CN112638260A

CN112638260A - Mechanical arm for integrated Computed Tomography (CT) treatment couch system

Info

Publication number: CN112638260A
Application number: CN201980056830.7A
Authority: CN
Inventors: 约翰·伟昭·王; 杰弗里·H·谢沃德森; 李廷勋; 凯文·布朗
Original assignee: Johns Hopkins University
Current assignee: Johns Hopkins University
Priority date: 2018-06-29
Filing date: 2019-06-28
Publication date: 2021-04-09
Also published as: WO2020006500A1; EP3813669A4; EP3813669A1

Abstract

An integrated Computed Tomography (CT) treatment couch system includes a robotic arm assembly including a base structure and an adjustable arm mounted to a portion of the base structure. The integrated CT couch system includes a couch disposed on and coupled to an adjustable arm, wherein the couch is configured to support a patient for a particle therapy procedure. The integrated CT treatment couch system includes a helical CT scanner apparatus including a support structure and a CT gantry. The support structure is coupled to the base structure at or near a portion of the base structure, and the CT gantry includes an aperture and is oriented such that the aperture is in line with the couch. The CT gantry is configured to provide an online CT scan for image guidance associated with a particle therapy procedure.

Description

Mechanical arm for integrated Computed Tomography (CT) treatment couch system

RELATED APPLICATIONS

Priority of U.S. provisional patent application No. 62/692,441, filed 2018, 6/29/2018 and entitled "INTEGRATED CT TREATMENT COUCH SYSTEM," is claimed in this application pursuant to 35u.s.c. § 119, the contents of which are incorporated herein by reference in their entirety.

Background

Computed Tomography (CT) scanning involves the use of X-rays to produce cross-sectional or volumetric images of a patient's body. Radiation Therapy (RT) is a cancer treatment technique that targets cancer cells with a high intensity energy beam (e.g., X-rays, protons, or other types of particles), and is typically performed in an operating room, where a patient is positioned on a treatment couch (treatment couch). RT generally refers to external beam RT, where the treatment beam is produced by a linac (linac) equipped with a treatment couch for patient positioning and treatment beam delivery and an on-board imaging system (e.g., the most common Cone Beam Computed Tomography (CBCT)).

SUMMARY

According to some embodiments, a robotic arm may be provided for an integrated Computed Tomography (CT) treatment couch system. An integrated (CT) treatment couch system may include a treatment couch configured to support a patient for a particle therapy procedure and a helical CT scanner device. The CT scanner device may include a support structure and a CT gantry, wherein the CT gantry may include an aperture and may be oriented such that the aperture is in line with the treatment couch, and wherein the CT gantry may be configured to provide an online CT scan for image guidance related to the particle therapy procedure. The robotic arm may comprise a base structure, wherein the support structure may be coupled to the base structure at or near a portion of the base structure. The robotic arm may include an adjustable arm mounted to the portion of the base structure, wherein the treatment couch may be disposed on and coupled to the adjustable arm.

According to some embodiments, a method may comprise: monitoring, by an integrated Computed Tomography (CT) couch system, positional information related to the integrated CT couch system and/or related to a patient using the integrated CT couch system, wherein the integrated CT couch system comprises: a robotic arm member comprising a base structure and an adjustable arm mounted to a portion of the base structure; a treatment couch disposed on and coupled to the adjustable arm, wherein the treatment couch is configured to support a patient; a CT scanner device comprising a support structure and a CT gantry, wherein the support structure is coupled to the base structure or the adjustable arm, wherein the CT gantry comprises an aperture and is oriented such that the aperture is in line with the couch, and wherein the CT gantry is configured to provide image guidance for radiation therapy; and one or more sensors configured to generate location information; and controlling, by the integrated CT couch system, movement of the couch based on the position information.

According to some embodiments, an integrated Computed Tomography (CT) treatment couch system may include a robotic arm assembly including a base structure and an adjustable arm mounted to a portion of the base structure. An integrated (CT) couch system may include a couch disposed on and coupled to an adjustable arm, wherein the couch may be configured to support a patient for a particle therapy procedure. An integrated (CT) treatment couch system may include a helical CT scanner apparatus including a support structure and a CT gantry. The support structure may be coupled to the base structure at or near a portion of the base structure, and the CT gantry may include an aperture and be oriented such that the aperture is in line with the couch. The CT gantry may be configured to provide an online CT scan for image guidance associated with a particle therapy procedure.

Brief Description of Drawings

Fig. 1A-1N are diagrams of exemplary embodiments described herein.

FIG. 2 is a diagram of an exemplary environment in which systems and/or methods described herein may be implemented.

Fig. 3 is a diagram of exemplary components of one or more of the devices of fig. 2.

Fig. 4 is a flow chart of an exemplary process for controlling an integrated CT couch system.

Detailed description of the invention

The following detailed description of exemplary embodiments refers to the accompanying drawings. The same reference numbers in different drawings may identify the same or similar elements.

Currently, many radiation-based treatment configurations use Cone Beam Computed Tomography (CBCT) techniques, in which divergent X-rays and a detector (e.g., a flat panel detector) are used to image the patient's body for image guidance. However, there are several disadvantages to this technique. For example, CBCT devices (e.g., linacs) equipped in radiation-based treatment systems are limited to only about 1 Revolution Per Minute (RPM). Incorporated into the annular configuration, the CBCT apparatus also has a scan rate of only about 12 seconds per unit volume. Moreover, the quality of CBCT imaging is typically degraded due to cone-based geometric acquisition, low signal-to-noise ratio (e.g., in typical amorphous silicon (a-Si) based flat panel detectors), sensitivity to high levels of x-ray scatter, and sensitivity to artifacts due to patient movement during low speed scanning.

