JP2012080904A - Radiotherapy apparatus controller and radiotherapy apparatus control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To highly accurately expose radiations for treatment to the diseased part of a patient.SOLUTION: The three-dimensional position Pof the time tis calculated on the basis of the first predicted two-dimensional position Qof the time t, the first predicted two-dimensional position Qof the time t, and the second predicted two-dimensional position Qof the time t. The first predicted two-dimensional position Qand the second predicted two-dimensional position Qare predicted on the basis of a plurality of two-dimensional positions calculated from a plurality of first images imaged by a first imager. The second predicted two-dimensional position Qis predicted on the basis of the plurality of two-dimensional positions calculated from a plurality of second images. In such a radiotherapy apparatus control method, the three-dimensional position is more highly accurately predicted compared to the other method of calculating a measured three-dimensional position on the basis of the two two-dimensional positions calculated from the plurality of first images and one two-dimensional position calculated from the plurality of first images, and predicting a future three-dimensional position on the basis of the measured three-dimensional position.

Description

  The present invention relates to a radiotherapy apparatus control method and a radiotherapy apparatus control apparatus, and more particularly to a radiotherapy apparatus control method and a radiotherapy apparatus control apparatus used when treating a patient by irradiating an affected area with radiation.

  Radiotherapy is known in which a patient is treated by exposing therapeutic radiation to the tumor site. The radiotherapy apparatus that performs the radiotherapy includes a therapeutic radiation irradiation apparatus that exposes the therapeutic radiation, an imager system that captures a fluoroscopic image of the patient, and an affected part position that is predicted based on the fluoroscopic image. And a driving device that moves the therapeutic radiation irradiation device so that the therapeutic radiation is irradiated. According to such a radiotherapy apparatus, even when the affected part moves with the patient's breathing or the like, it is possible to irradiate the affected part with therapeutic radiation. In such radiotherapy, it is desirable that the dose of radiation exposed to normal cells be smaller than the dose of radiation exposed to cells in the affected area, and that the therapeutic radiation be higher. It is desired to accurately expose the affected part, and it is desired to predict the affected part position with higher accuracy. In such radiotherapy, it is further desired to predict the affected part position more stably.

  Japanese Patent No. 3785136 discloses a radiotherapy apparatus that can facilitate a treatment plan after radiotherapy is performed on a subject. The radiotherapy apparatus includes a radiation irradiation head that irradiates therapeutic radiation, an image processing unit that generates an image of an affected area of a subject irradiated with the therapeutic radiation from the radiation irradiation head, and generation of the image. Imaging of the image using the diagnostic X-ray in the second period following the first period so as to repeat the period including the irradiation of the therapeutic radiation and before the irradiation of the therapeutic radiation in the first period Is completed, and the radiation irradiation head and the image processing unit are arranged so that the processing of the captured image is completed and the image of the affected part is generated during the irradiation of the therapeutic radiation in the first period. And a control unit for controlling.

  US Pat. No. 7,400,700 discloses a technique for calculating a three-dimensional position based on a plurality of X-ray images taken from different times and directions.

Japanese Patent No. 3785136 US Pat. No. 7,400,700 specification

An object of the present invention is to provide a radiotherapy apparatus control apparatus and a radiotherapy apparatus control method for exposing therapeutic radiation to an affected area of a patient with higher accuracy.
Another object of the present invention is to provide a radiotherapy apparatus control apparatus and a radiotherapy apparatus control method for predicting the position of an affected area of a patient with higher accuracy.

  In the following, means for solving the problems will be described using the reference numerals used in the modes and examples for carrying out the invention in parentheses. This symbol is added to clarify the correspondence between the description of the claims and the description of the modes and embodiments for carrying out the invention. Do not use to interpret the technical scope.

  The radiotherapy apparatus controller (10) according to the present invention includes a first imaging unit (43), a second imaging unit (44), a first two-dimensional position calculation unit (45), and a second two-dimensional position calculation unit (46). And a first two-dimensional position prediction unit (47), a second two-dimensional position prediction unit (48), a three-dimensional position calculation unit (49), and a gimbal drive unit (50).

  The first photographing unit (43) photographs a plurality of first images at a plurality of first photographing times using the first imager (25, 27). The second photographing unit (44) photographs a plurality of second images at a plurality of second photographing times using the second imager (26, 28). The plurality of first shooting times include shooting times that are arranged between any two of the plurality of second shooting times. The plurality of second shooting times include shooting times arranged between any two of the plurality of first shooting times.

  The first two-dimensional position calculation unit (45) calculates a plurality of first measurement two-dimensional positions corresponding to the plurality of first imaging times. The first measurement two-dimensional position corresponding to the arbitrary first imaging time among the plurality of first measurement two-dimensional positions is the correspondence captured at the arbitrary first imaging time among the plurality of first images. The position where a predetermined image is displayed on the first image is shown. The second two-dimensional position calculation unit (46) calculates a plurality of second measurement two-dimensional positions corresponding to the plurality of second imaging times. A second measurement two-dimensional position corresponding to an arbitrary second imaging time among the plurality of second measurement two-dimensional positions is a correspondence captured at the arbitrary second imaging time among the plurality of second images. The position where the predetermined image is displayed on the second image is shown.

  The first two-dimensional position prediction unit (47) calculates a plurality of first predicted two-dimensional positions corresponding to the plurality of first two-dimensional position prediction target times. The second 2D position prediction unit (48) calculates a plurality of second predicted 2D positions corresponding to a plurality of second 2D position prediction target times. The plurality of first 2D position prediction target times include a time arranged between any two second 2D position prediction target times among the plurality of second 2D position prediction target times. . The plurality of second 2D position prediction target times include a time that is arranged between any two of the plurality of first 2D position prediction target times. .

  The three-dimensional position calculation unit (49) calculates a plurality of three-dimensional positions corresponding to a plurality of three-dimensional position prediction target times. The gimbal driving unit (50) applies the irradiation device (6) to a three-dimensional position corresponding to the arbitrary time among the plurality of three-dimensional positions at an arbitrary time among the plurality of three-dimensional position prediction target times. A control amount for directing is calculated.

Of the plurality of three-dimensional position prediction target times, the first three-dimensional position prediction target time is a first three-dimensional position calculation time (t _i-1 ) of the plurality of first two-dimensional position prediction target times. Among the plurality of first 2D position prediction target times, the second 3D position calculation time (t _{i + 1} ) is arranged between the plurality of second 2D position prediction target times. When the third three-dimensional position calculation time (t _i ) is arranged between the first three-dimensional position calculation time (t _i-1 ) and the second three-dimensional position calculation time (t _{i + 1} ), The first three-dimensional position (P _i ) corresponding to the first three-dimensional position prediction target time among the plurality of three-dimensional positions is used for calculating the first three-dimensional position among the plurality of first predicted two-dimensional positions. The first three-dimensional position calculation two-dimensional position (Q _i-1 ) corresponding to the time (t _i-1 ), and A second three-dimensional position calculating two-dimensional position (Q _{i + 1} ) corresponding to a second three-dimensional position calculating time (t _{i + 1} ) among the plurality of first predicted two-dimensional positions, and the plurality of second predicted two-dimensional positions It is calculated based on the third three-dimensional position calculation two-dimensional position (Q _i ) corresponding to the third three-dimensional position calculation time (t _i ) of the positions. The first three-dimensional position calculation two-dimensional position (Q _i-1 ) is a plurality of first three-dimensional position calculation times (t _i-1 ) before the first three-dimensional position calculation time (t _i-1 ) among the plurality of first measurement two-dimensional positions. It is calculated based on a plurality of first two-dimensional position prediction two-dimensional positions corresponding to one two-dimensional position prediction photographing time. The second three-dimensional position calculation two-dimensional position (Q _{i + 1} ) is based on the plurality of first two-dimensional position prediction two-dimensional positions and the first three-dimensional position calculation two-dimensional position (Q _i-1 ). Calculated. The third three-dimensional position calculation two-dimensional position (Q _i ) is a plurality of second second positions before the first three-dimensional position calculation time (t _i-1 ) among the plurality of second measurement two-dimensional positions. It is calculated based on a plurality of second 2D position prediction 2D positions corresponding to the 2D position prediction shooting time.

  Such a radiation therapy apparatus control device (10) includes two first measurement two-dimensional positions among the plurality of first measurement two-dimensional positions and one second of the plurality of second measurement two-dimensional positions. Compared to calculating the measured 3D position based on the measured 2D position and predicting the future 3D position based on the measured 3D position, the 3D position can be predicted with higher accuracy. it can. For this reason, such a radiotherapy apparatus control apparatus (10) can be applied to radiotherapy, and can expose therapeutic radiation (24) to a predetermined position with higher accuracy.

The first three-dimensional position calculation two-dimensional position (Q _i-1 ) is a failure first measurement two-dimensional position corresponding to the failure first imaging time among the plurality of first two-dimensional position prediction two-dimensional positions. When the calculation is not performed normally, the normal first two-dimensional position prediction two-dimensional position and the plurality of the first two-dimensional position prediction two-dimensional positions excluding the failed first measurement two-dimensional position among the plurality of first two-dimensional position prediction two-dimensional positions. It is calculated based on the auxiliary first three-dimensional position calculating two-dimensional position (Q _i-1 ) corresponding to the failure first imaging time among the first predicted two-dimensional positions. The second three-dimensional position calculation two-dimensional position (Q _{i + 1} ) is the normal first first two-dimensional position prediction two-dimensional position and its auxiliary first third order when the failed first measurement two-dimensional position is not calculated. It is calculated based on the two-dimensional position for original position calculation (Q _i-1 ) and the two-dimensional position for first three-dimensional position calculation (Q _i-1 ). Such a radiation therapy apparatus control apparatus (10) can calculate the first three-dimensional position (P _i ) even when the failure first measurement two-dimensional position is not normally calculated.

The second 3D position calculation two-dimensional position (Q _i ) is normally the failed second measurement two-dimensional position corresponding to the failed second imaging time among the plurality of second two-dimensional position prediction two-dimensional positions. When not calculated, the normal second 2D position prediction two-dimensional position and the plurality of second two-dimensional position prediction two-dimensional positions excluding the failed second measurement two-dimensional position among the plurality of second two-dimensional position prediction two-dimensional positions. It is calculated based on the auxiliary second three-dimensional position calculating two-dimensional position corresponding to the failure second imaging time in the predicted two-dimensional position. Such a radiation therapy apparatus control device (10) can calculate the first three-dimensional position (P _i ) even when the failed second measurement two-dimensional position is not normally calculated.

  It is preferable that the gimbal driving unit (50) further controls the gimbal device (23) that moves the irradiation device (6) so that the irradiation device (6) faces the three-dimensional position at the arbitrary time.

  The radiotherapy apparatus control apparatus (10) according to the present invention is configured such that when the irradiation apparatus (6) is directed to the three-dimensional position at an arbitrary time, the therapeutic radiation (24) is emitted at the arbitrary time. It is preferable to further include an irradiation unit (51) that controls the irradiation device (6).

  The irradiation unit (51) is a case where a predetermined number of failure two-dimensional positions corresponding to a predetermined number of failure first imaging times among the plurality of first two-dimensional position prediction two-dimensional positions are not normally calculated. When the predetermined number of failed imaging times is the last predetermined number of times among the plurality of first two-dimensional position prediction imaging times, the therapeutic radiation (24 ) Is controlled so that it is not fired. When a predetermined number of failed two-dimensional positions corresponding to a predetermined number of failed second imaging times among the plurality of second two-dimensional position predicting two-dimensional positions are not normally calculated, the predetermined number of failed imaging Irradiation is performed so that therapeutic radiation (24) is not emitted at the second 3D position prediction target time when the time is the last predetermined number of times among the plurality of second 2D position prediction imaging times. Control the device (6). The plurality of three-dimensional positions may not be predicted with sufficiently high accuracy when the two-dimensional positions are not continuously calculated a predetermined number of times. Such a radiotherapy apparatus control apparatus (10) can prevent the therapeutic radiation (24) from being exposed when the plurality of three-dimensional positions are not predicted with sufficiently high accuracy.

The second 3D position prediction target time among the plurality of 3D position prediction target times is the fourth 3D position calculation time (t _j-1 ) of the plurality of second 2D position prediction target times. Among the plurality of second 2D position prediction target times, the fifth 3D position calculation time (t _{j + 1} ) is arranged between the plurality of first 2D position prediction target times. When the sixth 3D position calculating time (t _j ) is arranged between the fourth 3D position calculating time (t _j−1 ) and the fifth 3D position calculating time (t _{j + 1} ), Of the plurality of three-dimensional positions, the second three-dimensional position (P _j ) corresponding to the second three-dimensional position prediction target time is used for calculating the fourth three-dimensional position of the plurality of second predicted two-dimensional positions. A fourth three-dimensional position calculation two-dimensional position (Q _j-1 ) corresponding to the time (t _j-1 ), and A fifth three-dimensional position calculating two-dimensional position (Q _{j + 1} ) corresponding to a fifth three-dimensional position calculating time (t _{j + 1} ) among the plurality of second predicted two-dimensional positions, and the plurality of first predicted two-dimensional positions It is preferable to calculate based on the sixth three-dimensional position calculation two-dimensional position (Q _j ) corresponding to the sixth three-dimensional position calculation time (t _j ). The fourth 3D position calculation two-dimensional position (Q _j-1 ) is a plurality of second three-dimensional position calculation times before the fourth three-dimensional position calculation time (t _j-1 ). It is calculated based on a plurality of third two-dimensional position prediction two-dimensional positions corresponding to the three two-dimensional position prediction photographing times. The fifth three-dimensional position calculation two-dimensional position (Q _{j + 1} ) is based on the plurality of second two-dimensional position prediction two-dimensional positions and the fourth three-dimensional position calculation two-dimensional position (Q _j-1 ). Calculated. The sixth three-dimensional position calculation two-dimensional position (Q _j ) is a plurality of fourth second positions before the fourth three-dimensional position calculation time (t _j−1 ) among the plurality of first measurement two-dimensional positions. It is calculated based on a plurality of fourth two-dimensional position prediction two-dimensional positions corresponding to the dimension position prediction photographing time.

