient coordinate system, a beam coordinate system, a DR coordinate system and an MLC/compensator coordinate system so as to carry out accurate positioning;
the specific establishment method for establishing the patient coordinate system, the beam coordinate system, the DR coordinate system and the MLC/compensator coordinate system under the guidance of the image guidance subsystem comprises the following steps:
the method comprises the following steps: establishing a patient coordinate system; the patient coordinate system is a main coordinate, and can be completely coincided with the position coordinate of the beam outlet after being rotated by an isocenter, and the coincidence error is less than 1 degree; further adjusting the tumor dead-front position through DR coordinates, and finally compensating by MLC; controlling the error within 0.1 degree; the patient coordinate system does not change depending on the posture change of the patient; the specific parameters are kept as follows:
s1: the patient coordinate system takes the upper left corner of the tomographic image as the x, the origin of the y coordinate, the right as the + x direction, the lower as the + y direction, and the + z points to the direction of increasing the sequence number of the image, namely the foot direction of the CT bed;
s2: patient coordinate system is right handThe system is seen from the direction of the treatment bed foot: + xpPointing to the right, + ypPointing upwards, + zpPointing to the therapeutic bed leg; randomly taking the position of an origin;
step two: establishing a beam coordinate system; the beam coordinate system is left-handed system, seen in the BEV direction:
for horizontal beam terminals, i.e. 0 degree terminals: x is the number ofbParallel to the ground, the positive direction points to the right; y isbIs vertical to the ground, and the positive direction is upward; + zbPointing to the advancing direction of the beam current; the beam coordinate system is independent of the rotation angle of the frame, so that the isocenter has a unique coordinate value in the beam coordinate system;
step three: establishing a DR coordinate system;
s10: the DR coordinate system adopts a beam current coordinate system, namely the X-ray bulb is positioned at (0,0, z)1) The position of the detection plane is (0,0, z)1)，z1And z2The specific value of (a) is preset by a user according to the installation mode of the DR equipment;
s20: for horizontal beam terminals, the generation of orthogonal DRR images takes θg0 ° and θgSetting at 90 degrees; for 45 degree tilted beam terminal, θ is used to generate orthogonal DRR imagesg45 ° and θgSetting at 135 °; for vertical beam terminals, the orthogonal DRR image generation uses θg90 ° and θgSetting at 180 degrees;
establishing an MLC/compensator coordinate system, wherein the MLC/compensator coordinate system is a two-dimensional coordinate system independent of the beam current coordinate system, and the origin of coordinates is defined at the beam current center; when the MLC/compensator rotates counterclockwise as the positive direction, thetacWhen equal to 0 °, + xcAxis and + xbThe axes coincide.
The image guidance subsystem comprises a high-voltage generator VZW2556RB2-N4, an X-ray tube assembly E7252X, a beam limiter M-38, a tube assembly support MFDR-C50-1, a digital image detector AeroDR P-12, a liquid crystal display and an anti-scattering GRID-1000;
the image guidance subsystem is used for firstly recording specific physical parameters of energy, divergence and phase of a proton beam accelerated to 70 MeV through a monitor; the parallel proton beams are changed into parallel proton beams by a collimator and then irradiated on a tumor part, and the parallel proton beams are reflected by two 45-degree plane mirrors and then imaged on a matrix camera negative film; the tumor contour and image are determined by comparing the precise coordinates of each proton.
Wherein the patient support subsystem is a treatment couch and its corresponding control assembly.
Wherein, the respiratory motion management subsystem is used for realizing the communication between the treatment room and the outside, and when needed, the patient can press the emergency call button.
Wherein, patient transfer device mainly used helps moving the obstructed patient on the treatment table by oneself.
Wherein the angle of rotation theta of the treatment bedtThe angle of the frame is the angle theta of the beam tube openinggAnd rotation angle θ of MLC/compensatorcThe following requirements should be satisfied:
θt: the initial 0 degree position is the coordinate x of the beam current pointing to the direction of the treatment bed headbDirection in + ypIs a rotating shaft;
θg: when theta istWhen equal to 0, thetagIs + zbAxis and-xpAngle of axis in + zpIs a rotating shaft;
θc: when theta istWhen equal to 0, thetacIs + xcAxis and + xbAxis or + xcAxis and-zpAngle of axis in + zbIs a rotating shaft.
