JP2008220553A - Radiation therapy system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve safety by avoiding interference of a treatment table and to improve treatment efficiency in a radiation therapy system. <P>SOLUTION: The radiation therapy system 10 is provided with: an irradiation nozzle 11 for radiating treatment radiation; the treatment table 12 which is constituted of a multi-joint robot, places a patient 13 on it, and positions a diseased site of the patient 13 at an irradiation position of the treatment radiation radiated by the irradiation nozzle 11; a control section for controlling the irradiation nozzle 11 and the treatment table 12; an operation device 20 for inputting a control signal to the control section; and a position detecting means for detecting a position of an operator 19 of the operation device 20. The control section is provided with: a route calculation device 42 for calculating a movement route that avoids interference with the operator 19 on the basis of position of the operator 19 detected by the position detecting means; and a treatment table controller 42 for controlling movements of the treatment table 12 on the basis of the movement route calculated by a route calculating means. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a radiotherapy system that performs treatment using radiation, and is particularly suitable for a radiotherapy system having a movable treatment table.

  Radiation therapy is a treatment that kills a tumor by irradiating it with a therapeutic radiation on a tumor (affected area) such as cancer, and in order not to destroy normal cells around the tumor, the therapeutic radiation is irradiated to the tumor with high accuracy. It is required to do. Therefore, positioning is performed by moving a treatment table capable of positioning with multiple degrees of freedom so that the irradiation position of the therapeutic radiation matches the position of the affected part.

  Recently, a CT (Computerized Tomography) device has been installed in the vicinity of the radiation nozzle in order to accurately confirm the position of the affected area and improve the treatment efficiency. It is considered that the work is performed with the patient on the treatment table. In this case, since the treatment table needs a wide range of movement, application of an articulated robot (arm type robot) is considered.

  Conventionally, articulated robots have been used for welding work and the movement start position and target position are often determined.Therefore, the operator directly operates the articulated robot (teaching) while checking for interference with peripheral devices. Work), moving route data is created (prior art 1).

  In addition, when there are a plurality of target positions and the teaching work is enormous, a plurality of movement paths for retracting interference with peripheral devices are prepared as described in JP-A-10-83212 (Patent Document 1). In addition, a method for selecting a save pattern according to the situation is known (Prior Art 2).

  In addition, as described in Japanese Patent Application Laid-Open No. 2006-21287 (Patent Document 2), there is a method of performing an avoiding operation when a force detector is provided in an articulated robot and contact with a peripheral device is detected. Known (Prior Art 3).

JP-A-10-83212 JP 2006-21287 A

  In the prior art 1, since a movement route is created in advance before work, there is a problem that interference cannot be avoided if there is a change in the object of interference after the movement route is created. It was.

  According to the prior art 2 (Patent Document 1), a plurality of interference evacuation patterns are prepared, and interference can be avoided by selecting the evacuation pattern according to the situation, but interference within the movable range of the articulated robot is not possible. When there are a large number of situation changes such as the position of an object, there is a problem that it takes a huge amount of work to create an interference evacuation pattern according to all the situations.

  Further, according to the prior art 3 (Patent Document 2), when a contact force is detected, a contact force is detected and an avoidance operation is performed in a direction in which the contact force is reduced. Since a route that avoids contact cannot be created, the articulated robot stops every time it comes into contact, resulting in a problem that work efficiency decreases.

  An object of the present invention is to provide a radiotherapy system that can avoid interference with a treatment table to improve safety and improve treatment efficiency.

The first aspect of the present invention for achieving the above-described object is that the irradiation nozzle for irradiating the therapeutic radiation and the irradiation of the therapeutic radiation irradiating from the irradiation nozzle which is composed of an articulated robot and carries a patient. In the radiotherapy system comprising: a treatment table for positioning the affected area of the patient at a position; a control unit for controlling the irradiation nozzle and the treatment table; and an operation device for inputting a control signal to the control unit. A position detecting means for detecting the position of the operator of
The control unit is configured to calculate a movement route for avoiding interference with the operator based on the position of the operator detected by the position detection unit, and based on the movement route calculated by the route calculation device. And a treatment table control device for controlling the movement of the treatment table.

