JP2018148937A - Radiation treatment apparatus and treatment table positioning apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a radiation treatment apparatus capable of quickly performing accurate positioning with a simple configuration, and a treatment table positioning apparatus useful for the radiation treatment apparatus.SOLUTION: A radiation treatment apparatus includes: a treatment table 1 on which a patient is placed capable of performing a positioning operation for the patient with a target area; a measuring unit 5 for measuring a three-dimensional position/posture of the treatment table 1; a fully closed control system for feed-backing the information on the three-dimensional position/posture of the treatment table 1 measured by the measuring unit 5 and positioning the treatment table 1; and a semi-closed control system for positioning the treatment table 1 using an estimated value of the three-dimensional position/posture of the treatment table 1 without using the information on the three-dimensional position/posture of the treatment table 1 measured by the measuring unit 5.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a radiation therapy apparatus and a treatment table positioning apparatus.

  Patent document 1 is known as a background art of this technical field. In Patent Document 1, when aligning an image used in radiotherapy, shortening the time required for aligning a region or region serving as a positioning reference depicted in an image with a region or region to be treated For the purpose of, for the treatment plan CT image and the three-dimensional tomographic image taken for positioning the treatment table, the feature amount related to the position of the region of interest set by the treatment plan apparatus is calculated, and these feature amounts are weakened. Perform machine learning as a discriminator, determine the part or region to be aligned and the degree of alignment, and create an evaluation formula for positioning using the part or region and weight obtained by learning. It is described that positioning is performed using an equation.

JP, 2014-212820, A

  In cancer treatment, in recent years, radiation therapy that irradiates radiation such as particle beams such as proton beams and carbon ion beams and X-rays has attracted attention.

  FIG. 13 is a perspective view showing an outline of a partial configuration of a treatment apparatus used for particle beam therapy which is a kind of radiation therapy. As shown in FIG. 13, in the particle beam therapy system, the affected part is irradiated with the particle beam P accelerated to the necessary energy by the accelerator from the irradiation nozzle 1002. The irradiation nozzle 1002 is rotated by a rotating gantry 1003, and the patient is positioned at the irradiation position of the particle beam P by the treatment table 1001 capable of positioning operation. By the operation of the rotating gantry 1003 and the treatment table 1001, the affected part can be irradiated with the particle beam P from various directions. In order to accurately irradiate the affected part with the particle beam P, it is necessary to accurately position the treatment table 1001.

  Patent Document 1 describes a method related to alignment just before treatment in radiation therapy.

  In the treatment by radiation irradiation, an X-ray image or the like in the vicinity of the affected part is taken immediately before the treatment, and the position of the treatment table is finer compared with the image at the time of treatment planning using the method described in Patent Document 1 as described above. By adjusting, the radiation position and the affected part are accurately aligned.

  Here, in radiation therapy, radiation is emitted from a plurality of directions depending on the affected part, and therefore, a positioning operation of the rotating gantry and the treatment table is required for each irradiation direction. Increases treatment time. In some cases, an X-ray image cannot be taken depending on the irradiation direction.

  Therefore, it is desired that the treatment table can be positioned accurately and promptly including when the irradiation direction is changed.

  The objective of this invention is providing the radiotherapy apparatus which can perform highly accurate positioning rapidly with a simple structure, and a treatment table positioning apparatus useful for it.

In order to solve the above problems, for example, the configuration described in the claims is adopted.
The present invention includes a plurality of means for solving the above-described problems. For example, a radiotherapy apparatus for irradiating a target region with radiation, and a positioning operation of a patient having the target region is performed. Possible feedback of the treatment table on which the patient is placed, a measurement unit for measuring the three-dimensional position / posture of the treatment table, and the information on the three-dimensional position / posture of the treatment table measured by the measurement unit Without using the fully closed control system for positioning the treatment table and the information on the three-dimensional position and posture of the treatment table measured by the measurement unit, using the estimated value of the three-dimensional position and posture of the treatment table And a semi-closed control system for positioning the treatment table.

  ADVANTAGE OF THE INVENTION According to this invention, the radiotherapy apparatus and treatment table positioning apparatus which can perform highly accurate positioning rapidly with simple structure can be provided.