In step S2, the origin position is specifically set at the target center position.
And in the second step, the origin of coordinates of the beam coordinate system is arranged at the central position of the multi-leaf grating.
The invention has the beneficial effects that:
the proton imaging-based tumor positioning and radiotherapy system has the advantages of compact structure, high precision and simple and convenient operation, reduces the volume and the cost, reduces the cost and improves the service efficiency;
the treatment system for tumor treatment based on heavy ions has an energy selection system, can adjust beam energy intensity, realizes accurate treatment and improves the treatment effect;
the proton imaging-based tumor positioning and radiotherapy system adopts an advanced MLC/compensator coordinate system as a two-dimensional coordinate system independent of a beam coordinate system, a coordinate origin is defined at the center of a beam, and when the MLC/compensator rotates anticlockwise to rotate in a positive direction, theta is formedcWhen equal to 0 °, + xcAxis and + xbThe axes coincide. The water equivalent length calculation equation needs to consider thetacTo obtain the position of the compensator's various points in the patient coordinate system.
According to the invention, the Bragg peak detector is adopted at the beam extraction terminal to absorb and block the beam by using equivalent water drop energy, so that the number of surrounding personnel and environment is reduced. The calculation of the water equivalent length needs to be careful to consider thetacTo obtain the position of the compensator's various points in the patient coordinate system.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the operation of the image guidance subsystem of the present invention;
FIG. 3 is a schematic view of a treatment couch/patient coordinate system and a beam coordinate system according to the present invention;
FIG. 4 is a schematic view of the orientation BEV of the MLC/compensator coordinate system according to the invention.
Detailed Description
Referring to fig. 1-4, a proton imaging based tumor patient positioning system includes a tumor information subsystem OIS, a registration and verification subsystem RVS, a patient positioning subsystem PPS, a patient positioning verification subsystem PPVS, a beam delivery subsystem nozle, a treatment control subsystem TCS, a treatment control panel TCP, a dose delivery subsystem DDS, an energy verification subsystem EVS, an independent termination subsystem ITS, and a medical interlocking subsystem MI;
the tumor information subsystem OIS and the registration and verification subsystem RVS compare the current parameters of the heavy ion therapy device with preset parameters and register the actual therapy session before the planned heavy ion therapy session begins and before each session begins. The RVS provides a method of preventing the machine from operating if the current parameters and preset parameter conditions are not consistent and are outside of the tolerance limits defined by the treatment plan.
A patient positioning subsystem PPS, which includes a laser light and a couch, moves the target position of the patient to be treated to the isocenter, and a patient positioning verification subsystem PPVS. The target area position of the patient at the isocenter is shot through the accurate positioning DR equipment, two orthogonal X-ray film images are obtained, the DRR image generated by the TPS is compared, and the positioning deviation of the patient is verified.
And the beam distribution subsystem Nozle controls the primary collimator, the range shifter, the scatterer, the ridge filter, the multi-leaf grating and the multi-leaf grating to perform telescopic motion according to the requirements of a treatment plan.
The treatment control subsystem TCS and the treatment control panel TCP provide a human-computer interface for the operator to control treatment data and treatment process, display treatment information, treatment process, treatment state indication, system startup, remote control equipment movement, treatment start and other operation control, ITS dosage display and emergency stop.
And a dose distribution subsystem DDS, wherein the system can receive a time signal of an accelerator, a metering pulse of a dose ionization chamber and a control signal of TCS/TCP. And (4) allowing the beam to be extracted according to the treatment process, counting the dose, carrying out scanning control, and forbidding the beam extraction according to the treatment condition.
And the energy verification subsystem EVS monitors the energy of the accelerator on line, and has the function of prohibiting beam extraction when the beam energy does not accord with the energy required by the treatment plan.
The independent termination subsystem ITS is used for monitoring the beam dose in the treatment process and forbidding beam extraction when the dose exceeds the requirement of a treatment plan; the dose rate is calculated.
And the medical interlocking subsystem MI is used for monitoring the states of all equipment and forbidding beam extraction when any equipment fails.