Some embodiments described herein provide an integrated CT treatment couch system in which a CT scanner device, such as a fast rotating CT gantry (which is, for example, independently rotatable and controllable), is included as an integral part of a treatment couch (e.g., a treatment table and/or the like). In some embodiments, the CT gantry may include an aperture; may be oriented such that the aperture is in line with a treatment couch (treatment couch); and may include one or more X-ray sources (e.g., X-ray tubes) and one or more detectors (e.g., single-layer axial CT detectors, multi-detector CT (mdct) detectors, etc.) for generating an online helical CT scan (e.g., an image-guided radiotherapy (IGRT) -optimized CT scan) based on translational motion of the couch while the CT gantry rotates through an aperture of the CT gantry (e.g., the same translational motion set in the treatment room for a conventional patient). In some embodiments, the CT scanner apparatus may include a support structure coupled to a base component (on which the couch top is supported) and/or to a base platform to which the base component is mounted. In some embodiments, the base platform may be configured to be coupled to a rotatable floor member centered about a beam isocenter axis of the medical accelerator. In some embodiments, rotation of the rotatable floor member can cause the CT scanner device and the treatment couch to actuate (e.g., rotate) about the beam isocenter axis.

In this manner, in the treatment room, a diagnostic quality CT scan (or helical CT quality scan) during treatment may be obtained for IGRT and/or treatment planning via the capabilities of a CT scanner disposed on the treatment couch. Integrating a CT scanner device capable of providing helical CT scanning instead of CBCT-based scanning (which is typically used in treatment rooms) results in higher quality CT scans and allows faster CT scanning speeds. In addition, providing an integrated CT scanner device on the couch system also reduces or eliminates the need to include or use a CBCT-based scanner on the treatment gantry of the linac, reduces or eliminates the need to fold such CBCT-based scanner up during treatment (which is required if the linac beam arrangement is tilted or non-coplanar for treatment purposes), and/or allows the use of smaller imaging panels for kilovolt (kV) radiographic or fluoroscopic imaging only purposes. This saves cost, improves IGRT procedures, shortens treatment times, and increases overall patient throughput. Furthermore, integrating the CT scanner device and the couch top (e.g., which may simply replace an existing couch) so that both the CT scanner device and the couch top can rotate about the beam isocenter axis of a typical linac (e.g., as an integrated unit) also allows the non-coplanar capability of the linac to be maintained without requiring any extensive modifications or expensive changes to the linac (e.g., in contrast to recently proposed advanced treatment machines that all sacrifice non-coplanar capability by eliminating the rotational capability of the couch in order to improve imaging). In addition, the use of an integrated CT scanner device also reduces or eliminates the need to deploy and use a typical stand-alone CT scanning system for IGRT purposes. For example, using a standalone CT scanner configuration, such as one in which the CT gantry is movable on rails (e.g., an in-rail CT system in a treatment room), may involve additional patient motion in the treatment room (e.g., including rotating a conventional couch toward the CT gantry for CT scanning and then rotating the conventional couch back in line with the linac for patient treatment). This involves manual and additional time, e.g., time that the patient may move (e.g., including movement of internal organs and/or the like), which may affect the treatment procedure. In contrast, as described herein, having an integrated CT scanner device that remains in line with the couch and the patient even when the couch is moved (e.g., with the couch actuated) simplifies switching between CT scanning and patient treatment in the treatment room, which shortens treatment time and increases overall patient throughput.

Fig. 1A-1N are diagrams of exemplary embodiments 100 described herein. Fig. 1A is a side view of an exemplary integrated CT couch system configured for online use with a linear accelerator. Fig. 1B is a front view of an exemplary integrated CT couch system and linear accelerator. As shown in fig. 1A, exemplary embodiment 100 may include an integrated CT couch system aligned with a beam isocenter axis of a linear accelerator. As shown, the integrated CT treatment couch system may include a base platform, a CT scanner device (e.g., a helical CT scanner device) mounted to the base platform, a base member also mounted to the base platform, and a treatment couch top disposed on the base member.

In some embodiments, the base platform may be configured to be coupled to a rotatable floor member (not shown) aligned with the beam isocenter axis of the linear accelerator. Fig. 1C is a top view of an exemplary integrated CT treatment couch system and linac, wherein the integrated CT treatment couch system is positioned in a first orientation relative to a beam isocenter axis of the linac, and fig. 1D is a top view of an exemplary integrated CT treatment couch system and linac, wherein the integrated CT treatment couch system is positioned in a second orientation relative to the beam isocenter axis. Coupling the base platform to the rotatable floor member allows the operator to actuate (e.g., rotate) both the CT scanner device and the treatment couch about the beam isocenter axis, which enables flexible treatment via the linac.

In some embodiments, a CT scanner device may be configured to provide CT scanning that provides image guidance for radiation therapy and/or is used to assist in various types of procedures including, for example, spinal radiation therapy, cranial radiation therapy, brachytherapy, and/or the like. As shown in fig. 1A, and in some embodiments, a CT scanner apparatus may include a support structure and a CT gantry, e.g., a rotatable CT gantry coupled to the support structure (e.g., for CT scanning in a plane (e.g., y-z plane) parallel to an axis of rotation of the treatment gantry). In some embodiments, the support structure may be mounted to the base platform via one or more coupling mechanisms. For example, the support structure may be rigidly fixed (e.g., welded and/or the like) to the base platform, fastened to the base platform via one or more fasteners (e.g., screws, bolts, nuts, and/or the like), and/or the like. Additionally or alternatively, the support structure may be mounted to the base member via one or more coupling mechanisms. With the support structure fixedly mounted to the base platform and/or the base component, translational movement via the treatment couch (e.g., along the z-axis through the CT machine) may be possibleGantry bore) to obtain a CT scan (e.g., a volumetric CT scan) of a patient on a treatment couch. In some embodiments, the CT gantry can be tilted to allow the CT gantry to tilt (e.g., θ shown in fig. 1A)_yzIn-plane) to a support structure to facilitate CT scanning as desired. In some embodiments, a CT gantry may include one or more X-ray sources and one or more corresponding detectors disposed within an enclosure, and may be configured to concentrically rotate to provide a high quality helical CT scan for interventional procedures.