  Further, the second aspect of the present invention for achieving the above-described object is that the therapeutic radiation is composed of an irradiation nozzle for irradiating therapeutic radiation and an articulated robot and is irradiated from the irradiation nozzle with a patient on it. In a radiation therapy system comprising: a treatment table that positions the affected area of the patient at the irradiation position; a control unit that controls the irradiation nozzle and the treatment table; and an operation device that inputs a control signal to the control unit. A path calculation device comprising position detection means for detecting the position of the operation device, wherein the control unit calculates a movement path for avoiding interference with the operation device based on the position of the operation device detected by the position detection means. And a treatment table control device that controls the movement of the treatment table based on the movement route calculated by the route calculation device.

A more preferable specific configuration example in the first or second aspect of the present invention is as follows.
(1) The position detection means is based on a transmitter attached to the operator or the operation device, a plurality of receivers for receiving radio waves from the transmitter, and data received by the plurality of receivers. And a position calculating device that calculates the position of the operator or the operating device.
(2) The position detection unit includes a television camera that photographs the operator or the operation device, and an image processing device that calculates a position of the operator or the operation device based on an image photographed by the television camera. To become a.
(3) The position detecting means is composed of a non-contact identification device including a radio tag that emits radio waves and a receiver that receives radio waves of the radio tags.
(4) The position detection means calculates a position of the operator based on a plurality of force sensors installed on the floor so as to detect the weight of the operator and data detected by the force sensor. It consists of a calculation device.
(5) The position detection unit includes a position calculation device that calculates a position of the operator or the operation device based on position information input from the operation device by the operator.
(6) The route calculation device calculates the movement route excluding an intrusion prohibited area set in the movement range of the treatment table.
(7) The position detecting means detects the movement of the operator or the operating device even while the treatment table is moving, and the route calculating device detects the position of the operator or the operating device detected by the position detecting means. Based on this, when it is necessary to avoid interference with the operator or the operation device during the movement of the treatment table, the treatment table control device calculates a new movement route calculated by the route calculation device. Controlling the movement of the treatment table on the basis of various movement paths.
(8) A simulator for checking interference between the treatment table and its peripheral devices from the movement route of the treatment table calculated by the route calculation device is provided.
(9) A display for displaying the movement route of the treatment table calculated by the route calculation device is provided around the operation device or the treatment table.

  According to the radiotherapy system of the present invention, it is possible to improve the safety and avoid the interference of the treatment table and improve the treatment efficiency.

Hereinafter, a plurality of embodiments of a radiation therapy system of the present invention will be described with reference to the drawings. The same reference numerals in the drawings of the embodiments indicate the same or equivalent.
(First embodiment)
The proton beam therapy system of 1st Embodiment of this invention is demonstrated using FIGS. 1-3. 1 is a plan view showing a configuration of a proton beam treatment system 10 according to a first embodiment of the present invention, FIG. 2 is a perspective view of a treatment table 12 in FIG. 1, and FIG. 3 is a block diagram of the proton beam treatment system 10 in FIG. It is.

  As shown in FIGS. 1 and 3, the proton beam treatment system 10 of the present embodiment includes an irradiation nozzle 11, a treatment table 12, an operation device 20 for the treatment table 12, a CT device 21, a radio wave transmitter 24, and reception thereof. Machines 25 and 26, a treatment table control device 40, a position calculation device 41, a route calculation device 42, a treatment plan device 43, a peripheral device database 44, a patient database 45, an irradiation control device 49, a rotating gantry 50, and the like as main components. ing. The treatment table control device 40, the route calculation device 42, the treatment planning device 43, and the irradiation control device 49 are control units that control the irradiation nozzle 11, the treatment table 12, the CT device 21, the rotating gantry 50, and the like of the proton beam treatment system 10. It is composed. The control unit is composed of one microcomputer. This microcomputer is also provided with a position calculation device 41.

  Further, in the treatment room 28 partitioned by the wall surface 16, a setting space 22 for attaching a jig for fixing the patient 13 to the treatment table 12 to the patient 13 and performing rough positioning of the affected part, and the patient 13. And a CT apparatus 21 for acquiring a 3D image around the affected area. In the treatment room 28, entrances 17 and 18 are provided. In the setting space 22, a setting device, a jig 23, and the like are provided.

  The irradiation nozzle 11 is for irradiating the affected area of the patient 13 with a proton beam, and is installed in the rotating gantry 50 and arranged so as to be able to rotate around the patient as shown in the rotation direction 15 of the irradiation nozzle. . By rotating the rotating gantry 50, the proton beam of the irradiation nozzle 11 can be irradiated from the entire periphery of the patient 13.