The above systems are all auxiliary subsystems, are all in the prior art, are not the key points of the application, and are not described in detail;
as shown in fig. 1, the whole system of the present invention further comprises three fixed frames, two treatment heads, an image guidance subsystem, a patient support subsystem, a respiratory motion management subsystem and a patient transfer device; the two treatment heads are respectively scanning beams and scattering beams;
wherein, the fixed frame is used for respectively fixing the horizontal and vertical treatment heads and the beam limiting device; the two treatment heads are respectively arranged horizontally and vertically; the treatment can be carried out by respectively providing each energy point or uniformly scanned beam current according to the requirements of different patients;
the image guidance subsystem mainly guides and establishes a patient coordinate system, a beam coordinate system, a DR coordinate system and an MLC/compensator coordinate system so as to carry out accurate positioning;
wherein, the patient support subsystem is a treatment bed and a corresponding control component thereof;
the respiratory motion management subsystem is used for realizing communication between a treatment room and the outside, and once in a sudden situation, a patient can press an emergency call button;
the patient transfer device is mainly used for helping a patient with self-movement resistance to go up to the treatment table; the above subsystems jointly form a proton treatment system; from positioning imaging to proton treatment, accurate positioning is carried out according to the tumor positions of different patients; regulating different energies to perform therapeutic treatment.
As shown in fig. 2, in the current proton treatment process, uncertainty exists in both proton irradiation range and accuracy; if an X-ray CT image is used for making a treatment plan, the position where the beam actually reaches and releases energy is different from the plan by 3-5%, so that normal cells are damaged; with proton CT, the error can be reduced to 1%; proton CT devices are currently the most complex medical imaging devices because the use of protons to acquire images requires overcoming many challenges; during imaging, millions of protons are required for an image, and the location of each proton entering and leaving the body needs to be tracked.
As shown in FIG. 2, the hardware of the image guidance subsystem includes a high voltage generator VZW2556RB2-N4, an X-ray tube assembly E7252X, a beam limiter M-38, a tube assembly support MFDR-C50-1, a digital image detector AeroDR P-12, a liquid crystal display, and an anti-scatter GRID-1000. The image guidance subsystem is used for recording physical parameters such as energy, divergence, phase and the like of a proton beam accelerated to 70 megaelectron volts by a monitor; the parallel proton beams are changed into parallel proton beams by a collimator and then irradiated on a tumor part, and the parallel proton beams are reflected by two 45-degree plane mirrors and then imaged on a matrix camera negative film; the tumor contour and image are determined by comparing the precise coordinates of each proton.
The specific establishment method for establishing the patient coordinate system, the beam coordinate system, the DR coordinate system and the MLC/compensator coordinate system under the guidance of the image guidance subsystem comprises the following steps:
the method comprises the following steps: establishing a patient coordinate system; the coordinate system of the patient is a main coordinate, the final purpose requires that the coordinate system can be completely coincided with the position coordinate of the beam outlet after the isocenter rotation, and the coincidence error is less than 1 degree; further adjusting the tumor dead-front position through DR coordinates, and finally compensating by MLC; the error is controlled within 0.1 degree.
As shown in FIG. 3, the patient coordinate system uses the upper left corner of the tomographic image as the x, the origin of the y coordinate, the right as the + x direction, the lower as the + y direction, and the + z points to the direction of increasing the image number, i.e., the foot direction of the CT bed.
The treatment bed/patient coordinate system is a right-hand system, viewed from the direction of the treatment bed feet: + xpPointing to the right, + ypPointing upwards, + zpPointing to the therapeutic bed leg; the origin can be arbitrarily taken, and it is recommended to set at the target center position.
The patient coordinate system changes independent of changes in the patient's posture. The coordinate system of the treatment bed/patient is the same as that of the CT bed/patient, so that the positive coordinate directions of the patient coordinate system point to different body parts when the CT is scanned in different positions.
TABLE 1 orientation of patient axes in different body positions
The couch/patient coordinate system is independent of couch rotation and translation, and a point on the patient's body has unique coordinates in the couch/patient coordinate system regardless of couch motion.
Step two: establishing a beam coordinate system; the beam coordinate system is left-handed system, seen in the BEV direction:
take the horizontal beam end, i.e. the 0 degree end as an example: x is the number ofbParallel to the ground, the positive direction points to the right; y isbIs vertical to the ground, and the positive direction is upward; + zbPointing to the advancing direction of the beam current. The beam coordinate system is independent of the rotation angle of the frame, so that the isocenter has a unique coordinate value in the beam coordinate system; its origin of coordinates may be set at the center position of the multi-leaf grating.