The fourth 3D position calculation two-dimensional position (Q _j-1 ) is a failure third measurement two-dimensional position corresponding to the failure third imaging time among the plurality of first two-dimensional position prediction two-dimensional positions. When the two-dimensional positions for normal prediction and the plurality of two-dimensional positions for prediction excluding the failed third measurement two-dimensional position of the plurality of first two-dimensional positions for prediction are not calculated normally, It is calculated based on the auxiliary fourth three-dimensional position calculating two-dimensional position (Q _j-1 ) corresponding to the failed third imaging time in the first predicted two-dimensional position. The fifth three-dimensional position calculation two-dimensional position (Q _{j + 1} ) is the normal third three-dimensional position prediction two-dimensional position and its auxiliary fourth tertiary when the failed third measurement two-dimensional position is not calculated. It is calculated based on the original two-dimensional position calculation position (Q _j-1 ) and the fourth three-dimensional position calculation two-dimensional position (Q _j-1 ). The sixth three-dimensional position calculation two-dimensional position (Q _j ) is normally the failed fourth measurement two-dimensional position corresponding to the fourth failed imaging time among the plurality of second two-dimensional position prediction two-dimensional positions. When not calculated, the normal fourth 2D position prediction two-dimensional position excluding the failed fourth measurement two-dimensional position among the plurality of second 2D position prediction two-dimensional positions and the plurality of second two-dimensional positions. It is calculated based on the auxiliary fifth 3D position calculating two-dimensional position (Q _{j + 1} ) corresponding to the failed fourth imaging time among the predicted two-dimensional positions. Such a radiotherapy device control apparatus (10) can be used when the failure third measurement two-dimensional position is not normally calculated or when the failure fourth measurement two-dimensional position is not normally calculated. The second three-dimensional position (P _j ) can be calculated.

  In the radiotherapy apparatus control method according to the present invention, a plurality of first measurement two-dimensional positions corresponding to a plurality of first imaging times respectively captured at a plurality of first imaging times using the first imager (25, 27). Calculating a plurality of second measurement two-dimensional positions corresponding to a plurality of second imaging times respectively captured at a plurality of second imaging times using the second imager (26, 28); Calculating a plurality of first predicted two-dimensional positions corresponding to a plurality of first two-dimensional position prediction target times; and calculating a plurality of second predicted two-dimensional positions corresponding to the plurality of second two-dimensional position prediction target times. A step of calculating a plurality of three-dimensional positions corresponding to the plurality of three-dimensional position prediction target times, and at any time of the plurality of three-dimensional position prediction target times, of And a step of calculating a control amount for irradiation directing device (6) to the three-dimensional position corresponding to an arbitrary time.

  The first measurement two-dimensional position corresponding to the arbitrary first imaging time among the plurality of first measurement two-dimensional positions is the correspondence captured at the arbitrary first imaging time among the plurality of first images. The position where a predetermined image is displayed on the first image is shown. A second measurement two-dimensional position corresponding to an arbitrary second imaging time among the plurality of second measurement two-dimensional positions is a correspondence captured at the arbitrary second imaging time among the plurality of second images. The position where the predetermined image is displayed on the second image is shown. The plurality of first 2D position prediction target times include a time arranged between any two second 2D position prediction target times among the plurality of second 2D position prediction target times. . The plurality of second 2D position prediction target times include a time that is arranged between any two of the plurality of first 2D position prediction target times. .

Of the plurality of three-dimensional position prediction target times, the first three-dimensional position prediction target time is a first three-dimensional position calculation time (t _i-1 ) of the plurality of first two-dimensional position prediction target times. Among the plurality of first 2D position prediction target times, the second 3D position calculation time (t _{i + 1} ) is arranged between the plurality of second 2D position prediction target times. When the third three-dimensional position calculation time (t _i ) is arranged between the first three-dimensional position calculation time (t _i-1 ) and the second three-dimensional position calculation time (t _{i + 1} ), The first three-dimensional position (P _i ) corresponding to the first three-dimensional position prediction target time among the plurality of three-dimensional positions is used for calculating the first three-dimensional position among the plurality of first predicted two-dimensional positions. The first three-dimensional position calculation two-dimensional position (Q _i-1 ) corresponding to the time (t _i-1 ), and A second three-dimensional position calculating two-dimensional position (Q _{i + 1} ) corresponding to a second three-dimensional position calculating time (t _{i + 1} ) among the plurality of first predicted two-dimensional positions, and the plurality of second predicted two-dimensional positions It is calculated based on the third three-dimensional position calculation two-dimensional position (Q _i ) corresponding to the third three-dimensional position calculation time (t _i ) of the positions.

The first three-dimensional position calculation two-dimensional position (Q _i-1 ) is a plurality of first three-dimensional position calculation times (t _i-1 ) before the first three-dimensional position calculation time (t _i-1 ) among the plurality of first measurement two-dimensional positions. It is calculated based on a plurality of first two-dimensional position prediction two-dimensional positions corresponding to one two-dimensional position prediction photographing time. The second three-dimensional position calculation two-dimensional position (Q _{i + 1} ) is based on the plurality of first two-dimensional position prediction two-dimensional positions and the first three-dimensional position calculation two-dimensional position (Q _i-1 ). Calculated. The third three-dimensional position calculation two-dimensional position (Q _i ) is a plurality of second second positions before the first three-dimensional position calculation time (t _i-1 ) among the plurality of second measurement two-dimensional positions. It is calculated based on a plurality of second 2D position prediction 2D positions corresponding to the 2D position prediction shooting time.

  Such a radiotherapy apparatus control method includes two first measurement two-dimensional positions out of the plurality of first measurement two-dimensional positions and one second measurement two-dimensional out of the plurality of second measurement two-dimensional positions. 3D position can be calculated with higher accuracy than other methods that calculate the 3D position based on the position and predict the future 3D position based on the 3D position. . For this reason, such a radiotherapy apparatus control method can be applied to radiotherapy to expose the therapeutic radiation (24) to a predetermined position with higher accuracy.

The first three-dimensional position calculation two-dimensional position (Q _i-1 ) is a failure first measurement two-dimensional position corresponding to the failure first imaging time among the plurality of first two-dimensional position prediction two-dimensional positions. When the calculation is not performed normally, the normal first two-dimensional position prediction two-dimensional position and the plurality of the first two-dimensional position prediction two-dimensional positions excluding the failed first measurement two-dimensional position among the plurality of first two-dimensional position prediction two-dimensional positions. It is calculated based on the auxiliary first three-dimensional position calculating two-dimensional position (Q _i-1 ) corresponding to the failure first imaging time among the first predicted two-dimensional positions. The second three-dimensional position calculation two-dimensional position (Q _{i + 1} ) is the normal first first two-dimensional position prediction two-dimensional position and its auxiliary first third order when the failed first measurement two-dimensional position is not calculated. It is calculated based on the two-dimensional position for original position calculation (Q _i-1 ) and the two-dimensional position for first three-dimensional position calculation (Q _i-1 ). Such a radiotherapy apparatus control method can calculate the first three-dimensional position (P _i ) even when the failure first measurement two-dimensional position is not normally calculated.

The second 3D position calculation two-dimensional position (Q _i ) is normally the failed second measurement two-dimensional position corresponding to the failed second imaging time among the plurality of second two-dimensional position prediction two-dimensional positions. When not calculated, the normal second 2D position prediction two-dimensional position and the plurality of second two-dimensional position prediction two-dimensional positions excluding the failed second measurement two-dimensional position among the plurality of second two-dimensional position prediction two-dimensional positions. It is calculated based on the auxiliary second three-dimensional position calculating two-dimensional position corresponding to the failure second imaging time in the predicted two-dimensional position. Such a radiotherapy apparatus control method can calculate the first three-dimensional position (P _i ) even when the failed second measurement two-dimensional position is not normally calculated.

  In the radiotherapy apparatus control method according to the present invention, a predetermined number of failure two-dimensional positions corresponding to a predetermined number of failure first imaging times among the plurality of first two-dimensional position prediction two-dimensional positions are not normally calculated. Determining whether the predetermined number of failed shooting times is the latest predetermined number of the plurality of first two-dimensional position prediction shooting times, and the plurality of second second times. When a predetermined number of failed two-dimensional positions corresponding to a predetermined number of failed second imaging times among the two-dimensional positions for predicting a dimension position are not normally calculated, the predetermined number of failed imaging times are the plurality of second imaging positions. And a step of determining whether or not it is the last predetermined number of the two-dimensional position prediction photographing times. The plurality of three-dimensional positions may not be predicted with sufficiently high accuracy when the two-dimensional positions are not continuously calculated a predetermined number of times. Such a radiotherapy apparatus control method can prevent the therapeutic radiation (24) from being exposed when the plurality of three-dimensional positions are not predicted with sufficiently high accuracy.

The second 3D position prediction target time among the plurality of 3D position prediction target times is the fourth 3D position calculation time (t _j-1 ) of the plurality of second 2D position prediction target times. Among the plurality of second 2D position prediction target times, the fifth 3D position calculation time (t _{j + 1} ) is arranged between the plurality of first 2D position prediction target times. When the sixth 3D position calculating time (t _j ) is arranged between the fourth 3D position calculating time (t _j−1 ) and the fifth 3D position calculating time (t _{j + 1} ), Of the plurality of three-dimensional positions, the second three-dimensional position (P _j ) corresponding to the second three-dimensional position prediction target time is used for calculating the fourth three-dimensional position of the plurality of second predicted two-dimensional positions. A fourth three-dimensional position calculation two-dimensional position (Q _j-1 ) corresponding to the time (t _j-1 ), and A fifth three-dimensional position calculating two-dimensional position (Q _{j + 1} ) corresponding to a fifth three-dimensional position calculating time (t _{j + 1} ) among the plurality of second predicted two-dimensional positions, and the plurality of first predicted two-dimensional positions It is preferable to calculate based on the sixth three-dimensional position calculation two-dimensional position (Q _j ) corresponding to the sixth three-dimensional position calculation time (t _j ). The fourth 3D position calculation two-dimensional position (Q _j-1 ) is a plurality of second three-dimensional position calculation times before the fourth three-dimensional position calculation time (t _j-1 ). It is calculated based on a plurality of third two-dimensional position prediction two-dimensional positions corresponding to the three two-dimensional position prediction photographing times. The fifth three-dimensional position calculation two-dimensional position (Q _{j + 1} ) is based on the plurality of second two-dimensional position prediction two-dimensional positions and the fourth three-dimensional position calculation two-dimensional position (Q _j-1 ). Calculated. The sixth three-dimensional position calculation two-dimensional position (Q _j ) is a plurality of fourth second positions before the fourth three-dimensional position calculation time (t _j−1 ) among the plurality of first measurement two-dimensional positions. It is calculated based on a plurality of fourth two-dimensional position prediction two-dimensional positions corresponding to the dimension position prediction photographing time.

The fourth 3D position calculation two-dimensional position (Q _j-1 ) is a failure third measurement two-dimensional position corresponding to the failure third imaging time among the plurality of first two-dimensional position prediction two-dimensional positions. When the two-dimensional positions for normal prediction and the plurality of two-dimensional positions for prediction excluding the failed third measurement two-dimensional position of the plurality of first two-dimensional positions for prediction are not calculated normally, It is calculated based on the auxiliary fourth three-dimensional position calculating two-dimensional position (Q _j-1 ) corresponding to the failed third imaging time in the first predicted two-dimensional position. The fifth three-dimensional position calculation two-dimensional position (Q _{j + 1} ) is the normal third three-dimensional position prediction two-dimensional position and its auxiliary fourth tertiary when the failed third measurement two-dimensional position is not calculated. It is calculated based on the original two-dimensional position calculation position (Q _j-1 ) and the fourth three-dimensional position calculation two-dimensional position (Q _j-1 ). The sixth three-dimensional position calculation two-dimensional position (Q _j ) is normally the failed fourth measurement two-dimensional position corresponding to the fourth failed imaging time among the plurality of second two-dimensional position prediction two-dimensional positions. When not calculated, the normal fourth 2D position prediction two-dimensional position excluding the failed fourth measurement two-dimensional position among the plurality of second 2D position prediction two-dimensional positions and the plurality of second two-dimensional positions. It is calculated based on the auxiliary fifth 3D position calculating two-dimensional position (Q _{j + 1} ) corresponding to the failed fourth imaging time among the predicted two-dimensional positions. Such a radiotherapy device control apparatus (10) can be used when the failure third measurement two-dimensional position is not normally calculated or when the failure fourth measurement two-dimensional position is not normally calculated. The second three-dimensional position (P _j ) can be calculated.

  The computer program according to the present invention preferably causes the computer (10) to execute the radiotherapy apparatus control method according to the present invention.

  The radiotherapy apparatus control apparatus and radiotherapy apparatus control method according to the present invention can predict a three-dimensional position where a predetermined part is arranged at a predetermined time with higher accuracy. For this reason, the radiotherapy apparatus control apparatus and the radiotherapy apparatus control method according to the present invention can be applied to radiotherapy to expose therapeutic radiation to a predetermined position with higher accuracy.

FIG. 1 is a block diagram showing a radiation therapy system. FIG. 2 is a perspective view showing the radiation therapy apparatus. FIG. 3 is a block diagram illustrating the radiotherapy apparatus control apparatus. FIG. 4 is a graph showing the timing for capturing an operation fluoroscopic image for aligning a patient and the timing for image processing of the fluoroscopic image. FIG. 5 is a graph showing a plurality of two-dimensional positions used when predicting a two-dimensional position. FIG. 6 is a graph showing a plurality of predicted two-dimensional positions used when calculating a three-dimensional position. FIG. 7 is a graph illustrating a comparative example in which a three-dimensional position is predicted based on a plurality of two-dimensional positions.

  Embodiments of a radiotherapy apparatus control apparatus according to the present invention will be described with reference to the drawings. The radiotherapy apparatus controller 10 is applied to a radiotherapy system as shown in FIG. The radiotherapy system includes a radiotherapy apparatus 1, a radiotherapy apparatus control apparatus 10, and a computed tomography apparatus 20. The radiotherapy apparatus control apparatus 10 is connected to the radiotherapy apparatus 1 and the computed tomography apparatus 20 so that information can be transmitted bidirectionally.

The computed tomography apparatus 20 captures a plurality of fluoroscopic images by exposing X-rays to the subject from a plurality of directions, respectively. The computed tomography apparatus 20 performs three-dimensional image processing on the plurality of fluoroscopic images, thereby generating three-dimensional data indicating the internal state of the subject. The three-dimensional data associates a plurality of voxels with a plurality of CT values (Computed Tomography number). Each of the plurality of voxels corresponds to a plurality of regions that are filled in a space in which the subject is disposed without any gap. For example, the plurality of regions are each formed in a rectangular parallelepiped. One CT value corresponding to an arbitrary voxel among the plurality of CT values corresponds to a transmission coefficient (X-ray absorption coefficient) of a region corresponding to the arbitrary voxel among the plurality of regions. That is, the intensity I ₁ of the X-ray transmitted through the region is expressed by the following equation using the transmission coefficient λ:
I ₁ = I ₀ e ^−λx
It is expressed by Here, I ₀ indicates the intensity before the X-ray enters the region. The variable x indicates the thickness of the X-ray that has passed through the region.