  As shown in FIG. 2, the treatment table 12 is an articulated robot having six joints 30 to 35, and the patient 13 is placed at the irradiation position of the proton beam irradiated from the irradiation nozzle 11 with the patient 13 placed on the top 14. It is comprised so that the affected part of can be positioned. The treatment table 12 has the base 12A fixed at the center in the treatment room 28 as a center, and the top plate 14 is rotated 360 degrees in a plane, moved up and down, and moved away from or closer to the base 12A. It is possible to make it. Further, the movable range 27 of the treatment table 12 is set within a range indicated by a dotted line in FIG. Accordingly, the top 14 can move between the treatment positions of the setting space 22, the CT device 21, and the irradiation nozzle 11.

  The operation device 20 of the treatment table 12 is for inputting a control signal to the control unit by an input operation 46 of the operator 19 and moving the treatment table 12 to an arbitrary position. This control signal is input to the route calculation signal 42.

  The radio wave transmitter 24 is attached to an operator 19 who operates the treatment table 12. The plurality of receivers 25 and 26 are installed at different positions on the wall surface of the treatment room wall 16 and receive radio waves and ultrasonic waves 47 and 48 transmitted from the transmitter 24.

  The position calculation device 41 calculates the position of the transmitter 24 (in other words, the operator 19) based on the data received from the plurality of receivers 25 and 26. For example, the radio wave intensity received by the receivers 25 and 26 is converted into a distance, and the position of the transmitter 24 is calculated based on the principle of triangulation. The position calculation device 41, the plurality of receivers 25 and 26, and the transmitter 24 constitute position detection means.

  The route calculation device 42 performs an interference check based on the data in the peripheral device database 44, the location data of the transmitter 24 calculated by the location calculation device 41, and other various data, and calculates the movement route of the treatment table 12. Then, it is sent to the treatment table control device 40.

  The treatment planning apparatus 43 takes out necessary data from the patient database 45 storing data such as fluoroscopic images and diagnosis results of the patient 13 acquired before the treatment, and plans the number of proton irradiations and directions in advance before the treatment. This is a simulation device. The irradiation of the proton nozzle 11 is performed based on this result.

  Below, operation | movement and a function of the proton beam treatment system 10 are demonstrated.

  First, the top 14 of the treatment table 12 is moved into the setting space 22, the patient 13 is placed on the top 14 in the setting space 22, and is placed on the body surface of the patient 13 with a laser pointer (not shown). The patient 13 is fixed in a state of being roughly positioned on the top plate 14 while referring to the irradiated laser and a mark previously attached to the body surface of the patient 13.

  After completing the rough positioning, the operator 19 moves the treatment table 12 to the CT apparatus 21 using the operation device 20. The movement route of the treatment table 12 at this time is calculated by the route calculation device 42, and the treatment table control device 40 controls the treatment table 12 to move based on the calculated movement route.

  That is, the route calculation device 42 determines the current position (setting position) of the treatment table 12 from the treatment table control device 40, the target position (CT imaging position) from the treatment plan device 43, and the arrangement of peripheral devices from the peripheral device data 44. The path for acquiring the shape, the position of the transmitter 24 from the position calculation device 41, and the position of the irradiation nozzle 11 from the irradiation control device 49, respectively, and avoiding interference with peripheral devices and the operator 19 based on these data Is calculated and sent to the treatment table controller 40. The treatment table controller 40 moves the treatment table 12 based on this avoidance route. Accordingly, the treatment table 12 can safely move from the setting space 22 to the CT apparatus 21 while avoiding contact with peripheral devices, the operator 19 and the like. The route calculation device 42 estimates the region where the operator 19 is present from the position of the transmitter 24 calculated by the position calculation device 41, and calculates the movement route so that the passage regions of the treatment table 12 do not overlap.

  Next, an image around the affected area of the patient 13 is acquired by the CT apparatus 21 and the position of the affected area is confirmed while comparing with an image before treatment. An image around the affected area of the patient 13 acquired by the CT apparatus 21 is taken into the patient database 45.

  Then, after completing the image capturing by the CT apparatus 21, the operator 19 operates the operation apparatus 20 to move the treatment table 12 to the treatment position of the irradiation nozzle 11. The movement route of the treatment table 12 at this time is calculated by the route calculation device 42 in the same manner as the movement from the setting space 22 to the CT device 21 described above. That is, the movement route by the route calculation device 42 is a route that avoids interference with peripheral devices, the operator 19, and the irradiation nozzle 11. The treatment table 12 is moved by the treatment table control device 40 based on this movement path.

  Next, when the operator 19 inputs an operation signal from the operation device 20, the treatment table 12 is moved based on a fluoroscopic image around the affected area photographed by the CT device 21 or a treatment plan created by the treatment planning device 43. The affected part is moved and positioned at the irradiation position of the proton beam of the irradiation nozzle 11 with high accuracy, and the affected part is irradiated with the proton beam from the irradiation nozzle 11.

  After completing the treatment, the operator 19 operates the operation device 20 to move the treatment table 12 to the setting space 22 and removes a jig from the patient 13. The movement of the treatment table 12 at this time uses the movement route calculated by the route calculation device 42 as described above, and thus avoids contact with peripheral devices, the operator 19 and the like as before. it can.

  Thus, the movement route of the treatment table 12 is automatically calculated by the route calculation device 42, and based on this, the movement of the treatment table 12 is automatically controlled by the treatment table control device 40. Compared with the case where the treatment table 12 is moved while checking the interference, the patient 13 can be moved efficiently in a short time.

  The confirmation of the position of the operator 19 is not limited only to the calculation of the route of the treatment table 12, but the position of the transmitter 24 is always monitored, and for example, the operator 19 is moved during the movement of the treatment table 12. May move, the treatment table 12 may be caused to avoid or stop when there is a risk of contact with the treatment table 12. That is, the position detection means detects the movement of the operator 19 even while the treatment table 12 is moving, and the route calculation device 42 performs the operation during the movement of the treatment table 12 based on the position of the operator 19 detected by the position detection means. When it is necessary to avoid interference with the person 19, a new movement route is calculated, and the treatment table control device 40 controls the movement of the treatment table 12 based on the new movement route calculated by the route calculation device 42. You may do it.

In this embodiment, the radio wave transmitter 24 and the receivers 25 and 26 are used to detect the position of the operator 19, but an ultrasonic transmitter and a receiver may be used. In this case, the distance between the transmitter and the receiver is measured, and the position may be calculated by triangulation.
(Second to sixth embodiments)
Next, second to sixth embodiments of the present invention will be described with reference to FIGS. The second to sixth embodiments differ from the first embodiment in the following points, and are basically the same as the first embodiment in other points.
(Second Embodiment)
FIG. 4 is a plan view showing the configuration of the proton beam therapy system 10 according to the second embodiment of the present invention. In the second embodiment, a plurality of television cameras 60 and 61 and an image processing apparatus (not shown) are used as position detection means.

  Two TV cameras 60 and 61 are installed at different positions on the wall of the treatment room wall 16 to photograph the treatment table 12, and an image pattern of the operator 19 is extracted from the images of the TV cameras 60 and 61 by the image processing apparatus. The position is calculated.

  Note that one television camera may be installed on the ceiling so that the entire treatment room 28 can be photographed, and the position of the operator 19 may be calculated.

When the television camera is used as described above, the transmitter 24 in the first embodiment is not necessary, so that it is possible to save the operator 19 himself / herself from wearing the transmitter 24 and forget to install the transmitter 24. Can prevent mistakes.
(Third embodiment)
FIG. 5 is a plan view showing the configuration of the proton beam therapy system 10 according to the third embodiment of the present invention. In the third embodiment, a position detecting means is used by using a non-contact identification device including a wireless tag 71 and a receiver 70.

  The wireless tag 71 is attached to the entire floor of the treatment room 28 at a predetermined interval (only a part of the wireless tag is shown in FIG. 5), and the operator 19 carries the receiver 70. If the interval between the wireless tags 71 is set to about the receivable range of the wireless tag 71, the number of wireless tags 71 that can be received by the receiver 70 is about several near the receiver 70. The position of the operator 19 can be detected.

In place of the wireless tag 71 and the receiver 70 of FIG. 5, a plurality of force sensors are installed at predetermined intervals on the entire floor surface of the treatment room 28, and the operation is performed from the load force of the operator 19 detected by the force sensor. The position of the person 19 may be detected. In this case, since the receiver 70 is not required, the operator 19 can save the trouble of mounting the receiver 70 and prevent mistakes such as forgetting to mount the receiver 70. The wireless tag 71 may be attached to the operator 19 and the receiver 70 may be installed on the wall surface of the treatment room wall 16 or the like. In that case, only one wireless tag 71 is required, and the configuration becomes simple.
(Fourth embodiment)
FIG. 6 is a plan view showing a configuration of a proton beam therapy system 10 according to the fourth embodiment of the present invention. In the fourth embodiment, the operator 19 detects the position of the operator 19 by performing an operation input on the operation device 20.

  The movable range 27 of the treatment table 12 is divided into a plurality of fan-shaped sections (for example, four sections A, B, C, and D) as shown in FIG. 6, and when the operator 19 operates the operating device 20, or treatment While the platform 12 is moving, the position where the user is is input from the operation device 20. Then, since the route calculation device 42 calculates the movement route of the treatment table 12 while avoiding the input section, the contact between the operator 19 and the treatment table 12 can be avoided. Furthermore, the plurality of sections of the movable range 27 may not be used only for avoiding interference with the operator 19 but may be input as an entry prohibition area of the treatment table 12.

  For example, the fourth embodiment is effective when, for example, an inspection device that is not registered in the peripheral device data 44 is temporarily placed in the movable range 27 of the treatment table 12. In the fourth embodiment, the movable range of the treatment table 12 is divided into four sections A, B, C, and D in a fan shape. However, it is not always necessary to do so, depending on the relationship with the peripheral devices, work procedures, and the like. What is necessary is just to divide appropriately.

If the divided sections are displayed on the floor, mistakes such as erroneous recognition can be prevented, and the treatment table can be operated and moved more safely.
(Fifth embodiment)
FIG. 7 is a block diagram of a proton beam therapy system 10 according to the fifth embodiment of the present invention. In the fifth embodiment, a simulator 80 and a display 81 are provided.

The simulator 80 creates a posture change and a movement route of the treatment table 12 by a three-dimensional animation based on the data calculated by the route calculation device 42. The display 81 displays the animation on the display screen. As a result, the operator 19 can confirm the posture change and the movement path of the treatment table 12 before moving the treatment table 12, so that safety can be further improved. The display 81 is desirably installed on the wall surface of the operating device 20 or the treatment room wall 16 so that the operator 19 can visually confirm the display 81.
(Sixth embodiment)
FIG. 8 is a plan view showing a configuration of a proton beam therapy system 10 according to the sixth embodiment of the present invention. In the sixth embodiment, a transmitter 24 is attached to the operation device 20 of the treatment table 12. As a result, the position of the controller device 20 can be detected. Since the transmitter 24 only needs to be always attached to the operation device 20, it is possible to save the operator 19 himself / herself from wearing the transmitter 24 and to prevent mistakes such as forgetting to attach the transmitter 24.

The confirmation of the position of the operating device 20 is not limited to calculating the route of the treatment table 12, but the position of the transmitter 24 is always monitored, and for example, the operating device 20 is moved while the treatment table 12 is moving. When there is a risk of contact with the treatment table 12 by moving the treatment table 12, the treatment table 12 may be caused to perform an avoidance operation or be stopped. That is, the position detection unit detects the movement of the operation device 20 even while the treatment table 12 is moving, and the route calculation device 42 detects the operation device while the treatment table 12 is moving based on the position of the operation device 20 detected by the position detection unit. When it is necessary to avoid interference with 20, the treatment table control device 40 controls the movement of the treatment table 12 based on the new movement route calculated by the route calculation device 42. It may be.
(Other embodiments)
In the first to sixth embodiments described above, a plurality of radio wave and ultrasonic transmitters and wireless tag receivers are provided, or a plurality of objects can be detected by a television camera or a force sensor. Interference can be avoided even when there are multiple people in the room.

  In the embodiments described so far, two radio wave and ultrasonic wave receivers have been described as examples. However, in order to perform more reliable reception and to calculate a highly accurate position, more receivers are used. May be provided.

  Further, when an emergency stop button is attached to the operation device 20 or a sensor for detecting contact is provided on the treatment table 12, safety can be further improved.

  The present invention is not limited to a proton beam treatment system, but can be applied to a radiotherapy system using a particle beam such as a carbon beam in addition to an X-ray or an electron beam.

The figure which shows the structure of the proton beam therapy system of 1st Embodiment of this invention. The perspective view of the treatment table of the proton beam treatment system of FIG. The block diagram of the proton beam treatment system of FIG. The figure which shows the structure of the proton beam treatment system of 2nd Embodiment of this invention. The figure which shows the structure of the proton beam therapy system of 3rd Embodiment of this invention. The figure which shows the structure of the proton beam treatment system of 4th Embodiment of this invention. The block diagram of the proton beam therapy system of 5th Embodiment of this invention. The figure which shows the structure of the proton beam treatment system of 6th Embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Proton treatment system (radiotherapy system), 11 ... Irradiation nozzle, 12 ... Treatment table, 13 ... Patient, 14 ... Top plate, 15 ... Direction of rotation of irradiation nozzle, 16 ... Treatment room wall, 17, 18 ... Entrance , 19 ... operator, 20 ... operating device, 21 ... CT device, 22 ... setting space, 23 ... setting device and jig, 24 ... transmitter, 25, 26 ... receiver, 27 ... movable range of the treatment table, DESCRIPTION OF SYMBOLS 30 ... 1st joint, 31 ... 2nd joint, 32 ... 3rd joint, 33 ... 4th joint, 34 ... 5th joint, 35 ... 6th joint, 40 ... Treatment table control apparatus, 41 ... Position calculation apparatus, 42 ... path calculation device, 43 ... treatment planning device, 44 ... peripheral device data, 45 ... patient data, 46 ... operator input, 47, 48 ... radio waves and ultrasonic waves, 49 ... irradiation control device, 50 ... rotating gantry, 60 61 ... TV camera, 7 ... wireless tag receiver, 71 ... wireless tag, 80 ... simulator, 81 ... display, A, B, C, D ... compartment.

Claims (11)

An irradiation nozzle for irradiating therapeutic radiation;
A treatment table configured by an articulated robot and positioning the affected area of the patient at the irradiation position of the therapeutic radiation irradiated from the irradiation nozzle with the patient on;
A control unit for controlling the irradiation nozzle and the treatment table;
In a radiotherapy system comprising an operating device for inputting a control signal to the control unit,
A position detecting means for detecting the position of the operator of the operating device;
The control unit is configured to calculate a movement route for avoiding interference with the operator based on the position of the operator detected by the position detection unit, and based on the movement route calculated by the route calculation device. And a treatment table control device for controlling movement of the treatment table. An irradiation nozzle for irradiating therapeutic radiation;
A treatment table configured by an articulated robot and positioning the affected area of the patient at the irradiation position of the therapeutic radiation irradiated from the irradiation nozzle with the patient on;
A control unit for controlling the irradiation nozzle and the treatment table;
In a radiotherapy system comprising an operating device for inputting a control signal to the control unit,
Comprising position detecting means for detecting the position of the operating device;
The control unit is configured to calculate a movement route that avoids interference with the operation device based on the position of the operation device detected by the position detection unit, and based on the movement route calculated by the route calculation device. And a treatment table control device for controlling movement of the treatment table.   3. The position detecting means according to claim 1, wherein the position detecting means is a transmitter attached to the operator or the operating device, a plurality of receivers for receiving radio waves from the transmitter, and the plurality of receivers. A radiation treatment system comprising: a position calculation device that calculates the position of the operator or the operation device based on data.   3. The image according to claim 1, wherein the position detecting unit calculates a position of the operator or the operation device based on a television camera that photographs the operator or the operation device and an image photographed by the television camera. A radiotherapy system comprising a processing device.   3. The radiotherapy system according to claim 1, wherein the position detecting means is configured by a non-contact identification device including a radio tag that emits radio waves and a receiver that receives radio waves of the radio tags. .   2. The position detection unit according to claim 1, wherein the position detection means calculates the position of the operator based on a plurality of force sensors installed on the floor so as to detect the weight of the operator and data detected by the force sensor. A radiation treatment system comprising:   3. The radiation according to claim 1, wherein the position detection unit includes a position calculation device that calculates a position of the operator or the operation device based on position information input from the operation device by the operator. Treatment system.   The radiation treatment system according to claim 1, wherein the route calculation device calculates the movement route excluding an entry prohibition area set in a movement range of the treatment table.   9. The operator according to claim 1, wherein the position detection unit detects movement of the operator or the operation device even during movement of the treatment table, and the route calculation device detects the operator detected by the position detection unit. Alternatively, when it is necessary to avoid interference with the operator or the operation device during the movement of the treatment table based on the position of the operation device, a new movement path is calculated, and the treatment table control device A radiotherapy system characterized by controlling movement of the treatment table based on a new movement route calculated by a route calculation device.   10. The radiation therapy system according to claim 1, further comprising a simulator that checks interference between the treatment table and peripheral devices from the movement route of the treatment table calculated by the route calculation device.   The radiotherapy system according to claim 1, further comprising a display that displays a movement route of the treatment table calculated by the route calculation device around the operation device or the treatment table.

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