Step three: establishing a DR coordinate system; the DR coordinate system adopts a beam current coordinate system, namely the X-ray bulb is positioned at (0,0, z)1) The position of the detection plane is (0,0, z)1)，z1And z2The specific value of (a) is required to be determined according to the installation manner of the DR apparatus. For horizontal beam terminals, the generation of orthogonal DRR images takes θ g0 ° and θgSetting at 90 degrees; for 45 degree tilted beam terminal, θ is used to generate orthogonal DRR imagesg45 ° and θgSetting at 135 °; for vertical beam terminals, the orthogonal DRR image generation uses θg90 ° and θg180 deg. setting.
And step four, establishing an MLC/compensator coordinate system, wherein the MLC/compensator coordinate system is a two-dimensional coordinate system independent of the beam current coordinate system, and the origin of coordinates is defined at the beam current center as shown in FIG. 4. When the MLC/compensator rotates counterclockwise as the positive direction, thetacWhen equal to 0 °, + xcAxis and + xbThe axes coincide.
The calculation of the water equivalent length needs to be careful to consider thetacTo obtain the position of the compensator's various points in the patient coordinate system.
Among them, there are three angles to be noted in the HIRTPS, i.e., the rotation angle θ of the couchtAngle theta of the framegAnd rotation angle θ of MLC/compensatorc(ii) a The frame angle is the angle of the beam tube orifice; the specific provisions are as follows:
θt: initial 0 degreeThe position is the coordinate x of the beam current pointing to the direction of the treatment bed headbDirection in + ypIs a rotating shaft;
θg: when theta istWhen equal to 0, thetagIs + zbAxis and-xpAngle of axis in + zpIs a rotating shaft;
θc: when theta istWhen equal to 0, thetacIs + xcAxis and + xbAxis or + xcAxis and-zpAngle of axis in + zbIs a rotating shaft. Uniformly operating and controlling; all the systems are mutually matched and controlled by a treatment planning system, so that the treatment requirements of various tumors are met.
In the specific implementation process, the proton beam accelerated by the accelerator to reach the standard is introduced into the terminal through the beam transport system, and the patient with the tumor position located in advance is treated.
The specific imaging positioning system operates as:
laser lamp and ridge filter inspection: and checking the consistency of the intersection points at the isocenter, and respectively detecting the intersection points on three orthogonal planes in the horizontal direction, the vertical direction and the lateral direction by using white paper to ensure that the relative deviation does not exceed 1 mm.
Placing a cube model at the position of 0 degree on the treatment couch and the coordinate of the x direction is 0, adjusting the height of the cube model, and placing the cube model at the isocenter according to the indication of a laser lamp; the large axis of the treatment bed is rotated by 90 degrees, the deviation from the isocenter is checked, and the actual relative deviation is less than 1 mm. The major axis of the treatment couch is rotated by 180 degrees to check the deviation between the body membrane and the isocenter, and the actual relative deviation is less than 1 mm.
And D, DR positioning accuracy detection: detecting the positioning accuracy of DR by using 20 marking points on the upper surface, the lower surface, the front surface and the rear surface of a cubic model, shooting two DR images in an orthogonal direction in decibels, analyzing the coincidence of the center positions of the marking points on the images and the linearity of connecting lines of the marking points in the transverse direction and the vertical direction, and giving the offset of a center point; the relative deviation is less than 1 mm.
Detecting the position and the size of a beam spot: the size and position of the beam spot of each energy are measured at the isocenter of the treatment room by using the strip ionization chamber, and the allowable deviation is 1 mm. The beam extraction structure is checked by using a dose monitoring ionization chamber, and uniform distribution is required; the slow extraction excitation waveform is examined. Checking the size and the uniformity of each energy irradiation field: respectively loading respective uniform scanning parameters to beams with various energy nominal by a treatment system to form a corresponding irradiation field, clamping the beams into a uniform irradiation field of 100mm multiplied by 100mm at an isocenter by using a multi-leaf grating, measuring the uniform irradiation field in a plateau area by using a radiation development film, scanning the film after the irradiation is finished, and analyzing the uniformity of the irradiation field by using a film QA software.
Beam energy detection: and (4) carrying out beam spread-out curve measurement by using a water tank and a double ionization chamber measurement system.