1 is a perspective view showing an outline of a particle beam therapy system in Example 1. FIG. 1 is a perspective view showing a treatment table in Example 1. FIG. FIG. 3 is a block diagram illustrating functions of a control device according to the first embodiment. It is a figure which shows the flow at the time of full-closed control of the control apparatus in Example 1. FIG. It is a figure which shows the flow at the time of the semi-closed control of the control apparatus in Example 1. FIG. 3 is a flowchart illustrating a treatment flow in the first embodiment. It is a perspective view which shows the load position of the particle beam therapy apparatus in Example 1. FIG. It is a perspective view which shows the mode of the position alignment of the particle beam therapy apparatus in Example 1. FIG. It is a perspective view which shows the example of the irradiation position of the particle beam therapy apparatus in Example 1. FIG. It is a perspective view which shows the example of the irradiation position of the particle beam therapy apparatus in Example 1. FIG. It is a perspective view which shows the outline of the particle beam therapy apparatus in Example 2. FIG. It is a perspective view which shows the treatment table and measurement unit in Example 2. FIG. It is a perspective view which shows the outline around a treatment stand among general particle beam therapy apparatuses.

  Embodiments of a radiotherapy apparatus and a treatment table positioning apparatus according to the present invention will be described below with reference to the drawings.

<Example 1>
A first embodiment of a radiotherapy apparatus and a treatment table positioning apparatus capable of positioning with high accuracy with a simple structure according to the present invention will be described using a particle beam therapy apparatus as an example with reference to FIGS. First, the entire configuration of the particle beam therapy system 100 and the structure around the treatment table 1 in the particle beam therapy system 100 will be described with reference to FIGS. 1 and 2. FIG. 1 is a perspective view showing a particle beam therapy system 100 in this embodiment, and FIG. 2 is a perspective view showing a treatment table 1.

  In FIG. 1, a particle beam therapy apparatus 100 is an apparatus for irradiating a target region with a particle beam made of heavy particles such as protons and carbon, and includes an accelerator 30, a beam transport device 35, a central control system 40, a patient. A treatment table 1 capable of positioning, an irradiation nozzle (irradiation device) 2 for irradiating the particle beam supplied from the accelerator 30, a rotating gantry 3 for rotating the irradiation nozzle 2 to change the irradiation angle of the particle beam, and the like. ing.

  The particle beam is accelerated to necessary energy by an accelerator 30 provided in a separate room from the treatment room, and then guided to the irradiation nozzle 2 by the beam transport device 35. A particle beam generating apparatus that generates particle beams from the accelerator 30 and the beam transport apparatus 35 is configured. The accelerator 30 can be a synchrotron accelerator, a cyclotron accelerator, or another accelerator.

  The rotating gantry 3 is installed around the treatment table 1 so as to be able to rotate 360 °.

  The central control system 40 includes an irradiation control device 42 that controls operations of the accelerator 30, the beam transport device 35, the irradiation nozzle 2, and the rotating gantry 3, a control device 7 that controls the positioning operation of the treatment table 1, and an image processing device 6. And have.

  In FIG. 2, the treatment table 1 includes a top plate 1a on which a patient is placed and a positioning mechanism 1b having three degrees of freedom for translation and three degrees of freedom for positioning, and can perform a positioning operation with six degrees of freedom for a patient having a target area. This is an articulated robot (arm type robot). Further, a force sensor 1c is provided at the base of the top plate 1a of the treatment table 1, and six-axis forces and moments applied to the top plate 1a are measured. By the operation of the rotating gantry 3 and the treatment table 1, it is possible to irradiate the affected part with particle beams from various directions.

  In front of the rotating gantry 3, a measuring unit (measuring unit) 5 including an arc-shaped rail 5a and six cameras 5b installed on the rail 5a is provided. The measurement unit 5 measures the three-dimensional position / posture of the treatment table 1 by measuring the three-dimensional position / posture of the marker 4 on the top board 1a.

  The camera 5b is installed facing the isocenter serving as a center coordinate serving as a reference when irradiating the particle beam. The field of view of the camera 5b is set to a magnification that allows the marker 4 to be within the field of view when the top 1a is near the treatment position.

  The marker 4 is provided with a material that reflects infrared rays in its outline, and four markers 4 are provided so as to surround the treatment region on the top board 1a.

  The image processing device 6 calculates the three-dimensional position / orientation of the marker 4 from the image of the marker 4 taken by the six cameras 5b. The image processing apparatus 6 can calculate the three-dimensional position / posture of the marker 4 by a known method, and details thereof are omitted.