  As shown in FIG. 2, the radiotherapy device 1 includes an O-ring 2, a traveling gantry 3, and a therapeutic radiation irradiation device 6. The O-ring 2 is formed in a ring shape and is supported by a foundation so as to be able to rotate around the ring rotation shaft 11. The ring rotation shaft 11 is parallel to the vertical direction. The traveling gantry 3 is formed in a ring shape. The traveling gantry 3 is disposed inside the O-ring 2 and is supported by the O-ring 2 so as to be able to rotate around the gantry rotating shaft 12. The gantry rotation axis 12 is perpendicular to the vertical direction and intersects the ring rotation axis 11 at the isocenter 14. The gantry rotating shaft 12 is fixed to the O-ring 2, that is, rotates around the ring rotating shaft 11 together with the O-ring 2.

  The therapeutic radiation irradiation device 6 is arranged inside the ring of the traveling gantry 3. The therapeutic radiation irradiation device 6 is supported by the traveling gantry 3 so as to be able to rotate around the tilt axis 16 and so as to be able to rotate around the pan axis 17. The tilt axis 16 is orthogonal to the pan axis 17. The intersection of the tilt axis 16 and the pan axis 17 is 1 m away from the isocenter 14. The tilt axis 16 and the pan axis 17 are each perpendicular to a straight line connecting the intersection and the isocenter 14. The therapeutic radiation irradiation apparatus 6 emits the therapeutic radiation 24 whose irradiation field is controlled by being controlled by the radiotherapy apparatus control apparatus 10. The therapeutic radiation 24 is a cone-shaped cone beam emitted from a virtual point line source included in the therapeutic radiation irradiation apparatus 6 and having the virtual point line source as a vertex. The virtual point source is disposed at the intersection of the tilt axis 16 and the pan axis 17 and is fixed to the traveling gantry 3.

  The radiotherapy apparatus 1 further includes a ring driving device 21 and a gimbal device 23, and further includes a gantry driving device not shown. The ring driving device 21 rotates the O-ring 2 around the ring rotation shaft 11 by being controlled by the radiotherapy device control device 10. The ring driving device 21 further measures the ring angle at which the O-ring 2 is disposed with respect to the foundation, and outputs the ring angle to the radiation therapy device control device 10. The gantry driving device rotates the traveling gantry 3 around the gantry rotating shaft 12 by being controlled by the radiotherapy device control device 10. The gantry driving apparatus further measures the gantry angle at which the traveling gantry 3 is disposed with respect to the O-ring 2 and outputs the gantry angle to the radiotherapy apparatus control apparatus 10.

  The gimbal device 23 is controlled by the radiotherapy device control device 10 to rotate the therapeutic radiation irradiation device 6 around the tilt axis 16 and rotate the therapeutic radiation irradiation device 6 around the pan axis 17. The gimbal device 23 further measures the tilt angle at which the therapeutic radiation irradiation device 6 rotates with respect to the traveling gantry 3 around the tilt axis 16 and outputs the tilt angle to the radiotherapy device control device 10. The gimbal device 23 further measures the pan angle at which the therapeutic radiation irradiation device 6 rotates with respect to the traveling gantry 3 around the pan axis 17 and outputs the pan angle to the radiotherapy device control device 10.

  The radiotherapy apparatus 1 can expose the therapeutic radiation 24 to the isocenter 14 from an arbitrary direction by supporting the therapeutic radiation irradiation apparatus 6 with respect to the foundation in this way. The radiotherapy apparatus 1 is further configured so that the O-ring 2 rotates around the ring rotation shaft 11 when the therapeutic radiation irradiation apparatus 6 is fixed to the traveling gantry 3 so as to face the isocenter 14, or Even when the traveling gantry 3 rotates about the gantry rotating shaft 12, the therapeutic radiation 24 can always be exposed to the isocenter 14.

  The radiotherapy apparatus 1 further includes a plurality of imager systems. That is, the radiotherapy apparatus 1 includes a first diagnostic radiation irradiation device 25, a second diagnostic radiation irradiation device 26, a first imaging device 27, and a second imaging device 28. The first diagnostic radiation irradiation device 25 is supported by the traveling gantry 3, and an angle formed by a line segment connecting the first diagnostic radiation irradiation device 25 from the isocenter 14 and a line segment connecting the therapeutic radiation irradiation device 6 from the isocenter 14. Is arranged inside the ring of the traveling gantry 3 so as to have an acute angle. The second diagnostic radiation irradiation device 26 is supported by the traveling gantry 3, and an angle formed by a line segment connecting the second diagnostic radiation irradiation device 26 from the isocenter 14 and a line segment connecting the therapeutic radiation irradiation device 6 from the isocenter 14. Is arranged inside the ring of the traveling gantry 3 so as to have an acute angle. In the second diagnostic radiation irradiation device 26, an angle formed by a line segment connecting the first diagnostic radiation irradiation device 25 from the isocenter 14 and a line segment connecting the second diagnostic radiation irradiation device 26 from the isocenter 14 is a right angle ( (90 degrees).

  The first diagnostic radiation irradiation device 25 emits the first diagnostic radiation 31 toward the isocenter 14 at a predetermined timing by being controlled by the radiotherapy device control device 10. The first diagnostic radiation 31 is a cone-shaped cone beam emitted from a virtual point line source included in the first diagnostic radiation irradiation apparatus 25 and having the virtual point line source as a vertex. The second diagnostic radiation irradiation device 26 emits the second diagnostic radiation 32 toward the isocenter 14 at a predetermined timing by being controlled by the radiotherapy device control device 10. The second diagnostic radiation 32 is a cone-shaped cone beam that is emitted from a virtual point source included in the second diagnostic radiation irradiation device 26 and has the virtual point source as a vertex.

  The first imaging device 27 includes a light receiving unit. The first imaging device 27 is controlled by the radiotherapy device control device 10 to capture a first fluoroscopic image based on X-rays received by the light receiving unit during a predetermined period. In the first perspective image, a plurality of pixels are associated with a plurality of luminances. The plurality of pixels are arranged in a matrix on the first perspective image, and correspond to a plurality of regions filled in the light receiving section in a matrix. The luminance corresponding to an arbitrary pixel of the plurality of luminances is a line connecting a region corresponding to the arbitrary pixel of the plurality of regions and a virtual point source from which the first diagnostic radiation 31 is emitted. This corresponds to the transmittance with which X-rays pass through the object placed on the minute. Examples of the first imaging device 27 include an FPD (Flat Panel Detector) and an X-ray II (Image Intensifier). The first imaging device 27 is supported by the traveling gantry 3 and is arranged so that the isocenter 14 is projected at the center of the first perspective image. That is, the first imaging device 27 is arranged so that the center of the light receiving unit of the first imaging device 27, the virtual point source from which the first diagnostic radiation 31 is emitted, and the isocenter 14 are arranged on a straight line. ing.

  The second imaging device 28 includes a light receiving unit. The second imaging device 28 captures a second fluoroscopic image based on the X-rays received by the light receiving unit during a predetermined period by being controlled by the radiotherapy device control device 10. The second perspective image associates a plurality of pixels with a plurality of luminances. The plurality of pixels are arranged in a matrix on the second perspective image, and correspond to a plurality of regions filled in the light receiving portion in a matrix. The luminance corresponding to an arbitrary pixel of the plurality of luminances is a line connecting a region corresponding to the arbitrary pixel of the plurality of regions and a virtual point source from which the second diagnostic radiation 32 is emitted. This corresponds to the transmittance with which X-rays pass through the object placed on the minute. Examples of the second imaging device 28 include an FPD (Flat Panel Detector) and an X-ray II (Image Intensifier). The second imaging device 28 is supported by the traveling gantry 3 and is arranged so that the isocenter 14 is projected at the center of the second fluoroscopic image. That is, the second imaging device 28 is arranged such that the center of the light receiving unit of the second imaging device 28, the virtual point source from which the second diagnostic radiation 32 is emitted, and the isocenter 14 are arranged on a straight line. ing.

  The radiation therapy apparatus 1 further includes a couch 33 and a couch driving device 34. The couch 33 is supported by the foundation so that it can be translated in parallel to the X axis, the Y axis, and the Z axis, and can be rotated about the X axis. The X axis, Y axis, and Z axis are orthogonal to each other. The couch 33 is used when the patient 35 to be treated by the radiation treatment system lies down. The couch 33 includes a fixture (not shown). The fixture fixes the patient 35 to the couch 33 so that the patient 35 does not move. The couch driving device 34 is controlled by the radiotherapy device control device 10 to rotate the couch 33 and translate the couch 33.

  FIG. 3 shows the radiotherapy apparatus control apparatus 10. The radiotherapy device control device 10 is a computer, and includes a CPU, a storage device, a removable memory drive, a communication device, an input device, an output device, and an interface (not shown). The CPU executes a computer program installed in the radiation therapy apparatus control apparatus 10 to control the storage device, the removable memory drive, the communication device, the input device, the output device, and the interface. The storage device records the computer program. The storage device further records information used by the CPU. The removable memory drive is used when the computer program is installed in the radiotherapy apparatus controller 10 when a recording medium in which the computer program is recorded is inserted. The communication apparatus downloads a computer program to the radiation therapy apparatus control apparatus 10 from another computer connected to the radiation therapy apparatus control apparatus 10 via a communication network, and installs the computer program in the radiation therapy apparatus control apparatus 10. Used when The input device outputs information generated by being operated by the user to the CPU. Examples of the input device include a keyboard and a mouse. The output device outputs the information generated by the CPU so that it can be recognized by the user. Examples of the output device include a display that displays an image generated by the CPU.

  The interface outputs information generated by an external device connected to the radiotherapy apparatus control apparatus 10 to the CPU, and outputs information generated by the CPU to the external device. The external devices are the computed tomography apparatus 20, the therapeutic radiation irradiation apparatus 6, the ring drive apparatus 21, the gantry drive apparatus, the gimbal apparatus 23, the first diagnostic radiation irradiation apparatus 25, the second diagnostic radiation irradiation apparatus 26, and the first. 1 imaging device 27, 2nd imaging device 28, and couch drive device 34 are included.

  The computer program installed in the radiation therapy apparatus control apparatus 10 is formed of a plurality of computer programs for causing the radiation therapy apparatus control apparatus 10 to realize a plurality of functions. The plurality of functions include a treatment plan collection unit 41, a patient positioning unit 42, a first imaging unit 43, a second imaging unit 44, a first two-dimensional position calculation unit 45, a second two-dimensional position calculation unit 46, and a first. A two-dimensional position prediction unit 47, a second two-dimensional position prediction unit 48, a three-dimensional position calculation unit 49, a gimbal drive unit 50, and an irradiation unit 51 are included.

  The treatment plan collection unit 41 collects a treatment plan from the input device. The treatment plan is created based on the three-dimensional data of the patient 35 taken by the computed tomography apparatus 20, and shows the exposure direction and the dose. The exposure direction indicates the direction in which the therapeutic radiation irradiation device 6 is disposed with respect to the patient 35, and indicates the ring angle during treatment and the gantry angle during treatment. The ring angle during treatment indicates a position where the O-ring 2 is arranged with respect to the foundation. The gantry angle at the time of treatment indicates a position where the traveling gantry 3 is disposed with respect to the O-ring 2. The dose indicates the dose of the therapeutic radiation 24 exposed to the patient 35 from the exposure direction.

  The treatment plan collection unit 41 further collects three-dimensional data used when creating the treatment plan from the computed tomography apparatus 20. The three-dimensional data associates a plurality of CT values with a plurality of voxels. The treatment plan collection unit 41 calculates a planned position based on the three-dimensional data. The planned position indicates the position and orientation in which the patient 35 is placed when a plurality of fluoroscopic images are taken by the computed tomography apparatus 20 when the three-dimensional data is reconstructed. At this time, the exposure direction indicated by the treatment plan indicates the direction in which the therapeutic radiation 24 is exposed to the patient 35 arranged at the planned position.

  The patient positioning unit 42 controls the radiotherapy apparatus 1 so that the first fluoroscopic image at the time of alignment and the second fluoroscopic image at the time of alignment are photographed in which the patient 35 lying on the couch 33 is reflected. That is, when the patient 35 is fixed to the couch 33, the patient alignment unit 42 controls the couch driving device 34 so that the couch 33 is disposed at an appropriate position with respect to the foundation. The patient alignment unit 42 further controls the ring driving device 21 so that the O-ring 2 is arranged at an appropriate ring angle with respect to the foundation. The patient alignment unit 42 further controls the gantry driving device of the radiation therapy apparatus 1 so that the traveling gantry 3 is arranged at an appropriate gantry angle with respect to the O-ring 2.

  The patient alignment unit 42 further includes a first diagnostic radiation so that the first diagnostic radiation 31 is exposed when the O-ring 2 and the traveling gantry 3 are respectively disposed at appropriate positions. The irradiation device 25 is controlled. The patient alignment unit 42 further captures the first fluoroscopic image during alignment based on the X-rays transmitted through the patient 35 when the first diagnostic radiation 31 is exposed to the patient 35. The first imaging device 27 is controlled.

  The patient alignment unit 42 further includes a second diagnostic radiation so that the second diagnostic radiation 32 is exposed when the O-ring 2 and the traveling gantry 3 are respectively disposed at appropriate positions. The irradiation device 26 is controlled. Further, the patient alignment unit 42 is configured so that when the second diagnostic radiation 32 is exposed to the patient 35, the second fluoroscopic image is captured at the time of alignment based on the X-rays transmitted through the patient 35. The second imaging device 28 is controlled.

  The patient alignment unit 42 further calculates a position at the time of alignment based on the first fluoroscopic image at the time of alignment and the second fluoroscopic image at the time of alignment. The alignment position indicates the position and orientation in which the patient 35 is disposed when the first fluoroscopic image at the time of alignment and the second fluoroscopic image at the time of alignment are captured. The patient alignment unit 42 controls the couch driving device 34 based on the alignment position so that the patient 35 arranged at the alignment position moves to the planning position calculated by the treatment plan collection unit 41. Control.

  The patient alignment unit 42 further controls the radiation therapy apparatus 1 based on the exposure direction indicated by the treatment plan collected by the treatment plan collection unit 41. That is, the patient positioning unit 42 further controls the ring driving device 21 so that the O-ring 2 is arranged at the ring angle during treatment indicated by the exposure direction. The patient alignment unit 42 further controls the gantry driving device of the radiation therapy apparatus 1 so that the traveling gantry 3 is disposed at the treatment gantry angle indicated by the exposure direction.