Standard treatment plan dose verification test: for a set standard treatment plan, the target dose setting is determined according to the energy size, the target dose setting is not unique, the physical absorption dose is measured at the central depth position of the spread Bragg peak by using a water tank and a standard ionization chamber measuring system, and the relative deviation between the measured physical absorption dose and the planned physical absorption dose is compared and is less than 5%. The whole tumor patient positioning and treatment system verification based on proton imaging is completed.
The proton imaging-based tumor positioning and radiotherapy system has the advantages of compact structure, high precision and simple and convenient operation, reduces the volume and the cost, reduces the cost and improves the service efficiency;
the treatment system for tumor treatment based on heavy ions has an energy selection system, can adjust beam energy intensity, realizes accurate treatment and improves the treatment effect;
the proton imaging-based tumor positioning and radiotherapy system adopts an advanced MLC/compensator coordinate system as a two-dimensional coordinate system independent of a beam coordinate system, a coordinate origin is defined at the center of a beam, and when the MLC/compensator rotates anticlockwise to rotate in a positive direction, theta is formedcWhen equal to 0 °, + xcAxis and + xbThe axes coincide. The water equivalent length calculation equation needs to consider thetacTo obtain the position of the compensator's various points in the patient coordinate system.
The invention leads out the beamThe Bragg peak position detector is adopted at the terminal to absorb and block beam current by using equivalent water drop energy, so that surrounding personnel and environment are reduced. The calculation of the water equivalent length needs to be careful to consider thetacTo obtain the position of the compensator's various points in the patient coordinate system.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (8)
1. A tumor patient positioning system based on proton imaging is characterized by comprising three fixed frames, two treatment heads, an image guiding subsystem, a patient supporting subsystem, a respiratory motion management subsystem and a patient transferring device; the two treatment heads are respectively scanning beams and scattering beams;
wherein, the fixed frame is used for respectively fixing the horizontal and vertical treatment heads and the beam limiting device; the two treatment heads are respectively arranged horizontally and vertically; the device is used for respectively providing each energy point or uniformly scanned beam current for treatment according to the requirements of different patients;
the image guidance subsystem mainly guides and establishes a patient coordinate system, a beam coordinate system, a DR coordinate system and an MLC/compensator coordinate system so as to carry out accurate positioning;
the specific establishment method for establishing the patient coordinate system, the beam coordinate system, the DR coordinate system and the MLC/compensator coordinate system under the guidance of the image guidance subsystem comprises the following steps:
the method comprises the following steps: establishing a patient coordinate system; the patient coordinate system is a main coordinate, and can be completely coincided with the position coordinate of the beam outlet after being rotated by an isocenter, and the coincidence error is less than 1 degree; further adjusting the tumor dead-front position through DR coordinates, and finally compensating by MLC; controlling the error within 0.1 degree; the patient coordinate system does not change depending on the posture change of the patient; the specific parameters are kept as follows:
s1: the patient coordinate system takes the upper left corner of the tomographic image as the x, the origin of the y coordinate, the right as the + x direction, the lower as the + y direction, and the + z points to the direction of increasing the sequence number of the image, namely the foot direction of the CT bed;
s2: the coordinate system of the patient is a right-hand system, and the coordinate system is seen from the direction of the treatment bed foot: + xpPointing to the right, + ypPointing upwards, + zpPointing to the therapeutic bed leg; randomly taking the position of an origin;
step two: establishing a beam coordinate system; the beam coordinate system is left-handed system, seen in the BEV direction:
for horizontal beam terminals, i.e. 0 degree terminals: x is the number ofbParallel to the ground, the positive direction points to the right; y isbIs vertical to the ground, and the positive direction is upward; + zbPointing to the advancing direction of the beam current; the beam coordinate system is independent of the rotation angle of the frame, so that the isocenter has a unique coordinate value in the beam coordinate system;
step three: establishing a DR coordinate system;
s10: the DR coordinate system adopts a beam current coordinate system, namely the X-ray bulb is positioned at (0,0, z)1) The position of the detection plane is (0,0, z)1)，z1And z2The specific value of (a) is preset by a user according to the installation mode of the DR equipment;
s20: for horizontal beam terminals, the generation of orthogonal DRR images takes θg0 ° and θgSetting at 90 degrees; for 45 degree tilted beam terminal, θ is used to generate orthogonal DRR imagesg45 ° and θgSetting at 135 °; for vertical beam terminals, the orthogonal DRR image generation uses θg90 ° and θgSetting at 180 degrees;
establishing an MLC/compensator coordinate system, wherein the MLC/compensator coordinate system is a two-dimensional coordinate system independent of the beam current coordinate system, and the origin of coordinates is defined at the beam current center; when the MLC/compensator rotates counterclockwise as the positive direction, thetacWhen equal to 0 °, + xcAxis and + xbThe axes coincide.