  The operation of the treatment table 1 is controlled by the control device 7. Details of the control device 7 will be described below with reference to FIGS. 3 is a block diagram showing the operation of the control device 7, FIG. 4 is a diagram showing a signal flow during full-closed control, and FIG. 5 is a diagram showing a signal flow during semi-closed control.

  As shown in FIG. 3, the control device 7 includes a command device 10, a control system 11, a driver 12, a position estimation device 13, a database 14, a position calculation device 15, and a position determination device 16.

  The command device 10 generates an operation command Xc to the treatment table 1 from a treatment plan or an operator input, and sends it to the control system 11.

  The control system 11 generates a command signal for each joint of the treatment table 1 from an operation command Xc from the command device 10 and a feedback signal Xfb from a position determination device 16 described later, and sends it to the driver 12 of each joint.

  The driver 12 drives each joint of the treatment table 1 according to a command signal to each joint. Although one driver 12 is illustrated in FIG. 3, the treatment table 1 has six degrees of freedom, and the driver 12 includes six axes.

  The position estimation device 13 includes a current position of each joint of the treatment table 1 from the driver 12, a six-axis force / moment F obtained by the force sensor 1 c of the treatment table 1, and an estimation formula stored in the database 14. Is used to calculate the estimated value Xe of the three-dimensional position / posture of the top board 1a.

  Ideally, the three-dimensional position / posture of the top board 1a can be obtained from the current position of each joint of the treatment table 1. However, the treatment table 1 depends on manufacturing errors, patient weight, and the weight of the treatment table 1. Due to an error due to the entire elastic deformation, the actual three-dimensional position / posture of the top plate 1a causes an error between the ideal three-dimensional position / posture of the top plate 1a. Therefore, an estimation formula for measuring the three-dimensional position / posture of the top board 1a under various conditions in advance and obtaining the actual three-dimensional position / posture is prepared and stored in the database 14.

  On the other hand, the position calculation device 15 calculates the measurement value Xm of the three-dimensional position / posture of the top board 1a from the three-dimensional coordinates of the four markers 4 obtained by the image processing device 6. If the three-dimensional coordinates of three or more of the four markers 4 are obtained, the three-dimensional position / posture of the top board 1a can be obtained. In addition, when the top plate 1a is away from the treatment position or the marker 4 is shielded by an obstacle and the three-dimensional position / posture of the top plate 1a cannot be obtained, an error is output as the measured value Xm. .

  The position determination device 16 reads the estimated value Xe from the position estimation device 13 and the measurement value Xm from the position calculation device 15, generates a feedback signal Xfb, and sends it to the control system 11.

  When the measurement value Xm is obtained in the vicinity of the treatment position, the position determination device 16 uses the measurement value Xm as the feedback signal Xfb as shown in FIG. Since the position of the treatment table 1 is controlled by feeding back the measured value Xm of the three-dimensional position / posture of the top plate 1a of the treatment table 1 calculated by the measurement unit 5 and calculated by the position calculation device 15, the fully closed control is performed. Become a system.

  In the fully closed control system, the position determination device 16 outputs an irradiation signal to the irradiation control device 42 so that the particle beam is irradiated only while the measurement value Xm is obtained during the particle beam irradiation. Further, the position determination device 16 monitors whether or not the measurement value Xm has changed by a predetermined magnitude or more during the irradiation of the particle beam, and stops irradiation to the irradiation control device 42 when it is determined that the measurement value Xm has changed. A signal is output and the irradiation of the particle beam is stopped.

  On the other hand, when it is away from the treatment position from the top board 1a or when the measurement value Xm is an error, the position determination device 16 uses the estimated value Xe as the feedback signal Xfb as shown in FIG. Since the three-dimensional position / posture of the top plate 1a to be finally controlled cannot be obtained or the accuracy of the value is not sufficiently secured, the three-dimensional position of the treatment table 1 measured by the measurement unit 5 Since the estimated value of the three-dimensional position / posture of the treatment table 1 is calculated from each joint angle of the treatment table 1 without using the posture information and the estimated value is fed back, a semi-closed control system is obtained.

  When the treatment table 1 is within a predetermined range from the irradiation position of the radiation and the three-dimensional position / posture of the treatment table 1 is obtained by the measurement unit 5, the treatment table 1 is positioned by the fully closed control system. When the treatment table 1 is not within the predetermined range from the irradiation position, or when the three-dimensional position / posture of the treatment table 1 cannot be obtained by the measurement unit 5, the treatment table 1 is positioned by the semi-closed control system. However, for example, the position determination device 16 determines whether or not the measurement value Xm is an error or an effective value. When the measurement value Xm is an effective value, the semi-closed control is switched to the fully closed control. If the error occurs, switch from fully closed control to semi-closed control or maintain semi-closed control. In to run.