In some embodiments, operation of the integrated CT treatment couch system, including various functions of the CT scanner device, may be facilitated via motion control, sensors, and/or data connections. For example, although not shown, in some embodiments, the integrated CT treatment couch system may include one or more motors, e.g., disposed within the base member, coupled to the treatment couch, and/or the like, configured to control movement of the base member and/or the treatment couch. The motor may include any suitable type of motor, such as, for example, a Direct Current (DC) based motor, a synchronous based motor, an induction based motor, and/or the like. In some embodiments, the integrated CT treatment couch system may include one or more axes and/or the like (e.g., for coupling the motor and the base component and/or internal structural components within a portion of the treatment couch), one or more power sources (e.g., for powering the motor), power/electronic circuitry (e.g., a regulator and/or the like), memory, and/or the like.

In some embodiments, the integrated CT treatment couch system may include a processor (e.g., one or more processing devices) configured to control the motor. In some embodiments, the processor may be configured to provide control signals to the motor to cause movement of the base member and/or the treatment couch. As an example, the processor may control the motor (e.g., based on programmed instructions, based on input from a user, such as an operator of the integrated CT couch system, and/or the like) to cause the base to be appliedExtending the seat member in an upward direction (e.g., raising the couch top along the y-axis shown in fig. 1A), causing the base member to contract or compress in a downward direction (e.g., to lower the couch top), causing the couch top to move translationally relative to the base member and/or base platform (e.g., along the z-axis shown in fig. 1A), and/or the like. In some embodiments, the treatment couch may be configured to move in six degrees of freedom (6DOF), i.e., along the y-axis, along the z-axis, along the x-axis (e.g., as shown in fig. 1B), and also about the pitch axis (e.g., θ shown in fig. 1A)_yzIn-plane), about a roll axis (e.g., about the z-axis), and about a yaw axis (e.g., θ shown in FIG. 1C)_xzIn-plane) that allows for flexible adjustment of the couch top to obtain an online CT scan and facilitate treatment of the patient at the linac.

In some embodiments, the integrated CT treatment couch system may include or be communicatively coupled to one or more sensors configured to: monitoring a position of the treatment couch (e.g., relative to the base assembly, CT gantry, base platform, floor, and/or the like), monitoring a load on the treatment couch (e.g., a weight of the patient), monitoring a posture of the patient on the treatment couch while the patient is lying on the treatment couch, and/or a position of one or more body parts of the patient, and/or the like. In some embodiments, the sensor may generate a sensor signal based on such monitoring and provide the sensor signal to a processor for processing. In some embodiments, the processor may control the motor based on the sensor signal to move the base member and/or the treatment couch accordingly. For example, where the sensor signals indicate that one end of the treatment couch is sagging downward (e.g., due to the weight of the patient on the treatment couch), e.g., as the treatment couch is translationally extended in the z-axis toward the treatment gantry, the processor may control the motor to tilt the treatment couch (e.g., upward) to compensate for the sagging. As another example, in the event that the sensor signal indicates that the patient's body part is not in the proper position (e.g., the patient's hip position is not correct), the processor may control the motor to roll the couch and/or move the couch in a roll and/or pitch manner. In some embodiments, the processor may utilize sensor signals and information based on CT scans during treatment (e.g., results from a comparison of CT scans during treatment and previously obtained planned CT scans) to determine how and/or how much to adjust the treatment couch. For example, in some embodiments, the integrated CT treatment couch system may include or be communicatively coupled to one or more smart sensors configured to: monitoring a respiratory cycle of the patient (e.g., which may provide sensor signals for controlling the CT scanner device in a manner that reduces respiratory motion artifacts (artifacts) (e.g., for "gated" imaging or "4D" imaging), monitoring a cardiac cycle of the patient for controlling the CT scanner device in a manner that reduces cardiac motion artifacts (e.g., for gated imaging or 4D imaging of the patient's heart), and/or the like. As other examples, the integrated CT couch system may include video sensors for video monitoring of the couch, electromagnetic-based sensors for tracking a radio frequency transponder that may be disposed on or in the patient, and/or the like.

In some embodiments, the processor may be configured to control (e.g., based on user input, based on one or more preprogrammed CT scan patterns, and/or the like): rotation of the CT gantry (e.g., by controlling a motor in the CT gantry), operation of an emitter and/or detector in the CT gantry, and/or the like to provide CT scanning functionality. In some embodiments, a CT scanner device may be configured to provide various CT scanning functions. For example, a CT scanner device may be configured to perform: helical CT scanning (e.g., a helical or spiral-like path of an X-ray source and corresponding detector of a CT scanner device relative to the patient's anatomy is induced based on continuous motion of a treatment couch and patient along a z-axis through an aperture of a CT gantry during continuous rotation of the CT gantry), axial CT scanning (e.g., based on stepwise or stepwise movement of the treatment couch and patient along the z-axis through an aperture of a CT gantry corresponding to periodic rotation of the CT gantry, where image layers may be stacked to form a volumetric image), and/or the like. As another example, a CT scanner device may be configured to provide: four-dimensional (4D) CT scans, including 4D respiration-related CT scans (e.g., CT scan data (e.g., obtained when the CT gantry rotates at a continuous speed, the couch moves at a steady rate (e.g., in the z-axis shown in fig. 1A), and the patient breathes regularly) may be used to construct a respiration-gated scan), 4D cardiac CT scans, and/or the like. As yet another example, a CT scanner device may be configured to: facilitating a CT scan, performing at least a dual-energy CT scan, and/or the like based on contrast angiography (CTA).

In some embodiments, the CT gantry may have a large bore (e.g., greater than about 100 centimeters (cm) in diameter and/or the like) and may be thin in width (e.g., less than about 50cm in width and/or the like). In some embodiments, the CT scanner device may provide CT scans at small layer thicknesses (e.g., layer thicknesses of about 1 millimeter (mm) and/or the like) and at fast variable rates (e.g., thicknesses of about 20cm of volume in about 8 seconds and/or the like), and may have a large scan range (e.g., about 1 meter and/or the like).