2. A proton imaging based tumor patient positioning system as claimed in claim 1, wherein the image guidance subsystem comprises high voltage generator VZW2556RB2-N4, X-ray tube assembly E7252X, beam limiter M-38, tube assembly support MFDR-C50-1, digital image detector AeroDR P-12, liquid crystal display, anti-scatter GRID-1000;
the image guidance subsystem is used for firstly recording specific physical parameters of energy, divergence and phase of a proton beam accelerated to 70 MeV through a monitor; the parallel proton beams are changed into parallel proton beams by a collimator and then irradiated on a tumor part, and the parallel proton beams are reflected by two 45-degree plane mirrors and then imaged on a matrix camera negative film; the tumor contour and image are determined by comparing the precise coordinates of each proton.
3. A proton imaging based tumor patient positioning system as claimed in claim 1, wherein the patient support subsystem is a treatment couch and its corresponding control module.
4. A proton imaging based oncology patient positioning system as claimed in claim 1 wherein the respiratory motion management subsystem is adapted to enable the treatment room to communicate with the outside world, and the patient can press an emergency call button when needed.
5. A proton imaging based tumor patient positioning system as claimed in claim 1, wherein the patient transfer device is primarily used to assist in self-moving the hindered patient treatment table.
6. The proton imaging based tumor patient positioning system of claim 1, wherein the treatment couch is rotated by an angle θtThe angle of the frame is the angle theta of the beam tube openinggAnd rotation angle θ of MLC/compensatorcThe following requirements should be satisfied:
θt: the initial 0 degree position is the coordinate x of the beam current pointing to the direction of the treatment bed headbDirection in + ypIs a rotating shaft;
θg: when theta istWhen equal to 0, thetagIs + zbAxis and-xpAngle of axis in + zpIs a rotating shaft;
θc: when theta istWhen equal to 0, thetacIs + xcAxis and + xbAxis or + xcAxis and-zpAngle of axis in + zbIs a rotating shaft.
7. The proton imaging based tumor patient positioning system as claimed in claim 1, wherein the site position in step one S2 is specifically set at the center position of the target.
8. A system as claimed in claim 1, wherein in step two, the origin of coordinates of the beam coordinate system is set at the center of the multi-leaf grating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911205196.7A CN110787376B (en) | 2019-11-29 | 2019-11-29 | Tumor patient positioning system based on proton imaging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911205196.7A CN110787376B (en) | 2019-11-29 | 2019-11-29 | Tumor patient positioning system based on proton imaging |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110787376A true CN110787376A (en) | 2020-02-14 |
| CN110787376B CN110787376B (en) | 2021-04-06 |
Family
ID=69446947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911205196.7A Active CN110787376B (en) | 2019-11-29 | 2019-11-29 | Tumor patient positioning system based on proton imaging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110787376B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111408073A (en) * | 2020-03-24 | 2020-07-14 | 宁波同调医学科技有限公司 | Method and system for calculating dose of radiotherapy ray planar detector |
| CN112691305A (en) * | 2021-01-12 | 2021-04-23 | 上海市质子重离子医院有限公司 | Proton heavy ion beam current gating method based on eyeball motion positioning in eyeball tumor radiotherapy |
| CN115068833A (en) * | 2021-03-15 | 2022-09-20 | 湖南华创医疗科技有限公司 | Positioning device for beam blocker and radiotherapy system |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1161240A (en) * | 1997-03-15 | 1997-10-08 | 深圳奥沃国际科技发展有限公司 | Three-dimensional irradiation tech. and equipment with charged particle having Bragg peak character |