  The switching condition between the fully closed control system and the semi-closed control system is not limited to this, and the difference between the estimated value Xe and the measured value Xm is calculated, and when the difference is equal to or less than a predetermined value, the semi-closed control system Switching to full-closed control or maintaining full-closed control, and when greater than a predetermined value or an error, can be executed by switching from full-closed control to semi-closed control or maintaining semi-closed control.

  In addition to automatic switching, various methods can be used. For example, the operator may switch manually. When moving the treatment table 1 to the irradiation position, the positioning accuracy during movement is not so important, so it is basically controlled by the semi-closed control system, moved to the vicinity of the irradiation position and fully closed after inputting the switching instruction. It is also possible to switch to the control system and accurately position the irradiation position. Furthermore, it is also possible to receive various signals relating to irradiation such as a particle beam irradiation start signal and switch based on the input signals.

  The measurement unit 5, and a fully closed control system constituted by the measurement unit 5, the position calculation device 15 and the position determination device 16, and a semi-closed control system constituted by the position estimation device 13, the database 14 and the position determination device 16 The treatment table positioning device is configured by the control device 7 having the same.

  Next, the operation of the particle beam therapy system and the treatment table positioning apparatus of this embodiment during treatment will be described below with reference to FIGS. FIG. 6 is a flowchart showing the flow of treatment, FIG. 7 is a perspective view showing how a patient gets on and off the treatment table, FIG. 8 is a state of alignment immediately before treatment, and FIGS. 9 and 10 are views of a state during treatment. FIG.

  First, as shown in FIG. 7, the treatment table 1 is moved to a load position away from the rotating gantry 3, and the patient is placed on the top board 1a (FIG. 6, step S01). At this time, since the marker 4 is outside the field of view of the camera 5b, the three-dimensional position / posture of the top board 1a is not obtained, and an error is output as the measurement value Xm. It is controlled by semi-closed control.

  Next, as shown in FIG. 8, with the semi-closed control, the treatment table 1 is moved to the vicinity of the treatment position, and an X-ray image in the vicinity of the affected area is captured by an X-ray image capturing apparatus (not shown) attached to the irradiation nozzle 2. Then, alignment is started (FIG. 6, step S02). During the movement to the vicinity of the treatment position, the marker 4 appears in the field of view of the camera 5b, and the measured value Xm from the position calculation device 15 becomes an effective value. Switch to full closed control.

  The feedback signal Xfb is switched from the estimated value Xe to the measured value Xm on the way, but normally, the error between the estimated value Xe and the measured value Xm is a small value of about 1 mm, so that the feedback signal Xfb is switched smoothly. In this procedure S02, the X-ray image near the affected area is compared with the CT image at the time of treatment planning, and the position and posture of the treatment table 1 are finely adjusted so that the affected area matches the irradiation position.

  Subsequently, as shown in FIGS. 9 and 10, the treatment table 1 and the rotating gantry 3 are moved to the irradiation position of the particle beam (FIG. 6, step S03). When the alignment position and the irradiation position are the same, step S03 can be omitted.

  Between these steps S02 to S03, the treatment table 1 is basically controlled by the full-closed control of FIG. 4 and moves while feeding back the measured value Xm of the three-dimensional position / posture of the top 1a. Positioning with high accuracy can be performed without causing the affected part position aligned in step S02 to deviate from the irradiation position. In addition, depending on the position of the treatment table 1 or the rotating gantry 3, there may be a situation where the field of view of the camera 5b is obstructed. Can be taken, and the fully closed control is maintained. If a sufficient number of markers 4 cannot be imaged while the treatment table 1 or the rotating gantry 3 is moving, the measurement value Xm results in an error, so the control of the treatment table 1 is temporarily switched to semi-closed control. As soon as a sufficient number of markers 4 can be photographed, the control switches to full closed control.

  When the movement to the irradiation position is completed, each joint of the treatment table 1 is braked, and the affected part is irradiated with the particle beam for treatment (FIG. 6, step S04).

  During the treatment, the measurement value Xm of the top board 1a is continuously monitored, and the target area is irradiated with radiation only while the measurement value Xm is obtained. If the three-dimensional position / posture of the top board 1a moves more than a predetermined value due to the patient's movement or the like, the proton beam irradiation is stopped. By these controls, it is possible to accurately irradiate only the planned site.