In some embodiments, the integrated CT treatment couch system may include one or more indoor and/or remote-based user interfaces (e.g., including capacitive touch screens, keypads, and/or the like) configured to enable a user (e.g., an operator) to interact with the integrated CT treatment couch system, for example, to input instructions for controlling a CT gantry of the CT scanner apparatus, for controlling movement of the treatment couch and/or the base member, and/or the like. In some implementations, the user interface can include a display configured to: display information about the integrated CT treatment couch system (e.g., status information and/or position information about the treatment couch, the base member, and/or the CT scanner device), display CT scans acquired by the CT scanner device, and/or the like. In some embodiments, the integrated CT treatment couch system may include a communication interface configured to allow data exchange with one or more external systems (e.g., external systems for performing image analysis on CT scans and/or the like).

In this way, the CT scanner device and the couch can be synchronously controlled to provide diagnostic quality CT scans during treatment in the treatment room. Furthermore, arranging the integrated CT couch system in line with the beam isocenter of the linac also allows the patient to quickly switch between treatment and CT scan positions, which shortens treatment time, saving power resources and increases patient throughput.

Fig. 1E-1K are various views of an exemplary integrated CT couch system configured for use with a linear accelerator (e.g., provided by Elekta AB and/or the like). The integrated CT treatment couch system may be similar to the integrated CT treatment couch system described above in connection with fig. 1A-1D. For example, here, as shown in fig. 1E-1I, the integrated CT treatment couch system may be aligned with a beam isocenter axis of a linac, and may include a base platform, a CT scanner device (e.g., a helical CT scanner device (e.g., a CT scanner device provided by mobis imaging, inc., and/or the like)) mounted to the base platform and/or a base component (e.g., mounted in a front treatment embodiment), and a treatment couch disposed on the base component. As another example, the integrated CT treatment couch system may include a processor, motors, and/or sensors similar to those described above in connection with fig. 1A-1D.

For example, as shown in fig. 1E, 1G, and 1H, and similar to the integrated CT couch system described above in connection with fig. 1A-1D, the support structure of the CT scanner apparatus may be mounted to the base platform and/or the base member via one or more coupling mechanisms, and a CT scan (e.g., a volumetric CT scan) of a patient on the couch top may be obtained via translational movement of the couch top (e.g., through an aperture of the CT gantry along the z-axis).

In some embodiments, the base member may be compressible to lower the treatment couch (e.g., as shown in fig. 1E) and may be extendable to raise the treatment couch to facilitate patient loading and positioning for treatment. In some embodiments, the treatment couch may additionally or alternatively be movable relative to the CT scanner device and/or the treatment gantry (e.g., to the left and right in fig. 1E) to facilitate patient loading and positioning for treatment.

In some embodiments, and as shown in fig. 1F, for example, the overall dimensions of the CT gantry of the CT scanner apparatus (e.g., including the bore of the CT gantry and the periphery/aperture of the CT gantry) may correspond to and/or align with the geometry and/or dimensions of the linac, which may avoid collisions between the CT gantry and the treatment gantry.

As shown in fig. 1G, the treatment couch may be loaded with a patient (e.g., in position in the plane of the beam isocenter) and positioned through an aperture of the CT gantry to allow CT scanning of a targeted portion of the patient. As shown in fig. 1H, the treatment couch may be positioned closer to the treatment gantry (e.g., in an extended position) to allow non-coplanar treatment of the patient via the linac. As shown in fig. 1E, 1G, and 1H, the base platform may be coupled to a rotatable floor member aligned with the beam isocenter of the linear accelerator. This allows the integrated CT couch system (e.g., CT scanner apparatus and couch) to move axially about the beam isocenter to facilitate various treatments via the linac. Fig. 1I shows the treatment couch and the CT scanner apparatus in various rotational positions about the beam isocenter. As shown, both the couch table and the CT scanner device may be rotated in unison when the rotatable floor member is rotated by being integrated with each other (e.g., via the base platform), which allows for CT scanning even if the couch table is moved to different positions around the beam isocenter. In some embodiments, and as shown in fig. 1I, the isocenter rotation of the treatment couch and CT scanner apparatus can be limited (e.g., in a range of about-100 degrees to about +100 degrees) to prevent the CT gantry from contacting the treatment gantry.

In some embodiments, the CT scanner device may be mounted in a different location than that shown in fig. 1E (e.g., different from the anterior treatment location). As shown in fig. 1J, for example, the CT scanner device can be mounted near a middle portion of the base component (e.g., to the base platform and/or the base component via one or more coupling mechanisms) (e.g., at an intermediate treatment location). Alternatively, as shown in fig. 1K, the CT scanner device may be mounted (e.g., via one or more coupling mechanisms to the base platform and/or the base member) near an end of the base member furthest from the linac (e.g., at an end treatment location). In any case, regardless of where the CT scanner device is mounted relative to the base assembly and/or the linac, the treatment couch may be configured to move through an aperture of the CT gantry to facilitate patient scanning and to be positioned for treatment of a patient by the linac.

In some embodiments, the integrated CT couch system may replace an existing couch without requiring any changes to an existing linac or particle therapy-based system. In some embodiments, existing treatment beds may be modified to implement embodiments of the integrated CT treatment bed system described herein. In this case, for example, the couch may be offset away from the treatment gantry (e.g., by a distance corresponding to at least a width of the CT gantry (e.g., 40cm and/or the like)) in order to accommodate the incorporation of CT scanner equipment. In some embodiments, the CT scanner device can be easily removed (e.g., from the base platform and/or the base assembly) when CT scanning functionality is not required, and can be easily reinstalled (e.g., reinstalled to the base platform and/or the base assembly) as needed. In some embodiments, the CT scanning functionality (e.g., CT scanner device) of the integrated CT couch system may be provided as an accessory, e.g., as an optional feature of the system.

In some embodiments, as shown in fig. 1L, the integrated CT treatment couch system may include a guide path (e.g., including one or more rails) coupled to or contained on the base platform allowing the CT scanner device (e.g., CT gantry) to move relative to the treatment couch. This can enable a CT scan (e.g., a volumetric CT scan) to be obtained via translational motion of only the treatment couch (rather than the CT gantry) (e.g., similar to that described above in connection with fig. 1A-1K), translational motion of only the CT gantry (rather than the treatment couch) along the guide path, and/or combined translational motion of the treatment couch and the CT gantry (e.g., in a continuous helical manner or a stepped axial manner). The resultant translational motion of the couch and the CT gantry may, for example, provide improved and extended coverage (e.g., along the z-axis) of CT scan speed. Furthermore, since the guide path is coupled to or included on the base platform, the guide path may also move about the beam isocenter axis (with the CT scanner device) as the rotatable floor member rotates (e.g., with actuation of the couch).