| CN1387449A (en) * | 2000-07-05 | 2002-12-25 | 姆拉丁·阿布比奇罗维奇·库马科夫 | Roentgen device for localization and radiation therapy of cancellation cancers |
| US7221733B1 (en) * | 2002-01-02 | 2007-05-22 | Varian Medical Systems Technologies, Inc. | Method and apparatus for irradiating a target |
| CN101209367A (en) * | 2006-12-25 | 2008-07-02 | 深圳市海博科技有限公司 | Method for inversing patient target region dosage in radiation therapy |
| US20080187097A1 (en) * | 2003-08-12 | 2008-08-07 | Cheng Chieh C | Path planning and collision avoidance for movement of instruments in a radiation therapy environment |
| CN103228319A (en) * | 2010-12-24 | 2013-07-31 | 三菱电机株式会社 | Particle beam irradiation apparatus, particle beam treatment apparatus and data display program |
| US20150094514A1 (en) * | 2013-09-27 | 2015-04-02 | Varian Medical Systems, Inc. | System and methods for processing images to measure multi-leaf collimator, collimator jaw, and collimator performance |
| CN104548375A (en) * | 2015-02-03 | 2015-04-29 | 瑞地玛医学科技有限公司 | Sub-quadrant radiotherapy device and sub-quadrant radiation method using same to treat tumor target volume |
| CN105561484A (en) * | 2014-09-09 | 2016-05-11 | 梅维昂医疗系统股份有限公司 | Patient positioning system |
| CN105611967A (en) * | 2013-09-30 | 2016-05-25 | 皇家飞利浦有限公司 | Alignment of the coordinate systems of external beam radiotherapy amd magnetic resonance imaging systems |
| CN106291656A (en) * | 2016-08-01 | 2017-01-04 | 汪金龙 | Prompt fission gammas's imaging system |
| CN107261343A (en) * | 2017-07-12 | 2017-10-20 | 合肥中科离子医学技术装备有限公司 | The method and device that one kind of proton CT is imaged and treated |
| CN108231199A (en) * | 2017-12-29 | 2018-06-29 | 上海联影医疗科技有限公司 | Radiotherapy planning emulation mode and device |
| CN108815720A (en) * | 2018-05-04 | 2018-11-16 | 合肥中科离子医学技术装备有限公司 | Tumour radiotherapy system based on proton imaging precise positioning technology |
| CN109031395A (en) * | 2017-07-11 | 2018-12-18 | 上海联影医疗科技有限公司 | It automatic is detected and bearing calibration and device using crystal radiation to what patient bed shift |
-
2019
- 2019-11-29 CN CN201911205196.7A patent/CN110787376B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1161240A (en) * | 1997-03-15 | 1997-10-08 | 深圳奥沃国际科技发展有限公司 | Three-dimensional irradiation tech. and equipment with charged particle having Bragg peak character |
| CN1387449A (en) * | 2000-07-05 | 2002-12-25 | 姆拉丁·阿布比奇罗维奇·库马科夫 | Roentgen device for localization and radiation therapy of cancellation cancers |
| US7221733B1 (en) * | 2002-01-02 | 2007-05-22 | Varian Medical Systems Technologies, Inc. | Method and apparatus for irradiating a target |
| US20080187097A1 (en) * | 2003-08-12 | 2008-08-07 | Cheng Chieh C | Path planning and collision avoidance for movement of instruments in a radiation therapy environment |
| CN101209367A (en) * | 2006-12-25 | 2008-07-02 | 深圳市海博科技有限公司 | Method for inversing patient target region dosage in radiation therapy |
| CN103228319A (en) * | 2010-12-24 | 2013-07-31 | 三菱电机株式会社 | Particle beam irradiation apparatus, particle beam treatment apparatus and data display program |
| US20150094514A1 (en) * | 2013-09-27 | 2015-04-02 | Varian Medical Systems, Inc. | System and methods for processing images to measure multi-leaf collimator, collimator jaw, and collimator performance |
| CN105611967A (en) * | 2013-09-30 | 2016-05-25 | 皇家飞利浦有限公司 | Alignment of the coordinate systems of external beam radiotherapy amd magnetic resonance imaging systems |
| CN105561484A (en) * | 2014-09-09 | 2016-05-11 | 梅维昂医疗系统股份有限公司 | Patient positioning system |
| CN104548375A (en) * | 2015-02-03 | 2015-04-29 | 瑞地玛医学科技有限公司 | Sub-quadrant radiotherapy device and sub-quadrant radiation method using same to treat tumor target volume |
| CN106291656A (en) * | 2016-08-01 | 2017-01-04 | 汪金龙 | Prompt fission gammas's imaging system |
| CN109031395A (en) * | 2017-07-11 | 2018-12-18 | 上海联影医疗科技有限公司 | It automatic is detected and bearing calibration and device using crystal radiation to what patient bed shift |
| CN107261343A (en) * | 2017-07-12 | 2017-10-20 | 合肥中科离子医学技术装备有限公司 | The method and device that one kind of proton CT is imaged and treated |