  After irradiation with a predetermined dose of particle beam, it is determined whether or not it is planned to irradiate the particle beam from another direction, that is, whether or not the treatment has been completed (step S05 in FIG. 6). If it is determined that the process has been completed, the process proceeds to step S06. If it is determined that the process has not been completed, steps S03 and S04 are repeated as many times as necessary.

  When irradiation from the necessary direction is completed, the treatment table 1 is moved to the load position as shown in FIG. 7, the patient is lowered from the top board 1a (FIG. 6, step S06), and the treatment is completed.

  Next, the operation of the treatment table positioning device in the adjustment stage of the particle beam therapy system of this embodiment will be described.

  As described above, an estimation formula for calculating the estimated value Xe of the three-dimensional position / attitude of the top board 1 a by the position estimation device 13 is prepared in advance and stored in the database 14. This estimation formula is stored in advance in the database 14 when the treatment table 1 is manufactured. However, the accuracy is not sufficient because the conditions do not completely match at the time of manufacture and when actually installed in the hospital treatment room. There is. Therefore, it is desirable to reconstruct the estimation formula by measuring the positioning error of the treatment table 1 by the measurement unit 5 when the treatment table 1 is introduced.

  Further, in the daily inspection of the particle beam therapy system, it is desirable to compare the estimated value Xe and the measured value Xm, and output an alarm to the operator so as to perform readjustment when the deviation becomes larger than a predetermined value. In addition, the change with time of the estimated value Xe and the measured value Xm is also stored, and the time when the deviation is likely to be larger than a predetermined value is predicted in advance, and the time when the readjustment is expected to be displayed is displayed to the operator. It is desirable to do.

  Next, the effect of the present embodiment will be described.

  The particle beam therapy system 100 according to the first embodiment of the present invention described above is capable of positioning a patient having a target area, and measures the three-dimensional position and posture of the treatment table 1 on which the patient is placed and the treatment table 1. A unit 5, a fully closed control system for positioning the treatment table 1 by feeding back information on the three-dimensional position and posture of the treatment table 1 measured by the measurement unit 5, and a tertiary of the treatment table 1 measured by the measurement unit 5 And a semi-closed control system that positions the treatment table 1 using the estimated values of the three-dimensional position and posture of the treatment table 1 without using the information on the original position and posture. In addition, the treatment table positioning apparatus according to the first embodiment includes a measurement unit 5 that measures the three-dimensional position / posture of the treatment table 1 on which a patient is placed, and the three-dimensional position / posture of the treatment table 1 measured by the measurement unit 5. Without using the information on the three-dimensional position / posture of the treatment table 1 measured by the full closed control system for positioning the treatment table 1 by feeding back the information and the three-dimensional position / posture of the treatment table 1. And a semi-closed control system for positioning the treatment table 1 using the estimated value.

  With such a configuration, the treatment table 1 is positioned using the estimated value Xe at a timing when positioning accuracy is not required as much as the irradiation time such that the measured value Xm of the top plate 1a cannot be obtained, and the measured value Xm of the top plate 1a is determined. Since the treatment table 1 is positioned using the measured value Xm at the time of irradiation at which irradiation is obtained or at the time of irradiation positioning before the start of irradiation, high-precision positioning can be performed more quickly than in the past while having a simple structure. it can. In addition, when proton beams are irradiated from multiple directions, it is not necessary to perform X-ray image capturing and alignment for each irradiation position, so that the treatment time can be shortened compared to the conventional method, reducing the burden on the patient. There is also an effect that.

  The treatment table 1 has a structure having at least one or more joints, and the semi-closed control system calculates an estimated value of the three-dimensional position / posture of the treatment table 1 from each joint angle of the treatment table 1 and estimates it. Since the treatment table 1 is positioned by feeding back the value, the treatment table 1 can be quickly positioned with a simple configuration when the positioning accuracy is not as high as that during irradiation.

  Further, when the treatment table 1 is within a predetermined range from the irradiation position of the particle beam and the three-dimensional position / posture of the treatment table 1 is obtained by the measurement unit 5, the treatment table 1 is obtained by a fully closed control system. When the treatment table 1 is not within the predetermined range from the irradiation position, or when the three-dimensional position / posture of the treatment table 1 cannot be obtained by the measurement unit 5, the treatment table 1 is moved by the semi-closed control system. By positioning, high-precision positioning can be stably performed with a simple structure.