  The first imaging unit 43 performs treatment when the O-ring 2 is arranged at the treatment ring angle indicated by the exposure direction of the treatment plan collected by the treatment plan collection unit 41 and during the treatment indicated by the exposure direction. When the traveling gantry 3 is disposed at the gantry angle, the radiotherapy apparatus 1 is controlled so that a plurality of first fluoroscopic images are respectively captured at a plurality of first imaging timings. That is, the first imaging unit 43 controls the first diagnostic radiation irradiation device 25 so that the first diagnostic radiation 31 is emitted toward the isocenter 14 at the plurality of first imaging timings. The first imaging unit 43 controls the first imaging device 27 so that a plurality of first fluoroscopic images are captured based on X-rays transmitted through the patient 35 at the plurality of first imaging timings.

  The second imaging unit 44 performs the treatment when the O-ring 2 is arranged at the treatment ring angle indicated by the exposure direction of the treatment plan collected by the treatment plan collection unit 41 and when the exposure direction indicates the treatment direction. When the traveling gantry 3 is arranged at the gantry angle, the radiotherapy apparatus 1 is controlled so that a plurality of second fluoroscopic images are respectively captured at a plurality of second imaging timings. That is, the second imaging unit 44 controls the second diagnostic radiation irradiation device 26 so that the second diagnostic radiation 32 is emitted toward the isocenter 14 at the plurality of second imaging timings. The second imaging unit 44 controls the second imaging device 28 so that a plurality of second fluoroscopic images are respectively captured based on X-rays transmitted through the patient 35 at the plurality of second imaging timings.

  The first two-dimensional position calculation unit 45 determines whether each of the plurality of first fluoroscopic images photographed by the first photographing unit 43 has been photographed normally. The first two-dimensional position calculation unit 45 calculates the first measurement two-dimensional position based on the first fluoroscopic image when the first fluoroscopic image is normally captured by the first imaging unit 43. The first measurement two-dimensional position indicates a position where the affected part of the patient 35 is projected in the first fluoroscopic image. The first two-dimensional position calculation unit 45 further records the plurality of first measurement two-dimensional positions in the storage device.

  The second two-dimensional position calculation unit 46 determines whether or not each of the plurality of second fluoroscopic images photographed by the second photographing unit 44 has been photographed normally. The second two-dimensional position calculation unit 46 calculates a second measurement two-dimensional position based on the second fluoroscopic image when the second fluoroscopic image is normally captured by the second imaging unit 44. The second measurement two-dimensional position indicates a position where the affected part of the patient 35 is projected in the second fluoroscopic image. The second two-dimensional position calculation unit 46 further records the plurality of second measurement two-dimensional positions in the storage device.

  The first two-dimensional position prediction unit 47 uses a plurality of first measurement two-dimensional positions calculated by the first two-dimensional position calculation unit 45 to generate a plurality of first predicted two-dimensional positions corresponding to a plurality of first times. Is calculated. The first two-dimensional position prediction unit 47 further records the plurality of first predicted two-dimensional positions in the storage device.

  The second two-dimensional position prediction unit 48 uses a plurality of second measured two-dimensional positions calculated by the second two-dimensional position calculation unit 46 to generate a plurality of second predicted two-dimensional positions corresponding to a plurality of second times. Is calculated. The second two-dimensional position prediction unit 48 further records the plurality of second predicted two-dimensional positions in the storage device.

  The three-dimensional position calculation unit 49 includes a plurality of first prediction two-dimensional positions calculated by the first two-dimensional position prediction unit 47 and a plurality of second prediction two-dimensional positions calculated by the second two-dimensional position prediction unit 48. Based on the above, a plurality of three-dimensional positions corresponding to a plurality of prediction target times are calculated.

  The gimbal drive unit 50 calculates a control amount based on the plurality of three-dimensional positions calculated by the three-dimensional position calculation unit 49. The control amount indicates information that is used when the therapeutic radiation irradiation device 6 controls the gimbal device 23 so as to be directed to a predetermined three-dimensional position at a predetermined time. The amount of control is such that the therapeutic radiation irradiation device 6 is directed to a three-dimensional position corresponding to the arbitrary prediction target time of the plurality of three-dimensional positions at an arbitrary prediction target time of the plurality of prediction target times. As calculated. The gimbal drive unit 50 further controls the gimbal device 23 based on the control amount so that the therapeutic radiation irradiation device 6 is directed to the three-dimensional position at the arbitrary prediction target time.

  The irradiation unit 51 corresponds to the plurality of prediction target times based on the plurality of first fluoroscopic images photographed by the first photographing unit 43 and the plurality of first fluoroscopic images photographed by the second photographing unit 44. Calculate multiple shapes. The shape corresponding to an arbitrary prediction target time among the plurality of shapes indicates the shape of the affected part of the patient 35 at the arbitrary prediction target time. The irradiation unit 51 corresponds to an arbitrary prediction target time among the plurality of prediction target times, and a shape of the irradiation field of the therapeutic radiation 24 corresponds to a shape corresponding to the arbitrary prediction target time among the plurality of shapes. In this way, the therapeutic radiation irradiation device 6 is controlled.

  The irradiation unit 51 further determines whether or not each of the plurality of three-dimensional positions has been normally calculated by the three-dimensional position calculation unit 49. When the three-dimensional position is normally calculated by the three-dimensional position calculation unit 49, the irradiation unit 51 treats the therapeutic radiation at the prediction target time corresponding to the normal three-dimensional position among the plurality of prediction target times. The therapeutic radiation irradiation apparatus 6 is controlled so that 24 is fired. When the three-dimensional position calculation unit 49 does not normally calculate the three-dimensional position, the irradiation unit 51 treats the therapeutic radiation at the prediction target time corresponding to the abnormal three-dimensional position among the plurality of prediction target times. The therapeutic radiation irradiation device 6 is controlled so that 24 is not fired.

  FIG. 4 shows a plurality of first imaging timings when a plurality of first perspective images are respectively captured by the first imaging unit 43. The plurality of first imaging timings 53 indicate that the first imaging unit 43 repeatedly captures the first fluoroscopic image every period 54. An example of the period 54 is 100 milliseconds. FIG. 4 further shows a plurality of second imaging timings when a plurality of second perspective images are respectively captured by the second imaging unit 44. The plurality of second imaging timings 55 indicate that the second imaging unit 44 repeatedly captures the second fluoroscopic image every period 56. Period 56 is equal to period 54. At this time, the plurality of first imaging timings 53 are designed to include imaging times that are arranged between any two of the plurality of second imaging timings 55. Further, the plurality of second imaging timings 55 are designed to include imaging times that are arranged between any two of the plurality of first imaging timings 53. That is, the plurality of first imaging timings 53 and the plurality of second imaging timings 55 indicate that the first perspective image and the second perspective image are alternately captured.

  The plurality of first imaging timings 53 and the plurality of second imaging timings 55 are determined by the second imaging unit 44 after the period 57 has elapsed since the first imaging unit 43 captured the first perspective image. Shows that you want to shoot. The plurality of first imaging timings 53 and the plurality of second imaging timings 55 are determined by the first imaging unit 43 after the period 58 has elapsed since the second imaging unit 44 captured the second fluoroscopic image. It shows that a fluoroscopic image is taken. The period 58 is equal to the period 57. That is, the plurality of first imaging timings 53 and the plurality of second imaging timings 55 indicate that the first perspective image or the second perspective image is periodically captured. The period in which the first fluoroscopic image and the second fluoroscopic image are taken is equal to the period 58 and equal to the period 57, that is, equal to half of the period 54 and equal to half of the period 56.

  FIG. 4 further shows a plurality of first image processing timings at which each of the plurality of first fluoroscopic images is subjected to image processing by the radiation therapy apparatus control apparatus 10. The plurality of first image processing timings 59 correspond to the plurality of first imaging timings 53. An arbitrary first image processing timing among the plurality of first image processing timings 59 is a predetermined period 60 from a first imaging timing corresponding to the arbitrary first image processing timing among the plurality of first imaging timings 53. It is the timing after only elapses. In other words, the plurality of first image processing timings 59 are the 1st image captured by the first imaging device 27 after a predetermined period 60 has elapsed since the first diagnostic radiation irradiation device 25 emitted the first diagnostic radiation 31. It shows that the first fluoroscopic image of the sheet is transmitted to the radiation therapy apparatus control apparatus 10. An example of the period 60 is 60 milliseconds. The plurality of first image processing timings 59 further includes a first fluoroscopic image captured at an arbitrary first imaging timing among the plurality of first imaging timings 53, of the plurality of first image processing timings 59. It shows that image processing is performed by the radiation therapy apparatus control device 10 at a first image processing timing corresponding to an arbitrary first image processing timing.

  FIG. 4 further shows a plurality of second image processing timings at which each of the plurality of second fluoroscopic images is processed by the radiation therapy apparatus control apparatus 10. The plurality of second image processing timings 61 correspond to the plurality of second imaging timings 55. An arbitrary second image processing timing among the plurality of second image processing timings 61 is a predetermined period 62 from a second imaging timing corresponding to the arbitrary second image processing timing among the plurality of second imaging timings 55. It is the timing after only elapses. That is, the plurality of second image processing timings 61 are the first image captured by the second imaging device 28 after a predetermined period 62 has elapsed since the second diagnostic radiation irradiation device 26 emitted the second diagnostic radiation 32. It shows that the second fluoroscopic image of the sheet is transmitted to the radiotherapy apparatus control apparatus 10. The period 62 is equal to the period 60. The plurality of second image processing timings 61 further includes a second perspective image captured at an arbitrary second imaging timing among the plurality of second imaging timings 55. It is shown that image processing is performed by the radiation therapy apparatus control apparatus 10 at a second image processing timing corresponding to an arbitrary second image processing timing.

  The plurality of first image processing timings 59 and the plurality of second image processing timings 61 indicate that the first measurement two-dimensional position and the second measurement two-dimensional position are calculated alternately. The plurality of first image processing timings 59 and the plurality of second image processing timings 61 further indicate that the first measurement two-dimensional position and the second measurement two-dimensional position are periodically calculated. . The period in which the first measurement two-dimensional position and the second measurement two-dimensional position are calculated is equal to the period 58 and equal to the period 57, that is, equal to half of the period 54 and equal to half of the period 56.

  FIG. 4 further shows a plurality of transmission timings at which control amounts are calculated by the gimbal drive unit 50. The plurality of transmission timings 63 indicate that the gimbal driving unit 50 calculates the control amount every period 64. Period 64 is equal to period 58, equal to period 57, ie, equal to half of period 54, and equal to half of period 56. Each of the plurality of transmission timings 63 corresponds to any one of the plurality of first image processing timings 59 and the plurality of second image processing timings 61. That is, any transmission timing among the plurality of transmission timings 63 is the transmission timing among the plurality of first image processing timings 59 when the transmission timing corresponds to the plurality of first image processing timings 59. Corresponding to the transmission timing of the plurality of second image processing timings 61 when the transmission timing corresponds to the plurality of second image processing timings 61. Immediately after the second image processing timing.

FIG. 5 shows a plurality of first measurement two-dimensional positions recorded in the storage device by the first two-dimensional position calculation unit 45. The plurality of first measurement two-dimensional positions 71 are associated with a plurality of first imaging times. The plurality of first imaging times coincide with the plurality of first imaging timings 53. The first measurement two-dimensional position P _k corresponding to an arbitrary time t _k (k is an odd number) among the plurality of first measurement two-dimensional positions 71 is the time among the plurality of first perspective images. It indicates the positions that are projected the affected area of the patient 35 to the first fluoroscopic image taken t _k. Time t _k-2 of the plurality of first shooting time is prior to time t _k is a first perspective image shows the end of the first photographing timing of the first imaging timing 53 taken . The first measurement two-dimensional position P _k is calculated at the first image processing timing corresponding to the time t _k that is the first imaging timing among the plurality of first image processing timings 59.

FIG. 5 further shows a plurality of first predicted two-dimensional positions recorded in the storage device by the first two-dimensional position prediction unit 47. The plurality of first predicted two-dimensional positions 72 are associated with a plurality of first times. The plurality of first times coincide with the plurality of first photographing times. First predicted two-dimensional position Q _k corresponding to the time t _k of the plurality of first prediction dimensional position shows a position which is expected to the affected area of the patient 35 is positioned at time t _k.

The first two-dimensional position prediction unit 47, as shown in Figure 5, the first image processing timing corresponding to the time t _k of the plurality of first image processing timing 59, the first measurement plurality of two A plurality of first predicted two-dimensional positions 73 are calculated based on the dimension position 71. The plurality of first measurement two-dimensional positions 71 are a first measurement two-dimensional position P _k , a first measurement two-dimensional position P _k-2 , a first measurement two-dimensional position P _k-4, and a first measurement two-dimensional position P _{k. -6} , the first measurement two-dimensional position P _k-8, and the first measurement two-dimensional position P _k-10 . The first measuring two-dimensional position _{P k,} corresponds to a time _{t k.} The first measurement two-dimensional position P _k-2 corresponds to time tk _-2 . The first measurement two-dimensional position P _k-4 corresponds to time tk _-4 . The first measurement two-dimensional position P _k-6 corresponds to the time t _k-6 . The first measurement two-dimensional position P _k-8 corresponds to time t _k-8 . The first measurement two-dimensional position P _k-10 corresponds to time t _k-10 . The plurality of first predicted two-dimensional positions 73 are formed of a first predicted two-dimensional position Q _{k + 2} and a first predicted two-dimensional position Q _{k + 4} . The first predicted two-dimensional position Q _{k + 2} corresponds to the time t _{k + 2} . The first predicted two-dimensional position Q _{k + 4} corresponds to the time t _{k + 2} .

Specifically, the first predicted two-dimensional position Q _{k + 2} includes the first measurement two-dimensional position P _k , the first measurement two-dimensional position P _k-2 , the first measurement two-dimensional position P _k-4, and the first measurement two-dimensional. It is calculated based on the position P _k-6 , the first measurement two-dimensional position P _k-8, and the first measurement two-dimensional position P _k-10 . The first predicted two-dimensional position Q _{k + 4} includes the first predicted two-dimensional position Q _{k + 2} , the first measured two-dimensional position P _k , the first measured two-dimensional position P _k-2, and the first measured two-dimensional position P _k-4 . The first measurement two-dimensional position P _k-6 and the first measurement two-dimensional position P _k-8 are calculated. As an algorithm for predicting a future two-dimensional position from a past two-dimensional position in this way, a linear prediction model and a Levinson-Durbin algorithm are exemplified.

At this time, the first two-dimensional position prediction unit 47 records the first predicted two-dimensional position Q _{k + 2} in the storage device.

The first measuring two-dimensional position P _k, at time t _k when the first fluoroscopic image is not successfully captured, may not be calculated correctly. For example, the first measuring two-dimensional position P _k, when the first diagnostic radiation 31 by the first diagnostic radiation irradiating device 25 is not exposure successfully at time t _k, the first imaging device at time t _k When the first fluoroscopic image is not normally transmitted to the radiation therapy apparatus control apparatus 10 by 27, it is not normally calculated. The first two-dimensional position prediction unit 47, when the first measuring two-dimensional position P _k is not calculated correctly, based on the first predicted two-dimensional position Q _k by replacing the first measurement two-dimensional position P _k A plurality of first predicted two-dimensional positions 73 are calculated. When the first measurement two-dimensional position P _k-2 is not normally calculated, the first two-dimensional position prediction unit 47 replaces the first measurement two-dimensional position P _k-2 with the first prediction two _- dimensional position P _k-2. A plurality of first predicted two-dimensional positions 73 are calculated based on _Qk-2 . The first two-dimensional position prediction unit 47 replaces the first measurement two-dimensional position P _k-4 with the first measurement two-dimensional position P _k-4 when the first measurement two-dimensional position P _k-4 is not normally calculated. A plurality of first predicted two-dimensional positions 73 are calculated based on _Qk-4 . When the first measurement two-dimensional position P _k-6 is not normally calculated, the first two-dimensional position prediction unit 47 replaces the first measurement two-dimensional position P _k-6 with the first measurement two-dimensional position P _k-6. A plurality of first predicted two-dimensional positions 73 are calculated based on Q _k-6 . When the first measurement two-dimensional position P _k-8 is not normally calculated, the first two-dimensional position prediction unit 47 replaces the first measurement two-dimensional position P _k-8 with the first measurement two-dimensional position P _k-8. A plurality of first predicted two-dimensional positions 73 are calculated based on Q _k-8 . When the first measurement two-dimensional position P _k-10 is not normally calculated, the first two-dimensional position prediction unit 47 replaces the first measurement two-dimensional position P _k-10 with the first measurement two-dimensional position P _k-10. A plurality of first predicted two-dimensional positions 73 are calculated based on Q _k-10 .

The second two-dimensional position calculation unit 46 calculates the second two-dimensional position in the same manner as the first two-dimensional position calculation unit 45. That is, the second two-dimensional position calculation unit 46 performs the second based on the second fluoroscopic image photographed at the time tk _{+ 1} at the second image processing timing corresponding to the time tk _{+ 1} in the second image processing timing 61. A measurement two-dimensional position P _{k + 1} is calculated.

The second 2D position prediction unit 48 calculates the second predicted 2D position in the same manner as the first 2D position prediction unit 47. That is, the second two-dimensional position prediction unit 48 determines the second measurement two-dimensional position P _{k + 1} and the second measurement two-dimensional position P at the second image processing timing corresponding to the time t _{k + 1} in the second image processing timing 61. _{Based on k-1} , second measurement two-dimensional position P _k-3 , second measurement two-dimensional position P _k-5 , second measurement two-dimensional position P _k-7, and second measurement two-dimensional position P _k-9. The first predicted two-dimensional position Q _{k + 3} and the first predicted two-dimensional position Q _{k + 5} are calculated.

The second two-dimensional position prediction unit 48, when the second measuring two-dimensional position P _{k + 1} is not calculated correctly, based by substituting the second measurement two-dimensional position P _{k + 1} in the second prediction dimensional position Q _{k + 1} Thus, the first predicted two-dimensional position Q _{k + 3} and the first predicted two-dimensional position Q _{k + 5} are calculated. The second two-dimensional position prediction unit 48 replaces the second measured two-dimensional position P _k-1 with the second predicted two _- dimensional position P _k-1 when the second measured two-dimensional position P _k-1 is not normally calculated. Based on Q _k−1 , a first predicted two-dimensional position Q _{k + 3} and a first predicted two-dimensional position Q _{k + 5} are calculated. When the second measurement two-dimensional position P _k-3 is not normally calculated, the second two-dimensional position prediction unit 48 replaces the second measurement two-dimensional position P _k-3 with the second prediction two _- dimensional position P _k-3. Based on Q _k−3 , a first predicted two-dimensional position Q _{k + 3} and a first predicted two-dimensional position Q _{k + 5} are calculated. When the second measurement two-dimensional position P _k-5 is not normally calculated, the second two-dimensional position prediction unit 48 replaces the second measurement two-dimensional position P _k-5 with the second prediction two _- dimensional position P _k-5. Based on Q _k−5 , the first predicted two-dimensional position Q _{k + 3} and the first predicted two-dimensional position Q _{k + 5} are calculated. The second two-dimensional position prediction unit 48 replaces the second measurement two-dimensional position P _k-7 with the second measurement two-dimensional position P _k-7 when the second measurement two-dimensional position P _k-7 is not normally calculated. Based on Q _k−7 , a first predicted two-dimensional position Q _{k + 3} and a first predicted two-dimensional position Q _{k + 5} are calculated. When the second measurement two-dimensional position P _k-9 is not normally calculated, the second two-dimensional position prediction unit 48 replaces the second measurement two-dimensional position P _k-9 with the second prediction two _- dimensional position P _k-9. Based on Q _k−9 , a first predicted two-dimensional position Q _{k + 3} and a first predicted two-dimensional position Q _{k + 5} are calculated.

  FIG. 6 shows a plurality of three-dimensional positions calculated by the three-dimensional position calculation unit 49. The plurality of three-dimensional positions 81 correspond to a plurality of prediction target times. Each of the plurality of prediction target times corresponds to any one of the plurality of first times and the plurality of second times.

The three-dimensional position p _i corresponding to the time t _i (i is an even number) among the plurality of three-dimensional positions 81 is the first predicted two-dimensional position Q _i−1 , the first predicted two-dimensional position Q _{i + 1,} and the second. It is calculated based on the predicted two-dimensional position Q _i . First predicted two-dimensional position Q _i-1, the time t to the first image processing timing corresponding to the _i-3 times t _i of the first predicted two-dimensional position calculated by the first two-dimensional position prediction unit 47 The first predicted two-dimensional position corresponding to ₋₁ is shown. The first predicted two-dimensional position Q _{i + 1} corresponds to the time t _{i + 1} among the first predicted two-dimensional positions calculated by the first two-dimensional position prediction unit 47 at the first image processing timing corresponding to the time t _i-3. The first predicted two-dimensional position is shown. The second predicted two-dimensional position Q _i, corresponding to the time t _i of the second predicted two-dimensional position calculated by the second two-dimensional position prediction unit 48 to the second image processing timing corresponding to the time t _i-4 The first predicted two-dimensional position is shown.

The three-dimensional position p _i is calculated at the first image processing timing corresponding to the time t _i-3 in the first image processing timing 59.

The gimbal driving unit 50 calculates a control amount based on the three-dimensional position p _i at the transmission timing immediately after the first image processing timing at which the three-dimensional position p _i is calculated among the plurality of transmission timings 63. A control amount so as to face the three-dimensional position p _i therapeutic radiation irradiation device 6 at time t _i, the path time t _i-1 time t _i to the therapeutic radiation irradiation device during the period 6 rotationally moves Show. The gimbal drive unit 50 rotates and moves along the path during the period from time t _i-1 to time t _i so that the three-dimensional position p _i therapeutic radiation irradiation device 6 faces at time t _i. To control.

The irradiation unit 51 is based on a plurality of two-dimensional positions used when the first predicted two-dimensional position Q _i−1 , the first predicted two-dimensional position Q _{i + 1,} and the second predicted two-dimensional position Q _i are calculated. Thus, it is determined whether or not the three-dimensional position p _i has been normally calculated. That is, the three-dimensional position p _i includes the first predicted two-dimensional position Q _i−1 and the first predicted two-dimensional position Q _{i + 1} , the first measured two-dimensional position P _i-3 and the first measured two-dimensional position P _i. When it is calculated based on the first predicted two-dimensional position Q _i-3 and the first predicted two-dimensional position Q _i-5 by substituting _-5 , it is determined that the calculation is not normally performed. Three-dimensional position p _i, the second predicted two-dimensional position Q _i is a second predicted two-dimensional position Q by substituting the second measurement two-dimensional position P _i-4 and the second measuring two-dimensional position P _i-6 When calculated based on _i-4 and the second predicted two-dimensional position Q _i-6 , it is determined that the calculation has not been performed normally.

The irradiation unit 51 controls the therapeutic radiation irradiation device 6 so that the therapeutic radiation 24 is emitted at time t _i when the three-dimensional position p _i is normally calculated. The irradiation unit 51 controls the therapeutic radiation irradiation device 6 so that the therapeutic radiation 24 is not emitted at the time t _i when the three-dimensional position p _i is not normally calculated.

The three-dimensional position p _j corresponding to the time t _j (j is an odd number) among the plurality of three-dimensional positions 81 is the second predicted two-dimensional position Q _j−1 and the second predicted two-dimensional position Q _{j + 1.} When calculated on the basis of the first predictive two-dimensional position Q _j. Second predicted two-dimensional position Q _j-1, the time t in the second image processing timing corresponding to the _j-3 time t _j of the second predicted two-dimensional position calculated by the second two-dimensional position prediction unit 48 _A second predicted two-dimensional position corresponding to ₋₁ is shown. The second predicted two-dimensional position Q _{j + 1} corresponds to the time t _{j + 1} of the second predicted two-dimensional positions calculated by the second two-dimensional position prediction unit 48 at the second image processing timing corresponding to the time t _j-3. The second predicted two-dimensional position is shown. The first predicted two-dimensional position Q _j corresponds to the time t _j among the first predicted two-dimensional positions calculated by the first two-dimensional position prediction unit 47 at the first image processing timing corresponding to the time t _j-4. The second predicted two-dimensional position is shown.

The three-dimensional position p _j is calculated at the second image processing timing corresponding to the time t _j-3 in the second image processing timing 61.

The gimbal driving unit 50 calculates a control amount based on the three-dimensional position p _j at the transmission timing immediately after the first image processing timing at which the three-dimensional position p _j is calculated among the plurality of transmission timings 63. A control amount so as to face the three-dimensional position p _j therapeutic radiation irradiation device 6 at time t _j, the path time t _j-1 time t _j to therapeutic radiation irradiation device during the period 6 rotationally moves Show. The gimbal drive unit 50 rotates and moves along the path during a period from time t _j−1 to time t _j so that the three-dimensional position p _j therapeutic radiation irradiation device 6 faces at time t _j. To control.

The irradiation unit 51 is based on a plurality of two-dimensional positions used when the second predicted two-dimensional position Q _j−1 , the second predicted two-dimensional position Q _{j + 1,} and the first predicted two-dimensional position Q _j are calculated. Thus, it is determined whether or not the three-dimensional position p _j is normally calculated. That is, the three-dimensional position p _j includes the second predicted two-dimensional position Q _j−1 and the second predicted two-dimensional position Q _{j + 1} , the second measured two-dimensional position P _j-3 and the second measured two-dimensional position P _j. When it is calculated based on the second predicted two-dimensional position Q _j-3 and the second predicted two-dimensional position Q _j-5 by replacing with ₋₅ , it is determined that the calculation is not normally performed. The three-dimensional position p _j is replaced with the first predicted two-dimensional position Q _j by the first measured two-dimensional position P _j-4 and the first measured two-dimensional position P _j-6. When it is calculated based on _j-4 and the first predicted two-dimensional position Q _j-6 , it is determined that the calculation has not been performed normally.

The irradiation unit 51 controls the therapeutic radiation irradiation device 6 so that the therapeutic radiation 24 is emitted at the time t _j when the three-dimensional position p _j is normally calculated. The irradiation unit 51 controls the therapeutic radiation irradiation device 6 so that the therapeutic radiation 24 is not emitted at the time t _j when the three-dimensional position p _j is not normally calculated.

  The embodiment of the radiotherapy apparatus control method according to the present invention is executed by the radiotherapy apparatus control apparatus 10 and includes a treatment plan collection operation, a patient alignment operation, and a radiotherapy operation.

  In the treatment plan collection operation, the user first inputs a treatment plan created in advance to the radiation treatment apparatus control device 10 via the input device. The treatment plan shows the direction of exposure and the dose. The exposure direction indicates the direction in which the therapeutic radiation irradiation device 6 is disposed with respect to the patient 35, and indicates the ring angle during treatment and the gantry angle during treatment. The ring angle during treatment indicates a position where the O-ring 2 is arranged with respect to the foundation. The gantry angle at the time of treatment indicates a position where the traveling gantry 3 is disposed with respect to the O-ring 2. The dose indicates the dose of the therapeutic radiation 24 exposed to the patient 35 from the exposure direction. The radiotherapy apparatus control apparatus 10 further collects three-dimensional data used when creating the treatment plan from the computer tomography apparatus 20. The radiotherapy apparatus control apparatus 10 further collects the three-dimensional data from the computed tomography apparatus 20. The three-dimensional data associates a plurality of CT values with a plurality of voxels. The radiation therapy apparatus control apparatus 10 calculates the planned position based on the three-dimensional data. The planned position indicates the position and orientation in which the patient 35 is placed when a plurality of fluoroscopic images are taken by the computed tomography apparatus 20 when the three-dimensional data is reconstructed. At this time, the exposure direction indicated by the treatment plan indicates the direction in which the therapeutic radiation 24 is exposed to the patient 35 arranged at the planned position.

  In the patient positioning operation, the user lies the patient 35 on the couch 33 and then fixes the patient 35 to the couch 33 using a fixing tool. When the patient 35 is fixed to the couch 33, the radiotherapy device control apparatus 10 controls the couch driving device 34 so that the couch 33 is disposed at an appropriate position with respect to the foundation. The radiotherapy device controller 10 further controls the ring driving device 21 so that the O-ring 2 is arranged at an appropriate ring angle with respect to the foundation. The radiotherapy device controller 10 further controls the gantry driving device of the radiotherapy device 1 so that the traveling gantry 3 is arranged at an appropriate gantry angle with respect to the O-ring 2.

  The radiotherapy apparatus controller 10 controls the radiotherapy apparatus 1 so that the first fluoroscopic image at the time of alignment and the second fluoroscopic image at the time of alignment are captured. That is, the radiation therapy apparatus control apparatus 10 controls the first diagnostic radiation irradiation apparatus 25 so that the first diagnostic radiation 31 is exposed. The radiotherapy device control apparatus 10 is configured so that when the first diagnostic radiation 31 is exposed to the patient 35, the first fluoroscopic image is captured at the time of alignment based on the X-rays transmitted through the patient 35. One imaging device 27 is controlled. The radiation therapy apparatus control apparatus 10 controls the second diagnostic radiation irradiation apparatus 26 so that the second diagnostic radiation 32 is exposed. The radiotherapy device control apparatus 10 is configured so that when the second diagnostic radiation 32 is exposed to the patient 35, the second fluoroscopic image is captured at the time of alignment based on the X-rays transmitted through the patient 35. 2 The image pickup device 28 is controlled.

  The radiotherapy apparatus controller 10 further calculates a position at the time of alignment based on the first fluoroscopic image at the time of alignment and the second fluoroscopic image at the time of alignment. The alignment position indicates the position and orientation in which the patient 35 is disposed when the first fluoroscopic image at the time of alignment and the second fluoroscopic image at the time of alignment are captured.

  When the difference between the alignment position and the planned position is larger than a predetermined level, the radiotherapy apparatus control apparatus 10 moves the patient 35 arranged at the alignment position to the planned position. The couch driving device 34 is controlled based on the position at the time of alignment. After controlling the couch driving device 34, the radiotherapy device control apparatus 10 takes again the first fluoroscopic image at the time of alignment and the second fluoroscopic image at the time of alignment, and the first fluoroscopic image at the time of alignment and the The position at the time of alignment is calculated again based on the second fluoroscopic image at the time of alignment.

  When the difference between the alignment position and the planned position is smaller than a predetermined level, the radiotherapy apparatus control apparatus 10 controls the radiotherapy apparatus 1 based on the exposure direction indicated by the treatment plan. That is, the radiotherapy device control apparatus 10 further controls the ring driving device 21 so that the O-ring 2 is arranged at the ring angle during treatment indicated by the exposure direction. The radiotherapy apparatus control apparatus 10 further controls the gantry driving apparatus of the radiotherapy apparatus 1 so that the traveling gantry 3 is disposed at the treatment gantry angle indicated by the exposure direction.

  The radiotherapy operation is performed immediately after the patient alignment operation is performed. First, the radiotherapy apparatus control apparatus 10 controls the radiotherapy apparatus 1 so that a plurality of first fluoroscopic images and a plurality of second fluoroscopic images are respectively captured. That is, the radiation therapy apparatus control apparatus 10 controls the first diagnostic radiation irradiation apparatus 25 so that the first diagnostic radiation 31 is emitted at a plurality of first imaging timings 53. The radiotherapy apparatus control apparatus 10 controls the first imaging apparatus 27 so that a plurality of first fluoroscopic images are respectively captured at a plurality of first imaging timings 53. The radiation therapy apparatus control apparatus 10 controls the second diagnostic radiation irradiation apparatus 26 so that the second diagnostic radiation 32 is emitted at a plurality of second imaging timings 55. The radiotherapy apparatus control apparatus 10 controls the second imaging apparatus 28 so that a plurality of second fluoroscopic images are respectively captured at a plurality of second imaging timings 55.

The control apparatus 10, the first image processing timing corresponding to the time t _k of the first image processing timing 59, determine whether the first fluoroscopic image taken at time t _k is normally photographed To do. When the first fluoroscopic image is normally captured, the radiation therapy apparatus control device 10 calculates the first measurement two-dimensional position P _k based on the first fluoroscopic image, and the first measurement two-dimensional position P _k. Is stored in the storage device. The first measurement two-dimensional position P _k indicates a position where the affected part of the patient 35 is displayed in the first fluoroscopic image.

At the first image processing timing, the radiotherapy apparatus controller 10 further includes the first measurement two-dimensional position P _k , the first measurement two-dimensional position P _k-2, and the first measurement two-dimensional position P recorded in the storage device. _{Based on k-4} , the first measurement two-dimensional position P _k-6 , the first measurement two-dimensional position P _k-8, and the first measurement two-dimensional position P _k-10 , the first predicted two-dimensional position Q _{k + 2} and the first One predicted two-dimensional position Q _{k + 4} is calculated, and the first predicted two-dimensional position Q _{k + 2} is recorded in the storage device. The first predicted two-dimensional position Q _{k + 2} indicates a position where the affected part of the patient 35 is expected to be displayed in the first fluoroscopic image photographed at time t _{k + 2} . The first predicted two-dimensional position Q _{k + 4} indicates a position where the affected part of the patient 35 is expected to be displayed in the first fluoroscopic image taken at time t _{k + 4} .

When the first measurement two-dimensional position P _k is not normally calculated, the radiation therapy apparatus control device 10 replaces the first measurement two-dimensional position P _k with the first predicted two-dimensional position Q _k and changes the first measurement two-dimensional position P _k based on the first predicted two-dimensional position Q _k . One predicted two-dimensional position Q _{k + 2} and a first predicted two-dimensional position Q _{k + 4} are calculated. When the first measurement two-dimensional position P _k-2 is not normally calculated, the radiation therapy apparatus control device 10 replaces the first measurement two-dimensional position P _k-2 with the first predicted two-dimensional position Q _k. Based on ₋₂ , the first predicted two-dimensional position Q _{k + 2} and the first predicted two-dimensional position Q _{k + 4} are calculated. When the first measurement two-dimensional position P _k-4 is not normally calculated, the radiation therapy apparatus control device 10 replaces the first measurement two-dimensional position P _k-4 with the first predicted two-dimensional position Q _k. Based on _-4 , the first predicted two-dimensional position Q _{k + 2} and the first predicted two-dimensional position Q _{k + 4} are calculated. When the first measurement two-dimensional position P _k-6 is not normally calculated, the radiotherapy apparatus controller 10 replaces the first measurement two-dimensional position P _k-6 with the first predicted two-dimensional position Q _k. Based on ₋₆ , a first predicted two-dimensional position Q _{k + 2} and a first predicted two-dimensional position Q _{k + 4} are calculated. When the first measurement two-dimensional position P _k-8 is not normally calculated, the radiation therapy apparatus control device 10 replaces the first measurement two-dimensional position P _k-8 with the first predicted two-dimensional position Q _k. Based on ₋₈ , a first predicted two-dimensional position Q _{k + 2} and a first predicted two-dimensional position Q _{k + 4} are calculated. When the first measurement two-dimensional position P _k-10 is not normally calculated, the radiotherapy apparatus control apparatus 10 replaces the first measurement two-dimensional position P _k-10 with the first predicted two-dimensional position Q _k. Based on ₋₁₀ , the first predicted two-dimensional position Q _{k + 2} and the first predicted two-dimensional position Q _{k + 4} are calculated.

The radiotherapy apparatus controller 10 determines the three-dimensional position p based on the first predicted two-dimensional position Q _{k + 2} , the first predicted two-dimensional position Q _{k + 4,} and the second predicted two-dimensional position Q _{k + 3} recorded in the storage device in the past. _{k + 3} is calculated. The three-dimensional position p _{k + 3} indicates a position where the affected part of the patient 35 is expected to be placed at the time t _{k + 3} .

The radiotherapy device control apparatus 10 calculates the control amount based on the three-dimensional position p _{k + 3} at the transmission timing immediately after the first image processing timing at which the three-dimensional position p _{k + 3} is calculated among the plurality of transmission timings 63. . A control amount so as to face the therapeutic radiation irradiation device 6 at time t _{k + 3} in the three-dimensional position p _{k + 3,} the time t _{k + 2} time t _{k + 3} therapeutic radiation irradiation device 6 in the period leading up to the indicates a path for rotational movement ing. The radiotherapy apparatus control apparatus 10 rotates and moves along the path during a period from time t _{k + 2} to time t _{k + 3} so that the therapeutic radiation irradiation apparatus 6 faces the three-dimensional position p _{k + 3} at time t _{k + 3.} 23 is controlled.

The radiotherapy apparatus control apparatus 10 determines whether or not the three-dimensional position _{pk + 3} is normally calculated. That is, the radiotherapy apparatus control apparatus 10 includes the first predicted two-dimensional position Q _{k + 2} and the first predicted two-dimensional position Q _{k + 4} as the first measured two-dimensional position P _k and the first measured two-dimensional position P _k-2 . Is calculated based on the first predicted two-dimensional position Q _k and the first predicted two-dimensional position Q _k−2 , it is determined that the three-dimensional position p _{k + 3} was not normally calculated. The radiotherapy device control apparatus 10 further replaces the second predicted two-dimensional position Q _{k + 3} with the second measured two-dimensional position P _k−1 and the second measured two-dimensional position P _k−3 to provide the second predicted two _- dimensional position. It is determined that the three-dimensional position p _{k + 3} was not normally calculated when calculated based on the dimension position Q _k−1 and the second predicted two-dimensional position Q _k−3 .

The radiotherapy apparatus control apparatus 10 causes the therapeutic radiation irradiation apparatus 6 to emit the therapeutic radiation 24 during a period from the time t _{k + 2} to the time t _{k + 3} when the three-dimensional position p _{k + 3} is normally calculated. To control. The radiotherapy apparatus controller 10 controls the therapeutic radiation irradiation apparatus 6 so that the therapeutic radiation 24 is not emitted from the time t _{k + 2} to the time t _{k + 3} when the three-dimensional position p _{k + 3} is not normally calculated. .

The radiotherapy device control apparatus 10 further determines whether or not the second fluoroscopic image photographed at the time t _{k + 1} is normally photographed at the second image processing timing corresponding to the time t _{k + 1} in the second image processing timing 61. Is determined. The control apparatus 10, when the second perspective image is normally captured, second calculates the measured two-dimensional position P _{k + 1} based on the second perspective image, the second measuring two-dimensional position P _{k + 1} Is stored in the storage device. The second measurement two-dimensional position P _{k + 1} indicates a position where the affected part of the patient 35 is projected in the second fluoroscopic image.

At the second image processing timing, the radiotherapy apparatus controller 10 further includes the second measurement two-dimensional position P _{k + 1} , the second measurement two-dimensional position P _k−1, and the second measurement two-dimensional position P recorded in the storage device. _{Based on k-3} , the second measurement two-dimensional position P _k-5 , the second measurement two-dimensional position P _k-7, and the second measurement two-dimensional position P _k-9 , the second predicted two-dimensional position Q _{k + 3} and the second The two predicted two-dimensional position Q _{k + 5} is calculated, and the second predicted two-dimensional position Q _{k + 3} is recorded in the storage device. The second predicted two-dimensional position Q _{k + 3} indicates a position where the affected part of the patient 35 is expected to be displayed in the second fluoroscopic image photographed at the time t _{k + 3} . The second predicted two-dimensional position Q _{k + 5} indicates a position where the affected part of the patient 35 is expected to be projected on the second fluoroscopic image photographed at time t _{k + 5} .

When the second measurement two-dimensional position P _{k + 1} is not normally calculated, the radiation therapy apparatus control device 10 replaces the second measurement two-dimensional position P _{k + 1} with the second measurement two-dimensional position Q _{k + 1} based on the second predicted two-dimensional position Q _{k + 1} . A two-predicted two-dimensional position Q _{k + 3} and a second predicted two-dimensional position Q _{k + 5} are calculated. When the second measurement two-dimensional position P _k-1 is not normally calculated, the radiation therapy apparatus control device 10 replaces the second measurement two-dimensional position P _k-1 with the second predicted two-dimensional position Q _k. Based on ₋₁ , the second predicted two-dimensional position Q _{k + 3} and the second predicted two-dimensional position Q _{k + 5} are calculated. When the second measurement two-dimensional position P _k-3 is not normally calculated, the radiation therapy apparatus control device 10 replaces the second measurement two-dimensional position P _k-3 with the second predicted two-dimensional position Q _k. Based on _-3 , the second predicted two-dimensional position Q _{k + 3} and the second predicted two-dimensional position Q _{k + 5} are calculated. When the second measurement two-dimensional position P _k-5 is not normally calculated, the radiation therapy apparatus control device 10 replaces the second measurement two-dimensional position P _k-5 with the second predicted two-dimensional position Q _k. Based on ₋₅ , the second predicted two-dimensional position Q _{k + 3} and the second predicted two-dimensional position Q _{k + 5} are calculated. When the second measurement two-dimensional position P _k-7 is not normally calculated, the radiation therapy apparatus control device 10 replaces the second measurement two-dimensional position P _k-7 with the second predicted two-dimensional position Q _k. Based on ₋₇ , the second predicted two-dimensional position Q _{k + 3} and the second predicted two-dimensional position Q _{k + 5} are calculated. When the second measurement two-dimensional position P _k-9 is not normally calculated, the radiation therapy apparatus control device 10 replaces the second measurement two-dimensional position P _k-9 with the second predicted two-dimensional position Q _k. Based on ₋₉ , the second predicted two-dimensional position Q _{k + 3} and the second predicted two-dimensional position Q _{k + 5} are calculated.

The radiotherapy device controller 10 determines the three-dimensional position p based on the second predicted two-dimensional position Q _{k + 3} , the second predicted two-dimensional position Q _{k + 5,} and the first predicted two-dimensional position Q _{k + 4} previously recorded in the storage device. _{k + 4} is calculated. The three-dimensional position p _{k + 4} indicates a position where the affected part of the patient 35 is expected to be placed at the time t _{k + 4} .

The radiotherapy device control apparatus 10 calculates a control amount based on the three-dimensional position p _{k + 4} at the transmission timing immediately after the second image processing timing at which the three-dimensional position p _{k + 4} is calculated among the plurality of transmission timings 65. . A control amount, the time t _{k + 4} to to face the therapeutic radiation irradiation device 6 to the three-dimensional position p _{k + 4,} the time t _{k + 3} time t _{k + 4} to therapeutic radiation irradiation device during the period 6 indicates a path for rotational movement ing. The radiotherapy apparatus control apparatus 10 rotates and moves along the path during a period from time t _{k + 3} to time t _{k + 4} so that the therapeutic radiation irradiation apparatus 6 faces the three-dimensional position p _{k + 4} at time t _{k + 4.} 23 is controlled.

The radiotherapy apparatus control apparatus 10 determines whether or not the three-dimensional position p _{k + 4} has been normally calculated. That is, the radiotherapy device control apparatus 10 determines that the second predicted two-dimensional position Q _{k + 3} and the second predicted two-dimensional position Q _{k + 5} are the second measured two-dimensional position P _{k + 1} and the second measured two-dimensional position P _k−1 . Is calculated based on the second predicted two-dimensional position Q _{k + 1} and the second predicted two-dimensional position Q _k−1 , it is determined that the three-dimensional position p _{k + 4} has not been calculated normally. The radiotherapy device control apparatus 10 further replaces the first predicted two-dimensional position Q _{k + 4} with the first measured two-dimensional position P _k and the first measured two-dimensional position P _k-2 , and thereby the first predicted two _- dimensional position P _k-2. When calculated based on Q _k and the first predicted two-dimensional position Q _k−2 , it is determined that the three-dimensional position p _{k + 4} has not been calculated normally.

The radiotherapy apparatus control apparatus 10 causes the therapeutic radiation irradiation apparatus 6 to emit the therapeutic radiation 24 during a period from the time t _{k + 3} to the time t _{k + 4} when the three-dimensional position p _{k + 4} is normally calculated. To control. The radiotherapy apparatus control apparatus 10 controls the therapeutic radiation irradiation apparatus 6 so that the therapeutic radiation 24 is not emitted from the time t _{k + 3} to the time t _{k + 4} when the three-dimensional position p _{k + 4} is not normally calculated. .

The radiotherapy apparatus control apparatus 10 repeatedly executes such an operation until the therapeutic radiation 24 having the dose indicated by the treatment plan is exposed to the affected part of the patient 35. The radiotherapy apparatus controller 10 controls the therapeutic radiation irradiation apparatus 6 so that the therapeutic radiation 24 is not emitted after the time t _{k + 3} when the three-dimensional position p _{k + 3} is not normally calculated. The radiation utilization operation can be interrupted. The radiotherapy apparatus control apparatus 10 controls the therapeutic radiation irradiation apparatus 6 so that the therapeutic radiation 24 is not emitted after the time t _{k + 4} when the three-dimensional position p _{k + 4} is not normally calculated. The use operation can be interrupted.

  According to such a radiotherapy operation, compared to calculating the three-dimensional position of the affected part of the patient 35 based on the first fluoroscopic image and the second fluoroscopic image that are simultaneously photographed every anti-cycle of the cycle 54, The dose of the first diagnostic radiation 31 and the dose of the second diagnostic radiation 32 that the patient 35 is exposed to can be further reduced.

  FIG. 7 shows a comparative example of the radiotherapy apparatus control method according to the present invention. The radiotherapy apparatus control apparatus that executes the comparative example is configured to obtain a plurality of first measurement two-dimensional positions and a plurality of second measurement two-dimensional positions in the same manner as the radiotherapy apparatus control apparatus 10 in the above-described embodiment. calculate.

The radiotherapy apparatus control apparatus of the comparative example includes the first measurement two-dimensional position P _i-5 corresponding to the time t _i-5 of the first measurement two-dimensional position and the time of the first measurement two-dimensional position. Based on the first measurement two-dimensional position P _i-3 corresponding to t _i-3 and the second measurement two-dimensional position P _i-4 corresponding to the time t _i-4 among the second measurement two-dimensional positions. The three-dimensional position q _i-4 is calculated, and the three-dimensional position q _i-4 is recorded in the storage device. The three-dimensional position q _i-4 indicates the position where the affected part of the patient 35 is arranged at time t _i-4 .

The radiotherapy apparatus control apparatus of the comparative example includes a plurality of three-dimensional positions (for example, three-dimensional position q _i-5 , three-dimensional position q corresponding to the three-dimensional position q _i-4 and the time before time t _{i-4. i-6} ), a predicted three-dimensional position r _i is calculated. The control apparatus of the comparative example, as therapeutic radiation irradiation device 6 at time t _i is directed to the predicted three-dimensional position r _i, to control the gimbal apparatus 23, at time t _i to the predicted three-dimensional position r _i The therapeutic radiation irradiation device 6 is controlled so that the therapeutic radiation 24 is exposed.

The radiotherapy apparatus control apparatus of the comparative example includes the second measurement two-dimensional position P _i-4 corresponding to the time t _i-4 of the second measurement two-dimensional position and the time of the second measurement two-dimensional position. Based on the second measurement two-dimensional position P _i-2 corresponding to t _i-2 and the first measurement two-dimensional position P _i-3 corresponding to the time t _i-3 among the first measurement two-dimensional positions. The three-dimensional position q _i-3 is calculated, and the three-dimensional position q _i-3 is recorded in the storage device. The three-dimensional position q _i-3 indicates the position where the affected part of the patient 35 is arranged at time t _i-3 .

The radiotherapy apparatus control apparatus of the comparative example calculates the predicted three-dimensional position r _{i + 1} based on the three-dimensional position corresponding to the three-dimensional position q _i−3 and the time before time t _i−3 . The control apparatus of the comparative example, as therapeutic radiation irradiation device 6 at time t _{i + 1} is directed to the predicted three-dimensional position r _{i + 1,} and controls the gimbal apparatus 23, at time t _{i + 1} to the predicted three-dimensional position r _{i + 1} The therapeutic radiation irradiation device 6 is controlled so that the therapeutic radiation 24 is exposed.

The radiotherapy apparatus control device of the comparative example includes the first measurement two-dimensional position P _i-3 corresponding to the time t _i-3 of the first measurement two-dimensional position and the time of the first measurement two-dimensional position. Based on the first measurement two-dimensional position P _i-1 corresponding to t _i-1 and the second measurement two-dimensional position P _i-2 corresponding to the time t _i-2 of the second measurement two-dimensional positions. The three-dimensional position q _i-2 is calculated, and the three-dimensional position q _i-2 is recorded in the storage device. The three-dimensional position q _i-2 indicates the position where the affected part of the patient 35 is disposed at time t _i-2 .

The radiotherapy apparatus control apparatus of the comparative example calculates a predicted three-dimensional position r _{i + 2} based on a plurality of three-dimensional positions corresponding to the three-dimensional position q _i−2 and the time before time t _i−2 . The control apparatus of the comparative example, as therapeutic radiation irradiation device 6 at time t _{i + 2} is directed to the predicted three-dimensional position r _{i + 2,} and controls the gimbal apparatus 23, at time t _{i + 2} to the predicted three-dimensional position r _{i + 2} The therapeutic radiation irradiation device 6 is controlled so that the therapeutic radiation 24 is exposed.

  According to such a comparative example, the dose of the first diagnostic radiation 31 and the dose of the second diagnostic radiation 32 to which the patient 35 is exposed are further reduced in the same manner as the radiotherapy operation in the above-described embodiment. can do.

  The calculation for predicting the future two-dimensional position from the past two-dimensional position is generally more accurate than the calculation for predicting the future three-dimensional position from the past three-dimensional position. For this reason, the radiotherapy apparatus control method according to the present invention can predict the position of the affected area of the patient 35 with higher accuracy compared to such a comparative example. The radiation 24 can be exposed with higher accuracy, and more accurate radiation therapy can be realized.

The three-dimensional position q _i-4 , the three-dimensional position q _i-3, and the three-dimensional position q _i-2 include a three-dimensional position calculation error caused by a three-dimensional calculation that calculates a three-dimensional position from a plurality of two-dimensional positions. include. Its three-dimensional position calculation error is increased by the prediction calculation for predicting the predicted three-dimensional position r _i from the three-dimensional position q _i-4, there is a risk of significantly different predicted three-dimensional position r _i from the true value.

According to the radiotherapy apparatus control method according to the present invention, since the three-dimensional calculation is performed after the prediction calculation for predicting the predicted two-dimensional position from the plurality of two-dimensional measurement positions, such a three-dimensional position calculation is performed. The error does not increase, and the three-dimensional position p _i can be predicted with higher accuracy. For this reason, the radiotherapy apparatus control method according to the present invention can expose the therapeutic radiation 24 to the affected area of the patient 35 with higher accuracy, and can realize higher-accuracy radiotherapy.

According to this comparative example, for example, when the first measuring two-dimensional position P _i-3 was not calculated, the three-dimensional position q _i-4 and three-dimensional position q _i-3 and three-dimensional position q _{i -2} cannot be calculated normally. For this reason, in such a comparative example, when even one measurement two-dimensional position is not calculated, radiation therapy may not be continued normally. In the radiotherapy apparatus control method according to the present invention, even when one of the plurality of first measurement two-dimensional positions 71 is not normally calculated, one of the plurality of second measurement two-dimensional positions is not normally calculated. Sometimes, the three-dimensional position can be calculated with higher accuracy, and radiation therapy can be continued more stably.

The plurality of first times corresponding to the plurality of first predicted two-dimensional positions 72 do not need to coincide with the plurality of first imaging times corresponding to the plurality of first measurement two-dimensional positions 71, and the plurality of first times. Each time can also indicate a time slightly deviated from each of the plurality of first photographing times. Similarly to the plurality of first times, the plurality of second times do not have to coincide with the plurality of second photographing times, and each of the plurality of second times corresponds to the plurality of second photographing times. It is also possible to indicate a time slightly deviated from each. Similarly, in such a case, the radiotherapy apparatus control method according to the present invention can predict the three-dimensional position _pi with higher accuracy, and can realize radiotherapy with higher accuracy.

  Note that the radiotherapy device control apparatus 10 can accurately calculate the plurality of first predicted two-dimensional positions 73 even when the last predetermined time of the plurality of first measurement two-dimensional positions 71 is not normally calculated. When it can be calculated, it is also possible to control the gimbal device 23 using the three-dimensional position calculated using the plurality of first predicted two-dimensional positions 73. As the predetermined times, three times are exemplified. According to such a method, radiotherapy can be continued more stably as compared with the radiotherapy apparatus control method in the embodiment described above.

Note that the radiotherapy apparatus control apparatus 10 can also control the gimbal apparatus 23 using only the three-dimensional position p _i without using the three-dimensional position p _j . The radiotherapy apparatus control apparatus 10 can further replace the number of the plurality of first measurement two-dimensional positions 71 used when calculating the plurality of first predicted two-dimensional positions 73 with a predetermined number other than six. . Examples of the predetermined number include seven and eight.

DESCRIPTION OF SYMBOLS 1: Radiation therapy apparatus 10: Radiation therapy apparatus control apparatus 20: Computed tomography apparatus 2: O-ring 3: Traveling gantry 6: Radiation irradiation apparatus for treatment 11: Ring rotation axis 12: Gantry rotation axis 14: Isocenter 16: Tilt axis 17: Pan axis 21: Ring driving device 23: Gimbal device 24: Radiation for treatment 25: Radiation irradiation device for first diagnosis 26: Radiation irradiation device for second diagnosis 27: First imaging device 28: Second imaging device 31: First diagnostic radiation 32: Second diagnostic radiation 33: Couch 34: Couch drive device 35: Patient 41: Treatment plan collection unit 42: Patient positioning unit 43: First imaging unit 44: Second imaging unit 45: First 1 two-dimensional position calculation unit 46: second two-dimensional position calculation unit 47: first two-dimensional position prediction unit 48: second two-dimensional position prediction unit 49: three-dimensional position Exit unit 50: Gimbal drive unit 51: Irradiation unit 53: Plural first imaging timings 54: Period 55: Plural second imaging timings 56: Period 57: Period 58: Period 59: Plural first image processing timings 60: Period 61: Plural second image processing timings 62: Period 63: Plural transmission timings 64: Period 71: Plural first measurement two-dimensional positions 72: Plural first prediction two-dimensional positions 73: Plural first prediction two Dimension position 81: Multiple 3D positions

Claims (15)

A first photographing unit for photographing a plurality of first images at a plurality of first photographing times using a first imager;
A second photographing unit that photographs a plurality of second images at a plurality of second photographing times using a second imager;
A first two-dimensional position calculator that calculates a plurality of first measurement two-dimensional positions corresponding to the plurality of first imaging times;
A second two-dimensional position calculator that calculates a plurality of second measurement two-dimensional positions corresponding to the plurality of second imaging times;
A first two-dimensional position prediction unit that calculates a plurality of first predicted two-dimensional positions corresponding to a plurality of first two-dimensional position prediction target times;
A second 2D position prediction unit that calculates a plurality of second predicted 2D positions corresponding to a plurality of second 2D position prediction target times;
A three-dimensional position calculation unit that calculates a plurality of three-dimensional positions corresponding to a plurality of three-dimensional position prediction target times;
A gimbal driving unit that calculates a control amount for directing the irradiation device to a three-dimensional position corresponding to the arbitrary time among the plurality of three-dimensional positions at an arbitrary time among the plurality of three-dimensional position prediction target times. And
A first measurement two-dimensional position corresponding to an arbitrary first photographing time among the plurality of first measurement two-dimensional positions is a correspondence photographed at the arbitrary first photographing time among the plurality of first images. A position where a predetermined image is projected on the first image,
A second measurement two-dimensional position corresponding to an arbitrary second imaging time among the plurality of second measurement two-dimensional positions is a correspondence captured at the arbitrary second imaging time among the plurality of second images. A position where the predetermined image is projected on the second image
The plurality of first 2D position prediction target times includes a time arranged between any two second 2D position prediction target times of the plurality of second 2D position prediction target times,
The plurality of second 2D position prediction target times includes a time arranged between any two first 2D position prediction target times among the plurality of first 2D position prediction target times,
Of the plurality of three-dimensional position prediction target times, a first three-dimensional position prediction target time is a first three-dimensional position calculation time of the plurality of first two-dimensional position prediction target times and the plurality of first seconds. The third three-dimensional position calculation time among the plurality of second two-dimensional position prediction target times is a case where the third three-dimensional position calculation time is arranged between the second three-dimensional position calculation time and the second three-dimensional position calculation time. The first three-dimensional position prediction time corresponding to the first three-dimensional position prediction target time among the plurality of three-dimensional positions when arranged between the first three-dimensional position calculation time and the second three-dimensional position calculation time. 1 3D position is
A first three-dimensional position calculating two-dimensional position corresponding to a first three-dimensional position calculating time among the plurality of first predicted two-dimensional positions;
A second three-dimensional position calculating two-dimensional position corresponding to a second three-dimensional position calculating time among the plurality of first predicted two-dimensional positions;
Calculated based on a third three-dimensional position calculating two-dimensional position corresponding to a third three-dimensional position calculating time among the plurality of second predicted two-dimensional positions;
The first two-dimensional position calculation two-dimensional position corresponds to a plurality of first two-dimensional position prediction photographing times before the first three-dimensional position calculation time among the plurality of first measurement two-dimensional positions. Calculated based on a plurality of first 2D position prediction 2D positions,
The second 3D position calculation two-dimensional position is calculated based on the plurality of first two-dimensional position prediction two-dimensional positions and the first three-dimensional position calculation two-dimensional position,
The third 3D position calculation two-dimensional position corresponds to a plurality of second two-dimensional position prediction imaging times before the first three-dimensional position calculation time among the plurality of second measurement two-dimensional positions. A radiation therapy apparatus control device that is calculated based on a plurality of second two-dimensional positions for predicting a second two-dimensional position. In claim 1,
As the first three-dimensional position calculation two-dimensional position, the failure first measurement two-dimensional position corresponding to the failure first imaging time among the plurality of first two-dimensional position prediction two-dimensional positions is not normally calculated. The two-dimensional position for normal first two-dimensional position excluding the failed first measurement two-dimensional position among the plurality of first two-dimensional position prediction two-dimensional positions and the plurality of first prediction two-dimensional positions. Calculated based on the auxiliary first three-dimensional position calculation two-dimensional position corresponding to the failure first imaging time of the position,
The second 3D position calculating two-dimensional position is calculated when the failure first measurement two-dimensional position is not calculated, and the normal first two-dimensional position predicting two-dimensional position and the auxiliary first three-dimensional position calculating. A radiation therapy apparatus control device calculated based on the two-dimensional position for use and the first three-dimensional position calculation two-dimensional position. In claim 2,
As the third 3D position calculation two-dimensional position, the failure second measurement two-dimensional position corresponding to the failure second imaging time among the plurality of second two-dimensional position prediction two-dimensional positions is not normally calculated. The two-dimensional positions for normal second two-dimensional position prediction and the plurality of second prediction two-dimensional positions excluding the failed second measurement two-dimensional position among the plurality of second two-dimensional position prediction two-dimensional positions. A radiation therapy apparatus control device that is calculated based on an auxiliary second three-dimensional position calculation two-dimensional position corresponding to the failure second imaging time among positions. In any one of Claims 1-3,
The gimbal driving unit further controls a gimbal device that moves the irradiation device so that the irradiation device is directed to the three-dimensional position at the arbitrary time. In claim 4,
A radiotherapy apparatus control apparatus further comprising: an irradiation unit that controls the irradiation apparatus so that therapeutic radiation is emitted at the arbitrary time when the irradiation apparatus is directed to the three-dimensional position at the arbitrary time. In claim 5,
The irradiation unit is
When a predetermined number of failure two-dimensional positions corresponding to a predetermined number of failure first imaging times among the plurality of first two-dimensional position prediction two-dimensional positions are not normally calculated,
When the predetermined number of failed shooting times is the last predetermined number of times among the plurality of first two-dimensional position prediction shooting times,
Controlling the irradiation apparatus so that the therapeutic radiation is not emitted at the first three-dimensional position prediction target time,
When a predetermined number of failure two-dimensional positions corresponding to a predetermined number of failure second imaging times among the plurality of second two-dimensional position prediction two-dimensional positions are not normally calculated,
When the predetermined number of failed shooting times is the last predetermined number of times among the plurality of second 2D position prediction shooting times,
A radiotherapy apparatus controller that controls the irradiation apparatus so that the therapeutic radiation is not emitted at the second three-dimensional position prediction target time. In any one of Claims 1-6,
A second 3D position prediction target time among the plurality of 3D position prediction target times is a fourth 3D position calculation time among the plurality of second 2D position prediction target times and the plurality of second second times. The sixth 3D position calculation time among the plurality of first 2D position prediction target times is the case where it is arranged between the fifth 3D position calculation time of the dimension position prediction target times and When arranged between the fourth 3D position calculation time and the fifth 3D position calculation time, the first corresponding to the second 3D position prediction target time among the plurality of 3D positions. 2 3D position is
A fourth 3D position calculating two-dimensional position corresponding to a fourth three-dimensional position calculating time among the plurality of second predicted two-dimensional positions;
A fifth three-dimensional position calculating two-dimensional position corresponding to a fifth three-dimensional position calculating time among the plurality of second predicted two-dimensional positions;
Calculated based on a sixth three-dimensional position calculating two-dimensional position corresponding to a sixth three-dimensional position calculating time among the plurality of first predicted two-dimensional positions;
The fourth 3D position calculation two-dimensional position corresponds to a plurality of third two-dimensional position prediction imaging times before the fourth three-dimensional position calculation time among the plurality of second measurement two-dimensional positions. Calculated based on a plurality of second-dimensional positions for predicting the third two-dimensional position,
The fifth two-dimensional position for calculating the three-dimensional position is calculated based on the plurality of second two-dimensional positions for predicting the second two-dimensional position and the second two-dimensional position for calculating the fourth three-dimensional position,
The sixth 3D position calculating two-dimensional position corresponds to a plurality of fourth two-dimensional position predicting photographing times before the fourth three-dimensional position calculating time among the plurality of first measurement two-dimensional positions. A radiotherapy apparatus controller calculated based on a plurality of fourth two-dimensional positions for predicting a second two-dimensional position. In claim 7,
As the fourth 3D position calculation two-dimensional position, the failure third measurement two-dimensional position corresponding to the failure third imaging time among the plurality of first two-dimensional position prediction two-dimensional positions is not normally calculated. The two-dimensional positions for normal third two-dimensional position prediction excluding the failed third measurement two-dimensional position of the plurality of first two-dimensional position prediction two-dimensional positions and the plurality of first prediction two-dimensional positions. Calculated based on the auxiliary 4D 3D position calculating 2D position corresponding to the failed third imaging time of the position,
The fifth three-dimensional position calculating two-dimensional position includes the normal third two-dimensional position predicting two-dimensional position and the auxiliary fourth three-dimensional position calculating when the failed third measurement two-dimensional position is not calculated. Calculated based on the two-dimensional position for use and the second three-dimensional position for calculating the fourth three-dimensional position,
As the sixth 3D position calculation two-dimensional position, the failure fourth measurement two-dimensional position corresponding to the failure fourth imaging time among the plurality of second two-dimensional position prediction two-dimensional positions is not normally calculated. When the normal second 2D position prediction two-dimensional position excluding the failed fourth measurement two-dimensional position of the plurality of second 2D position prediction two-dimensional positions and the plurality of second prediction two-dimensional positions. A radiation therapy apparatus control device that is calculated based on the auxiliary fifth three-dimensional position calculation two-dimensional position corresponding to the failure fourth imaging time among the positions. Calculating a plurality of first measurement two-dimensional positions corresponding to a plurality of first photographing times respectively photographed at a plurality of first photographing times using a first imager;
Calculating a plurality of second measurement two-dimensional positions corresponding to a plurality of second photographing times respectively photographed at a plurality of second photographing times using the second imager;
Calculating a plurality of first predicted two-dimensional positions corresponding to a plurality of first two-dimensional position prediction target times;
Calculating a plurality of second predicted two-dimensional positions corresponding to a plurality of second two-dimensional position prediction target times;
Calculating a plurality of three-dimensional positions corresponding to a plurality of three-dimensional position prediction target times;
Calculating a control amount for directing the irradiation device to a three-dimensional position corresponding to the arbitrary time of the plurality of three-dimensional positions at an arbitrary time of the plurality of three-dimensional position prediction target times; Equipped,
A first measurement two-dimensional position corresponding to an arbitrary first photographing time among the plurality of first measurement two-dimensional positions is a correspondence photographed at the arbitrary first photographing time among the plurality of first images. A position where a predetermined image is projected on the first image,
A second measurement two-dimensional position corresponding to an arbitrary second imaging time among the plurality of second measurement two-dimensional positions is a correspondence captured at the arbitrary second imaging time among the plurality of second images. A position where the predetermined image is projected on the second image
The plurality of first 2D position prediction target times includes a time arranged between any two second 2D position prediction target times of the plurality of second 2D position prediction target times,
The plurality of second 2D position prediction target times includes a time arranged between any two first 2D position prediction target times among the plurality of first 2D position prediction target times,
Of the plurality of three-dimensional position prediction target times, a first three-dimensional position prediction target time is a first three-dimensional position calculation time of the plurality of first two-dimensional position prediction target times and the plurality of first seconds. The third three-dimensional position calculation time among the plurality of second two-dimensional position prediction target times is a case where the third three-dimensional position calculation time is arranged between the second three-dimensional position calculation time and the second three-dimensional position calculation time. The first three-dimensional position prediction time corresponding to the first three-dimensional position prediction target time among the plurality of three-dimensional positions when arranged between the first three-dimensional position calculation time and the second three-dimensional position calculation time. 1 3D position is
A first three-dimensional position calculating two-dimensional position corresponding to a first three-dimensional position calculating time among the plurality of first predicted two-dimensional positions;
A second three-dimensional position calculating two-dimensional position corresponding to a second three-dimensional position calculating time among the plurality of first predicted two-dimensional positions;
Calculated based on a third three-dimensional position calculating two-dimensional position corresponding to a third three-dimensional position calculating time among the plurality of second predicted two-dimensional positions;
The first two-dimensional position calculation two-dimensional position corresponds to a plurality of first two-dimensional position prediction photographing times before the first three-dimensional position calculation time among the plurality of first measurement two-dimensional positions. Calculated based on a plurality of first 2D position prediction 2D positions,
The second 3D position calculation two-dimensional position is calculated based on the plurality of first two-dimensional position prediction two-dimensional positions and the first three-dimensional position calculation two-dimensional position,
The third 3D position calculation two-dimensional position corresponds to a plurality of second two-dimensional position prediction imaging times before the first three-dimensional position calculation time among the plurality of second measurement two-dimensional positions. A radiotherapy apparatus control method calculated based on a plurality of second two-dimensional positions for predicting a second two-dimensional position. In claim 9,
As the first three-dimensional position calculation two-dimensional position, the failure first measurement two-dimensional position corresponding to the failure first imaging time among the plurality of first two-dimensional position prediction two-dimensional positions is not normally calculated. The two-dimensional position for normal first two-dimensional position excluding the failed first measurement two-dimensional position among the plurality of first two-dimensional position prediction two-dimensional positions and the plurality of first prediction two-dimensional positions. Calculated based on the auxiliary first three-dimensional position calculation two-dimensional position corresponding to the failure first imaging time of the position,
The second 3D position calculating two-dimensional position is calculated when the failure first measurement two-dimensional position is not calculated, and the normal first two-dimensional position predicting two-dimensional position and the auxiliary first three-dimensional position calculating. A radiation therapy apparatus control method calculated based on the two-dimensional position for use and the first three-dimensional position calculation two-dimensional position. In claim 10,
As the third 3D position calculation two-dimensional position, the failure second measurement two-dimensional position corresponding to the failure second imaging time among the plurality of second two-dimensional position prediction two-dimensional positions is not normally calculated. The two-dimensional positions for normal second two-dimensional position prediction and the plurality of second prediction two-dimensional positions excluding the failed second measurement two-dimensional position among the plurality of second two-dimensional position prediction two-dimensional positions. A radiotherapy apparatus control method calculated based on a second 2D position for auxiliary second 3D position calculation corresponding to the failed second imaging time among positions. In any one of Claims 9-11,
When the predetermined number of failed two-dimensional positions corresponding to the predetermined number of failed first imaging times among the plurality of first two-dimensional position predicting two-dimensional positions are not normally calculated, the predetermined number of failed imaging. Determining whether the time is the last predetermined number of times among the plurality of first two-dimensional position prediction imaging times;
When the predetermined number of failed two-dimensional positions corresponding to the predetermined number of failed second imaging times among the plurality of second two-dimensional position predicting two-dimensional positions are not normally calculated, the predetermined number of failed imaging. A method of controlling a radiotherapy apparatus, further comprising: determining whether a time is a predetermined number of times later than the plurality of second two-dimensional position prediction imaging times. In any one of Claims 9-12,
A second 3D position prediction target time among the plurality of 3D position prediction target times is a fourth 3D position calculation time among the plurality of second 2D position prediction target times and the plurality of second second times. The sixth 3D position calculation time among the plurality of first 2D position prediction target times is the case where it is arranged between the fifth 3D position calculation time of the dimension position prediction target times and When arranged between the fourth 3D position calculation time and the fifth 3D position calculation time, the first corresponding to the second 3D position prediction target time among the plurality of 3D positions. 2 3D position is
A fourth 3D position calculating two-dimensional position corresponding to a fourth three-dimensional position calculating time among the plurality of second predicted two-dimensional positions;
A fifth three-dimensional position calculating two-dimensional position corresponding to a fifth three-dimensional position calculating time among the plurality of second predicted two-dimensional positions;
Calculated based on a sixth three-dimensional position calculating two-dimensional position corresponding to a sixth three-dimensional position calculating time among the plurality of first predicted two-dimensional positions;
The fourth 3D position calculation two-dimensional position corresponds to a plurality of third two-dimensional position prediction imaging times before the fourth three-dimensional position calculation time among the plurality of second measurement two-dimensional positions. Calculated based on a plurality of second-dimensional positions for predicting the third two-dimensional position,
The fifth two-dimensional position for calculating the three-dimensional position is calculated based on the plurality of second two-dimensional positions for predicting the second two-dimensional position and the second two-dimensional position for calculating the fourth three-dimensional position,
The sixth 3D position calculating two-dimensional position corresponds to a plurality of fourth two-dimensional position predicting photographing times before the fourth three-dimensional position calculating time among the plurality of first measurement two-dimensional positions. A radiotherapy apparatus control method calculated based on a plurality of fourth two-dimensional positions for predicting a second two-dimensional position. In claim 13,
As the fourth 3D position calculation two-dimensional position, the failure third measurement two-dimensional position corresponding to the failure third imaging time among the plurality of first two-dimensional position prediction two-dimensional positions is not normally calculated. The two-dimensional positions for normal third two-dimensional position prediction excluding the failed third measurement two-dimensional position of the plurality of first two-dimensional position prediction two-dimensional positions and the plurality of first prediction two-dimensional positions. Calculated based on the auxiliary 4D 3D position calculating 2D position corresponding to the failed third imaging time of the position,
The fifth three-dimensional position calculating two-dimensional position includes the normal third two-dimensional position predicting two-dimensional position and the auxiliary fourth three-dimensional position calculating when the failed third measurement two-dimensional position is not calculated. Calculated based on the two-dimensional position for use and the second three-dimensional position for calculating the fourth three-dimensional position,
As the sixth 3D position calculation two-dimensional position, the failure fourth measurement two-dimensional position corresponding to the failure fourth imaging time among the plurality of second two-dimensional position prediction two-dimensional positions is not normally calculated. When the normal second 2D position prediction two-dimensional position excluding the failed fourth measurement two-dimensional position of the plurality of second 2D position prediction two-dimensional positions and the plurality of second prediction two-dimensional positions. A radiation therapy apparatus control method calculated based on an auxiliary fifth three-dimensional position calculation two-dimensional position corresponding to the failed fourth imaging time among positions.   The computer program for making a computer perform the radiotherapy apparatus control method in any one of Claims 9-14.

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