Fig. 1M and 1N are perspective views of an exemplary integrated CT treatment couch system configured for use in a system that provides particle therapy (e.g., a proton beam therapy system). As shown in fig. 1M, the proton beam therapy system may include a 360 ° rotating treatment gantry and a proton beam delivery mechanism. As shown, the integrated CT treatment couch system may include a robotic arm assembly including a base structure, an adjustable arm coupled to the base structure, and a treatment couch disposed on the adjustable arm. As shown, the integrated CT treatment couch system may also include a CT scanner device having a support structure mounted to the base structure (e.g., at or near a portion of the base structure to which the adjustable arm is coupled) and a CT gantry. In some embodiments, the CT gantry can include an aperture, can be oriented such that the aperture is in line with the treatment couch, and can be configured to generate an online helical CT scan, as described above in connection with fig. 1A-1L.

In some embodiments, as shown in fig. 1M, the base structure may be configured to traverse one or more guide paths (e.g., rails or slides) disposed on the ground or floor and aligned with the gantry isocenter of the proton beam therapy system. For example, in some embodiments, the base structure may include one or more wheels and/or may include a surface with a low coefficient of friction that enables the base structure to traverse the guide path. This allows the CT scanner device to be rotated to accommodate the desired intraoperative CT scan. In some embodiments, and as shown in fig. 1N, the treatment couch may be configured to rotate about an axis to allow for various treatment positions.

In some embodiments, the integrated CT treatment couch system may include one or more motors, processors, one or more sensors, and/or the like, similar to those described above in connection with fig. 1A-1L, for controlling movement of the adjustable arm, for controlling movement of the integrated CT treatment couch system along the guide path, for controlling movement of the treatment couch table (e.g., in 6DOF), for controlling the CT scanner apparatus to provide a CT scan, and/or the like.

As noted above, fig. 1A-1N are provided as examples only. Other examples are possible and may be different than described with respect to fig. 1A-1N. For example, although embodiments of the integrated CT treatment couch system are described herein as being configured for radiation therapy and/or proton beam-based therapy, embodiments of the integrated CT treatment couch system may be configured for other forms of therapy, such as neutron-based therapy, charged ion-based therapy, and/or the like.

FIG. 2 is a diagram of an exemplary environment 200 in which systems and/or methods described herein may be implemented. As shown in fig. 2, environment 200 may include an integrated CT treatment couch system 205 that includes various components and/or devices. The devices of environment 200 may be interconnected via wired connections, wireless connections, or a combination of wired and wireless connections.

The integrated CT couch system 205 includes one or more devices capable of supporting a patient for interventional procedures and provides an online diagnostic CT scan for guiding such procedures.

Processor 210 includes one or more types of processing components that can be programmed to perform functions, such as one or more operations described elsewhere herein. For example, processor 210 may perform process 400 of fig. 4 and/or the like. In some embodiments, the processor 210 may include a processor configured to control one or more motors (e.g., motor 270) for controlling a base component (e.g., base component 240), a treatment table (e.g., treatment table 250), and/or a CT scanner device (e.g., CT scanner device 260), as described elsewhere herein. The processor 210 corresponds to the processor described in more detail below in connection with fig. 3.

Memory 220 includes one or more types of memory capable of storing information. In some implementations, the memory 220 may store information associated with performing one or more operations described elsewhere herein. For example, memory 220 may store information (e.g., used by processor 210) to perform process 400 of fig. 4 and/or the like. In some embodiments, memory 220 may correspond to memory or storage components described in more detail below in connection with fig. 3.

The input/output components 230 include one or more components that can be used to input information into the integrated CT couch system 205 and/or output information from the integrated CT couch system 205. In some implementations, the input/output component 230 can include one or more touch screen components, one or more keypads, and/or the like. In some embodiments, input/output component 230 may include one or more user interfaces configured to allow an operator to interact with integrated CT couch system 205 and/or view CT scans provided by CT scanner device 260, as described elsewhere herein. In some embodiments, input/output component 230 may correspond to the input and output components described in more detail below in conjunction with fig. 3.

The base component 240 includes one or more devices configured to provide support for the couch table 250 and/or control movement of the couch table 250. In some embodiments, the base member 240 may compress and/or extend (e.g., vertically) to move the couch top 250 up and down, as described elsewhere herein. In some embodiments, the base component 240 may include a motor 270 for moving the couch table 250 in various directions, as described elsewhere herein.

The couch top 250 includes one or more devices that provide one or more surfaces on which a patient may lie during a treatment procedure (e.g., radiation therapy). In some embodiments, the treatment couch 250 may be configured to move in 6DOF, as described elsewhere herein. In some embodiments, the treatment couch 250 may be integrated with one or more external devices, such as an ultrasound imaging assembly that may provide information about internal features of the patient during treatment, where beams (e.g., beams from a CT scan) may or may not interfere with the operation of such external devices.

The CT scanner device 260 includes one or more devices capable of generating CT scans. For example, the CT scanner device 260 may include a support structure configured to be coupled to the base assembly 240 (and/or a base platform on which the base assembly 240 may be disposed) and a rotating CT gantry including one or more emitters (e.g., X-ray emitters) and detectors (e.g., X-ray detectors) for obtaining CT scans, as described elsewhere herein.

The motor 270 includes one or more devices capable of controlling movement of the base assembly 240 and/or the treatment couch 250, as described elsewhere herein. In some embodiments, the motor 270 may include any suitable type of motor, such as, for example, a DC-based motor, a synchronous-based motor, an induction-based motor, and/or the like, which may be controlled by the processor 210 to move the base member 240 and/or the treatment couch 250, as described elsewhere herein.

The sensors 280 include one or more devices capable of sensing motion, position, and/or the like associated with the base assembly 240, the treatment couch 250, and/or a patient lying on the treatment couch 250. For example, the sensors 280 may include one or more motion sensors (e.g., accelerometers, gyroscopes, and/or the like), position sensors, weight sensors, and/or the like. In some embodiments, the sensor 280 may provide a sensor signal to the processor 210 to facilitate control of the base assembly 240 and/or the treatment couch 250, as described elsewhere herein.

The number and arrangement of devices and components shown in fig. 2 are provided as examples. In fact, in contrast to those devices and components shown in fig. 2, there may be: additional devices and/or components, fewer devices and/or components, different devices and/or components, or differently arranged devices and/or components. Further, two or more of the devices or components shown in fig. 2 may be implemented within a single device or component, or a single device or component shown in fig. 2 may be embodied as a plurality of distributed devices or components. Additionally or alternatively, one set of devices or components of environment 200 may perform one or more functions described as being performed by another set of devices or components of environment 200.

Fig. 3 is a diagram of exemplary components of a device 300. The apparatus 300 may correspond to the integrated CT couch system 205. In some embodiments, the integrated CT treatment couch system 205 may include one or more apparatuses 300 and/or one or more components of the apparatuses 300. As shown in fig. 3, device 300 may include a bus 310, a processor 320, a memory 330, a storage component 340, an input component 350, an output component 360, and a communication interface 370.

Bus 310 includes components that allow communication among the components of device 300. Processor 320 is implemented in hardware, firmware, or a combination of hardware and software. Processor 320 is a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Accelerated Processing Unit (APU), microprocessor, microcontroller, Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), or other type of processing component. In some implementations, the processor 320 includes one or more processors that can be programmed to perform functions. Memory 330 includes a Random Access Memory (RAM), a Read Only Memory (ROM), and/or another type of dynamic or static storage device (e.g., flash memory, magnetic memory, and/or optical memory) that stores information and/or instructions for use by processor 320.

The memory component 340 stores information and/or software related to the operation and use of the device 300. For example, storage component 340 may include a hard disk (e.g., a magnetic disk, an optical disk, a magneto-optical disk, and/or a solid state disk), a Compact Disc (CD), a Digital Versatile Disc (DVD), a floppy disk, a magnetic tape cartridge (cartridge), a magnetic tape, and/or another type of non-transitory computer readable medium, along with corresponding drives.

Input component 350 includes components that allow device 300 to receive information, for example, via user input (e.g., a touch screen display, a keyboard, a keypad, a mouse, buttons, switches, and/or a microphone). Additionally or alternatively, input component 350 may include sensors for sensing information (e.g., Global Positioning System (GPS) components, accelerometers, gyroscopes, and/or actuators). Output component 360 includes components (e.g., a display, a speaker, and/or one or more LEDs) that provide output information from device 300.

Communication interface 370 includes transceiver-like components (e.g., a transceiver and/or a separate receiver and transmitter) that enable device 300 to communicate with other devices, e.g., via a wired connection, a wireless connection, or a combination of wired and wireless connections. Communication interface 370 may allow device 300 to receive information from and/or provide information to another device. For example, communication interface 370 may include an ethernet interface, an optical interface, a coaxial interface, an infrared interface, a Radio Frequency (RF) interface, a Universal Serial Bus (USB) interface, a wireless local area network interface, a cellular network interface, and/or the like.

Device 300 may perform one or more processes described herein. Device 300 may perform these processes based on processor 320 executing software instructions stored by a non-transitory computer-readable medium, such as memory 330 and/or storage 340. A computer-readable medium is defined herein as a non-transitory memory device. The memory device includes storage space within a single physical storage device or storage space spread over multiple physical storage devices.

The software instructions may be read into memory 330 and/or storage component 340 from another computer-readable medium or from another device via communication interface 370. When executed, software instructions stored in memory 330 and/or storage 340 may cause processor 320 to perform one or more processes described herein. Additionally or alternatively, hardwired circuitry may be used in place of or in combination with software instructions to implement one or more processes described herein. Thus, embodiments described herein are not limited to any specific combination of hardware circuitry and software.

The number and arrangement of components shown in fig. 3 are provided as an example. Indeed, device 300 may include additional components, fewer components, different components, or differently arranged components than those shown in fig. 3. Additionally or alternatively, a set of components (e.g., one or more components) of device 300 may perform one or more functions described as being performed by another set of components of device 300.

Fig. 4 is a flow chart of an exemplary process 400 for controlling an integrated CT couch system. In some embodiments, one or more of the process blocks of fig. 4 may be performed by an integrated CT couch system (e.g., integrated CT couch system 205). In some embodiments, one or more of the process blocks of fig. 4 may be performed by another device or group of devices separate from or including the integrated CT couch system. In some embodiments, an integrated CT treatment couch system may include a base platform, a base member mounted to the base platform, a treatment couch disposed on the base member, and a CT scanner device. In some embodiments, a CT scanner apparatus may include a support structure and a CT gantry. In some embodiments, the support structure may be coupled to a base platform or base member. In some embodiments, the CT gantry can have an aperture and can be oriented so that the aperture is in line with the treatment couch. In some embodiments, the CT gantry may be configured to provide image guidance for radiation therapy. In some embodiments, the integrated CT couch system may include one or more sensors configured to generate position information.

As shown in fig. 4, process 400 may include monitoring positional information related to the integrated CT couch system and/or related to a patient using the integrated CT couch system (block 410). For example, the integrated CT treatment couch system (e.g., using the processor 210, the memory 220, the sensors 280, the processor 320, the memory 330, the storage 340, and/or the like) may monitor positional information related to the integrated CT treatment couch system and/or related to a patient using the integrated CT treatment couch system, as described above in connection with fig. 1A-1N.

As further shown in fig. 4, the process 400 may include controlling, by the integrated CT couch system, movement of the couch top based on the position information (block 420). For example, the integrated CT treatment couch system (e.g., using the processor 210, the memory 220, the motor 270, the processor 320, the memory 330, the storage 340, the communication interface 370, and/or the like) may control movement of the treatment couch based on the position information, as described above in connection with fig. 1A-1N.

Process 400 may include additional embodiments, such as any single embodiment or any combination of embodiments described below and/or in combination with one or more other processes described elsewhere herein.

In some embodiments, the CT scanner device may be configured to provide a helical CT scan based on continuous motion of the treatment couch through the bore of the CT gantry. In some embodiments, the CT scanner device may be configured to provide an axial-based CT scan based on a stepwise movement of the couch table through the bore of the CT gantry. In some embodiments, a CT scanner device may be configured to provide four-dimensional (4D) respiration-based CT scans and/or 4D cardiac-based CT scans. In some embodiments, a CT scanner device may be configured to facilitate CT angiography. In some embodiments, a CT scanner device may be configured to provide dual energy CT scanning.

In some embodiments, an integrated Computed Tomography (CT) treatment couch system may include: a base platform configured to be coupled to a rotatable floor member associated with a medical accelerator; a base member mounted to the base platform; a treatment table disposed on the base member; and a CT scanner device. In some embodiments, a CT scanner apparatus may include a support structure and a CT gantry. In some embodiments, the CT gantry can have an aperture and can be oriented so that the aperture is in line with the treatment couch. In some embodiments, the CT gantry may be configured to generate an online CT scan to guide radiation therapy provided by the medical accelerator. In some embodiments, the support structure may be mounted to the base platform or the base component, wherein a volumetric CT scan of a patient on the treatment couch is obtained via translational movement of the treatment couch along an axis through the bore of the CT gantry, or the support structure may be configured to pass through a guide path coupled to or contained on the base platform, wherein a volumetric CT scan is obtained via translational movement of the treatment couch along the axis (without translational movement of the CT gantry along the axis), translational movement of the CT gantry along the axis via the guide path (without translational movement of the treatment couch along the axis), or a resultant translational movement of the treatment couch along the axis and the CT gantry along the axis via the guide path.

In some embodiments, the base member may be mounted to a first portion of the base platform and the support structure may be mounted to a second portion of the base platform proximate the first portion. In some embodiments, the bridge structure may be coupled to the base member. In some embodiments, the support structure may be mounted to the base member via a bridge structure.

In some embodiments, the CT scanner device and the treatment couch may rotate about the beam isocenter of the medical accelerator when the base platform is coupled to and rotated by the rotatable floor member.

In some embodiments, the base component can include a plurality of motors coupled to the treatment couch top. In some embodiments, the plurality of motors may be configured to allow the treatment couch top to move in six degrees of freedom (DOF).

In some embodiments, the integrated CT couch system may include at least one sensor configured to monitor a position of the couch top and/or a position of a patient on the couch top, and to generate a sensor signal based on monitoring the position of the couch top and/or the position of the patient. In some embodiments, an integrated CT treatment couch system may comprise: one or more memories; and one or more processors communicatively coupled to the one or more memories and the at least one sensor, the one or more processors configured to control movement of the treatment couch and/or the base member based on the sensor signals. In some embodiments, the at least one sensor may be configured to monitor the position of the treatment couch by detecting the weight of the patient on the treatment couch. In some embodiments, the at least one sensor may be configured to monitor the position of the patient by detecting the position of one or more body parts of the patient and/or the posture of at least a portion of the patient.

In some embodiments, the treatment couch may be configured to move about a pitch axis, a roll axis, and/or a yaw axis. In some embodiments, the treatment couch may be configured to move along, vertically relative to, and/or laterally relative to an axis of a bore of the CT scanner device.

In some embodiments, an integrated Computed Tomography (CT) treatment couch system may include a robotic arm assembly including a base structure and an adjustable arm mounted to a portion of the base structure. In some embodiments, the integrated CT couch system may include a couch disposed on and coupled to an adjustable arm. In some embodiments, the treatment couch may be configured to support a patient for a particle therapy procedure. In some embodiments, an integrated CT treatment couch system may include a helical CT scanner apparatus including a support structure and a CT gantry. In some embodiments, the support structure may be coupled to the base structure at or near a portion of the base structure. In some embodiments, the CT gantry can have an aperture and can be oriented so that the aperture is in line with the couch. In some embodiments, the CT gantry may be configured to provide an online CT scan for image guidance associated with a particle therapy procedure.

In some embodiments, the particle therapy program may include a proton-based therapy program and/or a charged ion-based therapy program. In some embodiments, the base structure may be configured to traverse one or more rails to enable the CT scanner device to move at least partially around the region in which the particle therapy procedure is being performed.

Although fig. 4 shows example blocks of the process 400, in some implementations, the process 400 may include, in contrast to those depicted in fig. 4: additional blocks, fewer blocks, different blocks, or differently arranged blocks. Additionally or alternatively, two or more blocks of process 400 may be performed in parallel.

The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the embodiments to the precise form disclosed. Modifications and variations are possible in light of the above disclosure or may be acquired from practice of the embodiments.

As used herein, the term component is intended to be broadly interpreted as hardware, firmware, or a combination of hardware and software.

Some embodiments are described herein in connection with a threshold. As used herein, meeting a threshold may refer to a value that is greater than the threshold, greater than or equal to the threshold, less than or equal to the threshold, and/or the like.

It will be apparent that the systems and/or methods described herein may be implemented in various forms of hardware, firmware, and/or combinations of hardware and software. The actual specialized control hardware or software code used to implement these systems and/or methods is not limiting of the embodiments. Thus, the operation and behavior of the systems and/or methods were described herein without reference to the specific software code — it being understood that software and hardware may be designed to implement the systems and/or methods based on the description herein.

Although particular combinations of features are set forth in the claims and/or disclosed in the specification, these combinations are not intended to limit the disclosure of possible embodiments. In fact, many of these features may be combined in ways not specifically recited in the claims and/or disclosed in the specification. Although each dependent claim listed below may be directly dependent on only one claim, the disclosure of possible embodiments includes each dependent claim in combination with every other claim in the set of claims.

No element, act, or instruction used herein should be construed as critical or essential unless explicitly described as such. In addition, as used herein, the articles "a" and "an" are intended to include one or more items and may be used interchangeably with "one or more. Furthermore, as used herein, the term "set" is intended to include one or more items (e.g., related items, unrelated items, combinations of related and unrelated items, etc.), and may be used interchangeably with "one or more". Where only one item is specified, the term "one" or similar language is used. Further, as used herein, the terms "having," "has," "having," and/or the like are intended to be open-ended terms. Further, the phrase "based on" is intended to mean "based, at least in part, on" unless explicitly stated otherwise.

Claims

1. A robotic arm for an integrated Computed Tomography (CT) treatment couch system, the treatment couch system comprising a treatment couch configured to support a patient for a particle therapy procedure and a helical CT scanner apparatus comprising a support structure and a CT gantry, wherein the CT gantry comprises an aperture and is oriented such that the aperture is in-line with the treatment couch, and wherein the CT gantry is configured to provide an in-line CT scan for image guidance related to the particle therapy procedure, the robotic arm comprising:

the structure of the base part is that the base part,

wherein the support structure is coupled to the base structure at or near a portion of the base structure; and

an adjustable arm mounted to the portion of the base structure,

wherein the treatment couch is disposed on and coupled to the adjustable arm.

2. The robotic arm of claim 1,

wherein the base structure is coupled to a rotatable floor member associated with the medical accelerator, and

wherein the CT gantry is configured to generate the online CT scan to guide radiation therapy provided by the medical accelerator.

3. The robotic arm of claim 1,

wherein a volumetric CT scan is obtained via translational movement of the couch along an axis through the bore of the CT gantry; or

Wherein the base structure is configured to pass through a guide pathway coupled to or contained on the base structure, wherein a volumetric CT scan is obtained via:

translational movement of the couch along the axis without translational movement of the CT gantry along the axis,

translational movement of the CT gantry along the axis via the guide path without translational movement of the couch along the axis, or

A resultant translational movement of the couch along the axis and the CT gantry along the axis via the guide path.

4. The robotic arm of claim 1, wherein the adjustable arm is mounted to a first portion of the base structure and the support structure is mounted to a second portion of the base structure proximate the first portion.

5. A robot arm as claimed in claim 1, wherein the support structure is mounted to the base structure and/or the adjustable arm via one or more coupling mechanisms.

6. The robotic arm of claim 1, wherein the CT scanner device and the treatment couch rotate about a beam isocenter of a medical accelerator when the base structure is coupled to and rotated by a rotatable floor member.

7. The robotic arm of claim 1, wherein the adjustable arm comprises a plurality of motors coupled to the treatment couch.

8. The robotic arm of claim 1, further comprising:

at least one sensor configured to:

monitoring the position of the treatment couch and/or the position of the patient on the treatment couch, an

Generating a sensor signal based on monitoring a position of the treatment couch and/or a position of a patient;

one or more memories; and

one or more processors communicatively coupled to the one or more memories and the at least one sensor, the one or more processors configured to:

controlling movement of the treatment couch based on the sensor signal.

9. The robotic arm of claim 1, wherein the treatment couch is configured to move about:

the pitch axis of the shaft is a pitch axis,

roll axis, and/or

A swing axis.

10. The robotic arm of claim 1, wherein the treatment couch is configured to move along any one of three orthogonal axes including:

the y-axis of the light beam is,

x-axis, or

The z axis.

11. The robotic arm of claim 1, wherein the particle therapy program comprises a proton-based therapy program and/or a charged ion-based therapy program.

12. The robotic arm of claim 1, wherein the base structure is configured to traverse one or more rails to enable the CT scanner device to move at least partially around a region in which the particle therapy procedure is being performed.

13. A method, comprising:

monitoring, by an integrated Computed Tomography (CT) couch system, positional information related to the integrated CT couch system and/or related to a patient using the integrated CT couch system,

wherein the integrated CT treatment couch system comprises:

a robotic arm component comprising a base structure and an adjustable arm mounted to a portion of the base structure;

a treatment couch disposed on and coupled to the adjustable arm,

wherein the treatment couch is configured to support a patient;

a CT scanner device comprising a support structure and a CT gantry,

wherein the support structure is coupled to the base structure or the adjustable arm,

wherein the CT gantry includes an aperture and is oriented such that the aperture is in line with the couch, an

Wherein the CT gantry is configured to provide image guidance for radiation therapy; and

one or more sensors configured to generate the location information; and

controlling, by the integrated CT couch system, movement of the couch based on the position information.

14. The method of claim 13, wherein the CT scanner device is configured to provide a helical CT scan based on continuous movement of the couch through the bore of the CT gantry.

15. The method of claim 13, wherein the CT scanner device is configured to provide an axial-based CT scan based on a stepwise movement of the couch through the bore of the CT gantry.

16. The method of claim 13, wherein the CT scanner device is configured to facilitate CT angiography via helical CT scanning and/or axial-based CT scanning.

17. The method of claim 13, wherein the CT scanner device is configured to provide at least a dual-energy CT scan and/or a spectral CT scan via a helical CT scan and/or an axial based CT scan.

18. An integrated Computed Tomography (CT) treatment couch system, comprising:

a robotic arm member comprising:

a base structure; and

an adjustable arm mounted to a portion of the base structure; and

a treatment couch disposed on and coupled to the adjustable arm,

the treatment couch configured to support a patient for a particle therapy procedure; and

a helical CT scanner apparatus, comprising:

a support structure; and

a CT machine frame is arranged on the back of the patient,

wherein the support structure is coupled to the base structure at or near the portion of the base structure,

Wherein the CT gantry is configured to provide an online CT scan for image guidance associated with the particle therapy procedure.

19. The integrated CT therapeutic bed system of claim 18, wherein the particle therapy program comprises a proton-based therapy program and/or a charged ion-based therapy program.

20. The integrated CT treatment couch system of claim 18 wherein the base structure is configured to traverse one or more rails to enable the CT scanner device to move at least partially around an area in which the particle therapy procedure is being performed.