| CN108231199A (en) * | 2017-12-29 | 2018-06-29 | 上海联影医疗科技有限公司 | Radiotherapy planning emulation mode and device |
| CN108815720A (en) * | 2018-05-04 | 2018-11-16 | 合肥中科离子医学技术装备有限公司 | Tumour radiotherapy system based on proton imaging precise positioning technology |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111408073A (en) * | 2020-03-24 | 2020-07-14 | 宁波同调医学科技有限公司 | Method and system for calculating dose of radiotherapy ray planar detector |
| CN112691305A (en) * | 2021-01-12 | 2021-04-23 | 上海市质子重离子医院有限公司 | Proton heavy ion beam current gating method based on eyeball motion positioning in eyeball tumor radiotherapy |
| CN112691305B (en) * | 2021-01-12 | 2023-05-30 | 上海市质子重离子医院有限公司 | Proton heavy ion beam gating system based on eyeball movement positioning in eyeball tumor radiotherapy |
| CN115068833A (en) * | 2021-03-15 | 2022-09-20 | 湖南华创医疗科技有限公司 | Positioning device for beam blocker and radiotherapy system |
| CN115068833B (en) * | 2021-03-15 | 2024-02-06 | 湖南华创医疗科技有限公司 | Positioning device for beam stopper and radiation therapy system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110787376B (en) | 2021-04-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110787376B (en) | Tumor patient positioning system based on proton imaging | |
| Pidikiti et al. | Commissioning of the world's first compact pencil‐beam scanning proton therapy system | |
| US8981324B2 (en) | Patient alignment system with external measurement and object coordination for radiation therapy system | |
| US7199382B2 (en) | Patient alignment system with external measurement and object coordination for radiation therapy system | |
| US7502443B1 (en) | Radiation therapy machine with triple KV/MV imaging | |
| JP2002537035A (en) | Method for checking isocenter of ion beam therapy system and patient positioning device | |
| EP3300770B1 (en) | Portal imaging during radiotherapy | |
| US9999787B1 (en) | Beam limiting device for intensity modulated proton therapy | |
| US11904188B2 (en) | Fully-spherical radiation therapy system | |
| Yu et al. | Commissioning of and preliminary experience with a new fully integrated computed tomography linac | |
| Woods et al. | A sparse orthogonal collimator for small animal intensity‐modulated radiation therapy. Part II: hardware development and commissioning | |
| Kim et al. | 3D star shot analysis using MAGAT gel dosimeter for integrated imaging and radiation isocenter verification of MR‐Linac system | |
| CN102989086A (en) | Method and device for verifying irradiation field | |
| US20220249874A1 (en) | A compact dosimetric data collection platform for a breast cancer stereotactic radiotherapy system | |
| CN116867547A (en) | Portal monitoring method, radiotherapy equipment, display device and system | |
| Mastella et al. | Validation of a pretreatment delivery quality assurance method for the CyberKnife Synchrony system | |
| Ting et al. | Intensity-modulated radiation therapy and image-guided radiation therapy: small clinic implementation | |
| Pantelis et al. | Use of radiochromic films in commissioning and quality assurance of CyberKnife® | |
| Kukołowicz et al. | Optical system for precise isocenter measurement | |
| Schlesinger et al. | Physics of Stereotactic Radiosurgery | |
| Zhang et al. | Assessment of an Elekta Versa HD linear accelerator for stereotactic radiosurgery with circular cone collimators | |
| Boothe et al. | The Dosimetric Advantage of Stereotactic Hypofractionation Over Conventional Radiation for Postprostatectomy Patients: NTCP Modeling of Intensity Modulated Radiation Therapy (IMRT) and Volumetric Modulated Arc Therapy (VMAT) Treatment Plans | |
| CN116549872A (en) | Monitoring method, verification method and device for particle therapy mixed ion beam | |
| Marrazzo et al. | EP-1540: EBT3 films for proton therapy plan QA using a multichannel approach | |
| Schlesinger et al. | 5 The Physics of Radiosurgery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |