CN202875358U - Device for positioning target organ during tumor radiotherapy - Google Patents
Device for positioning target organ during tumor radiotherapy Download PDFInfo
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- CN202875358U CN202875358U CN 201220608167 CN201220608167U CN202875358U CN 202875358 U CN202875358 U CN 202875358U CN 201220608167 CN201220608167 CN 201220608167 CN 201220608167 U CN201220608167 U CN 201220608167U CN 202875358 U CN202875358 U CN 202875358U
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Abstract
The utility model belongs to the field of medical devices and relates to a device for positioning a target organ during tumor radiotherapy. The device comprises robot (2) with six degrees of freedom, a C-shaped arm (1) and numerical-control therapy bed (7) and is characterized in that the C-shaped arm (1) is arranged on the arm (3) of the robot (2); an X-ray source (4) and an X-ray receiver (5) are fixed at two ends of the C-shaped arm (1) respectively and used for generating an X-ray image of the target organ; and a strain gauge is arranged on the body surface of a patient (6) and can change correspondingly in shape along with the respiratory movement of the patient (6), generates corresponding electric signals and obtains an amplitude chart which reflects the change of the respiratory movement of the patient (6) along with time after treating the electric signals. The device provided by the utility model is convenient to operate, can be used for better reflecting the three-dimensional position information of the target organ in the body of the patient and can be also used for positioning and tracking the movement of the target organ.
Description
Technical field:
This utility model relates to field of medical device, specifically the positioner of target organ in a kind of tumour radiotherapy.
Background technology:
Radiotherapy is one of important means of carrying out oncotherapy.The purpose of tumour radiotherapy is the therapeutic dose to tumor target area maximum, and the exposure dose that normal structure around the tumor and organ are absorbed is minimum, thereby improves the Partial controll rate of tumor, reduces the complication of normal structure.Therefore, radiotherapy must be accomplished " Precise Diagnosis, accurately design, accurate location, accurate treatment ".Prior art is to the location of target organ, all is by implanting the gold mark at this organ-tissue mostly, uses golden target localization method is finished location to the target organ tissue.In the Novalis system of the CyberKnife system of U.S. Accuray company and German BraiLab company, that two x-ray sources are fixed on the ceiling of therapeutic room to the target organ tissue positioned, two X ray receptors are positioned over certain position on the ground, and the position of x-ray source and receptor must guarantee that two beam X-rays are at target organ destination organization place quadrature.Position fixing process is to merge by the digitized video DDR that patient's initial alignment CT is rebuild and the image of two directions of rays, thereby obtains target organ gold target positional information.Golden target implantation there is strict requirement, just can obtains qualified radioscopic image.The method x-ray source and X ray receptor are fixed, and the projecting direction of two X ray is fixed, and are unfavorable for better reflecting patient body Endothelium corneum target three dimensional local information.
For being subjected to respiratory movement to affect larger organ, such as lung, liver, pancreas etc., there is certain variation its shape, volume and position, just must consider that in the location respiratory movement is on the impact of target organ position.
Summary of the invention:
The purpose of this utility model is in order to overcome the prior art x-ray source and the X ray receptor is fixed, can not position to the motion of target organ the defective of tracking, provide a kind of easy to operate, the three dimensional local information of target organ in the patient body can be better reflected, and the positioner of target organ in the tumour radiotherapy of tracking can be positioned to the motion of target organ.
The purpose of this utility model realizes by following technical proposals:
The positioner of target organ is comprised of sextuple degree of freedom robot (2), C shape arm (1), numerical control therapeutic bed (7) in the tumour radiotherapy of the present utility model, it is characterized in that: C shape arm (1) places on the robot arm (3) of six degree of freedom, x-ray source (4) and X ray receptor (5) are individually fixed in the two ends of C shape arm (1), for generation of the radioscopic image of target organ; Foil gauge is placed on patient (6) body surface, and foil gauge with patient's (6) respiratory movement corresponding deformation occurs, and produces the corresponding signal of telecommunication, obtains patient's (6) the time dependent map of magnitudes of respiratory movement after processing.
The positioner of target organ can be used in the radiotherapy system of various high mental retardation isotope radioactive sources and x-ray source, especially for robot radiation therapy system in the tumour radiotherapy of the present utility model.Its advantage is that this utility model adopts sextuple degree of freedom robot arm and C shape arm to change the projecting direction of X ray, C shape arm can center on respectively the axis direction rotation of objective body to be measured and move, can select flexibly the projecting direction of best X ray, the target organ positional information provides the basis in order to obtain more accurately.Overcome X ray direction in the existing target organ localization method relatively fixing, golden target is implanted the defective that strict demand is arranged, better reacted the accurate location information of target organ in the patient body.
According to structure and composition characteristics of the present utility model, the designer has designed the algorithm of registration target organ gold demarcation position, can calculate rapidly golden target locus.
Because the organs such as lung, liver, pancreas, kidney are subjected to its position of Repiration that obvious variation can occur, so Different Individual patient's respiratory movement must individuation be detected, and could realize the motion positions of different patient's target organs.This utility model adopts the method for foil gauge to follow the tracks of patient's respiratory movement, solved the problem of the target organ gold demarcation position that is subjected to respiratory movement to affect larger organ, namely place the foil gauge of some at patient body-surface, when respiratory movement, corresponding deformation occurs in foil gauge, produce the corresponding signal of telecommunication, process obtaining the breathing phases amplitude behind these signals, realize that kinetic target organ motion is followed the tracks of to patient respiratory.
This utility model also provides assurance for breathing tracing system in the whole radiotherapy system, for real-time tracing in the successive treatment process lays the foundation.
Therefore, this utility model has overcome the prior art x-ray source and the X ray receptor is fixed, can not position to the motion of target organ the defective of tracking, the positioner of target organ in the tumour radiotherapy that provides, easy to operate, can better reflect the three dimensional local information of target organ in the patient body, and can position tracking to the motion of target organ.
Description of drawings:
Fig. 1 is device schematic diagram of the present utility model.
Fig. 2 is this utility model A, the mathematical model schematic diagram of two imaging position points of B.
Fig. 3 is that gold mark of the present utility model is projected in the coordinate diagram in the radioscopic image.
Fig. 4 is the time dependent schematic diagram of respiratory movement of the present utility model.
Motion conditions schematic diagram when Fig. 5 is first projection of C shape arm of the present invention.
Motion conditions schematic diagram when Fig. 6 is second projection of C shape arm of the present invention.
In the accompanying drawing, each digital implication is: 1:C shape arm, 2: robot, 3: robot arm, the 4:X radiographic source, the 5:X ray receiver, 6: patient, 7: numerical control therapeutic bed, 8: the therapeutic bed lift shaft, O: patient body Endothelium corneum target locus, Sa: the locus of x-ray source in the projection process for the first time, Oa: patient body Endothelium corneum mark is projected in the subpoint on the X ray receptor for the first time, Sb: the locus of x-ray source in the projection process for the second time, Ob: patient body Endothelium corneum mark is projected in the subpoint on the X ray receptor for the second time, Ia: the gold mark projects to coordinate position in the X ray receptor 5 formed images.
The specific embodiment:
Be described in further detail this utility model below in conjunction with drawings and Examples, but this utility model is not limited only to described embodiment.
Embodiment one
The positioner of target organ as shown in Figure 1 in this routine tumour radiotherapy, formed by sextuple degree of freedom robot 2, C shape arm 1, numerical control therapeutic bed 7, it is characterized in that: C shape arm 1 places on the robot arm 3 of six degree of freedom, x-ray source 4 and X ray receptor 5 are individually fixed in the two ends of C shape arm 1, for generation of the radioscopic image of target organ; Foil gauge is placed on patient's 6 body surfaces, and foil gauge with patient 6 respiratory movement corresponding deformation occurs, and produces the corresponding signal of telecommunication, obtains patient 6 the time dependent map of magnitudes of respiratory movement after processing.
In this example, x-ray source 4 energy are 80--150kV, and X ray receptor 5 is non-crystalline silicon (selenium) flat panel detector, and picture size is 40cm * 30cm, image resolution ratio is 2048 * 1536 or 2048 * 1536, and image acquisition speed was 15 ~ 30 (100) width of cloth/seconds.X-ray source 4 and X ray receptor 5 can axially be done ± 180 ° rotatablely moving around it, C shape arm 1 bootable x-ray source 4 and X ray receptor 5 are done greater than 180 ° of motions, numerical control therapeutic bed 7 can move at vertical direction, cooperates x-ray source 4 to arrive relative assigned address with X ray receptor 5.
The detailed description of location and computational process:
According to the DDR(digitized video) golden target positional information and with the status information of Therapy robot in the image, system can select the projecting direction of an optimum automatically, avoids bumping between C shape arm and the Therapy robot and make between the gold mark overlapping without projection.
Rotation by each joint of control arm (robot of C shape arm is installed), the attitude of C shape arm 1 and numerical control therapeutic bed 7 and height, so that x-ray source 4 and X ray receptor 5 place the best projection position, as shown in Figure 2, taken out x-ray source 4, X ray receptor 5, the position relationship of objective body and objective body to be tracked after the imaging, wherein Sa is the locus of x-ray source 4, Oa marks the subpoint that is projected in for the first time on the X ray receptor for gold, O is objective body patient 6 body Endothelium corneum target locus, obtains so afterwards the image of the first width of cloth X ray of this sense cycle.
Determine that the space coordinates position of target O needs to obtain the radioscopic image of 2 directions at least, therefore at least also need from another direction objective body to be carried out the X ray projection, similarly, status information by control, system selects the projecting direction of an optimum automatically, this position can avoid C shape arm and treatment machine to bump, and can also obtain the best drop shadow effect of x-ray imaging effect, and twice projecting direction is at orthogonal space.This process is to make x-ray source 4 and X ray receptor 5 arrive the position of appointment by control arm 3 and C shape arm 1, Sb point as shown in Figure 2, the position relationship that Ob is ordered, wherein Sb is the locus of x-ray source 4 in the projection process second time, and Ob marks the subpoint that is projected in for the second time on the X ray receptor for gold.
First projecting direction: the gold mark projects to coordinate position (x in the X ray receptor 5 formed images as shown in Figure 3
0, y
0), as shown in Figure 5, robot arm 3 ends are α along the angle of C shape arm guide rail paddling
0, the anglec of rotation of robot arm 3 ends is θ
0, the coordinate of robot arm 3 ends is (x
a, y
a, z
a).Method by translation and the rotation of space coordinates obtains Sa, the locus of Oa, and coordinate wherein can be expressed as respectively the space coordinates Sa (x of x-ray source 4
Sa, y
Sa, z
Sa), the space coordinates Oa (x of gold mark projection
Fa, y
Fa, z
Fa),
Wherein,
R represents the radius of C arm.
Second projecting direction: the gold mark projects to coordinate position (x in the X ray receptor 5 formed images
1, y
1), as shown in Figure 5, robot arm 3 ends are α along the angle of C shape arm guide rail paddling
1, the anglec of rotation of robot arm 3 ends is θ
1, the coordinate of robot arm 3 ends is (x
b, y
b, z
b).Method by translation and the rotation of space coordinates obtains Sa, the locus of Sb, and coordinate wherein can be expressed as respectively the space coordinates Sb (x of x-ray source 4
Sb, y
Sb, z
Sb), the space coordinates Ob (x of gold mark projection
Fb, y
Fb, z
Fb).
With the method for above-mentioned first projecting direction, in like manner can obtain
Wherein,
Be called the spin matrix around the z axle,
Gold target space coordinates (x, y, z): obtained Sa by said method, Oa, Sb, the space coordinates that Ob is 4, by spatial relation shown in Figure 24, namely straight line SaOa and straight line SbOb quadrature can obtain equation group
Express for convenient, can make
So the equation of finding the solution can be expressed as
Solved by the Gauss elimination approach
When if some are subjected to respiratory movement to affect larger histoorgan in tracking, gold target position may change with respiratory movement during twice projection.In order to address this problem, this utility model adopts foil gauge is invested patient's abdominal part, and foil gauge can deform with respiratory movement, by change-over circuit it is become electrical information, processes by analysis the breathing situation that obtains the patient.
As shown in Figure 4, the respiratory depth that has represented a patient among the figure is situation over time, Sa among the figure, 2 of Sb are illustrated in the X ray incident point on the both direction of two different cycles, Sa represents the primary X-ray projection that the patient carries out when respiratory depth reaches the bosom, Sb represents that the patient is positioned at the X ray projection of another place's patient respiratory degree of depth when the darkest in another cycle, so just guaranteed at two projecting directions gold mark identically with respect to the position of organ-tissue, guarantee is follow-up passes through the usability that calculated with mathematical model goes out gold mark locus.
Claims (1)
1. the positioner of target organ in the tumour radiotherapy, formed by sextuple degree of freedom robot (2), C shape arm (1) and numerical control therapeutic bed (7), it is characterized in that: C shape arm (1) places on the robot arm (3) of six degree of freedom, and x-ray source (4) and X ray receptor (5) are individually fixed in the two ends of C shape arm (1); Foil gauge is placed on patient (6) body surface, and foil gauge with patient's (6) respiratory movement corresponding deformation occurs, and produces the corresponding signal of telecommunication, obtains patient's (6) the time dependent map of magnitudes of respiratory movement after processing.
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|---|---|---|---|
| CN 201220608167 CN202875358U (en) | 2012-11-18 | 2012-11-18 | Device for positioning target organ during tumor radiotherapy |
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| CN 201220608167 CN202875358U (en) | 2012-11-18 | 2012-11-18 | Device for positioning target organ during tumor radiotherapy |
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| CN 201220608167 Expired - Lifetime CN202875358U (en) | 2012-11-18 | 2012-11-18 | Device for positioning target organ during tumor radiotherapy |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015081590A1 (en) * | 2013-12-06 | 2015-06-11 | 刘苗生 | Bionic airbag cradle bed used for radiotherapy equipment |
| CN111437520A (en) * | 2020-04-03 | 2020-07-24 | 北京易康医疗科技有限公司 | Method for synchronously calculating radiotherapy beam angle in real time in radiotherapy |
-
2012
- 2012-11-18 CN CN 201220608167 patent/CN202875358U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015081590A1 (en) * | 2013-12-06 | 2015-06-11 | 刘苗生 | Bionic airbag cradle bed used for radiotherapy equipment |
| CN111437520A (en) * | 2020-04-03 | 2020-07-24 | 北京易康医疗科技有限公司 | Method for synchronously calculating radiotherapy beam angle in real time in radiotherapy |
| CN111437520B (en) * | 2020-04-03 | 2021-07-20 | 山东省肿瘤防治研究院（山东省肿瘤医院） | Method for synchronously calculating radiotherapy beam angle in real time in radiotherapy |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: WU DAKE Free format text: FORMER OWNER: CHENGDU WEIMING TECHNOLOGY CO., LTD. Effective date: 20140930 Owner name: YAO JIN WEI CHONGGAO Effective date: 20140930 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20140930 Address after: 2 610041 yuan 7, Section 8, No. four, No. 55, South Renmin Road, Chengdu, Sichuan, Wuhou District Patentee after: Wu Dake Patentee after: Yao Jin Patentee after: Wei Chonggao Address before: 108, room 6, building 1480, hi tech incubator Park, north section of Tianfu Road, Chengdu hi tech Zone, Sichuan, 610041 Patentee before: CHENGDU WEIMING TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20180209 Address after: Pixian 611730 Sichuan city of Chengdu province Chengdu modern industrial port area benevolence Port Road No. 128 Patentee after: RADIATION THERAPY MEDICAL SCIENCE & TECHNOLOGY Co.,Ltd. Address before: 2 610041 yuan 7, Section 8, No. four, No. 55, South Renmin Road, Chengdu, Sichuan, Wuhou District Co-patentee before: Yao Jin Patentee before: Wu Dake Co-patentee before: Wei Chonggao |
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| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130417 |
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| CX01 | Expiry of patent term |