  Further, by irradiating the target area with the particle beam only while the three-dimensional position / posture of the treatment table 1 is obtained by the measurement unit 5, the particle beam is applied only when it is determined that the target area is at the irradiation position. Irradiation can be performed, and more accurate particle beam irradiation can be realized.

  Furthermore, when the treatment table 1 moves more than a predetermined size during the irradiation of the particle beam, the irradiation of the particle beam is stopped, so that it is determined that the target region has shifted from the irradiation position. Since irradiation can be stopped, it is possible to realize further highly accurate particle beam irradiation.

  Moreover, the difference between the estimated value Xe and the measured value Xm is made smaller by calibrating the estimated value of the semi-closed control system using the information of the three-dimensional position / posture of the treatment table 1 measured by the measuring unit 5. Therefore, positioning control can be ensured and smooth operation is possible even when the control system is switched.

  Further, the estimated value of the three-dimensional position / posture of the treatment table 1 and the information of the three-dimensional position / posture of the treatment table 1 measured by the measurement unit 5 are compared, and the readjustment time of the treatment table 1 and the measurement unit 5 is compared. To decide. When a shift occurs in the joint axis of the treatment table 1 or when the arrangement of the camera 5b is shifted, the difference between the estimated value Xe and the measurement value Xm changes. Therefore, when there is a large change, the treatment table 1 and the measurement unit 5 can be readjusted, and the positioning accuracy of the treatment table 1 can be maintained at a high level.

  The treatment table 1 has a top plate 1a on which the patient is placed, and the measurement unit 5 can detect a region close to the patient by measuring the three-dimensional position / posture of the top plate 1a. The positioning accuracy of the region can be performed with higher accuracy.

  Furthermore, since the measurement unit 5 is composed of a plurality of cameras 5b installed around the treatment table 1, it is possible to secure a wide range in which the treatment table 1 can be detected and improve detection accuracy. can do.

  In addition, although the case where four markers 4 are provided in the top plate 1a has been described, five or more markers 4 may be provided. Further, although six cameras 5b are provided on the rail 5a, seven or more cameras 5b may be installed. By installing more markers 4 and cameras 5b, the measurement value Xm of the three-dimensional position / orientation of the top board 1a can be obtained with high accuracy and high reliability. By limiting the visual field of the camera 5b to the vicinity of the treatment position, high positioning accuracy can be obtained at the treatment position where positioning accuracy is required.

  Further, the measurement unit is not limited to the plurality of cameras 5 b and the marker 4. For example, it is possible to measure the distance from the device to the target and the spatial angle, and specify the spatial position of the target with reference to the device, and fix the treatment room such as the rail 5a, floor, wall, ceiling, etc. It can be a laser tracker fixed to the part.

<Example 2>
A radiotherapy apparatus and a treatment table positioning apparatus according to Embodiment 2 of the present invention will be described with reference to FIGS. 11 and 12. FIG. 11 is a perspective view showing the particle beam therapy apparatus 200 in the present embodiment, and FIG. 12 is a perspective view showing the treatment table 51 and the measurement unit 55. In addition, the same code | symbol is shown to the same structure as Example 1, and description is abbreviate | omitted.

  The particle beam therapy system and the treatment table positioning apparatus of the present embodiment can perform positioning with higher accuracy than the first embodiment.

  As shown in FIG. 11, the particle beam therapy system 200 of this embodiment includes an accelerator 30, a beam transport device 35, a central control system 45, a treatment table 51 for positioning a patient, an irradiation nozzle 52 for irradiating particle beams, and an irradiation nozzle. A rotating gantry 53 that rotates 52 is provided.

  The rotating gantry 53 of the present embodiment is installed so as to be able to rotate 180 ° from the vertically upper side to the vertically lower side of the treatment table 51, and is a half gantry in which one side is released.

  The central control system 40 includes an irradiation control device 47 that controls the operation of the accelerator 30, the beam transport device 35, the irradiation nozzle 52, and the rotating gantry 53, a control device 57 that controls the positioning operation of the treatment table 51, and an image processing device 56. And have.

  In FIG. 12, a treatment table 51 includes a top plate 51a on which a patient is placed and a positioning mechanism 51b having three degrees of freedom for translation and three degrees of freedom for positioning, and can position the patient with six degrees of freedom. In addition, a force sensor 51c is provided at the base of the top plate 51a, and a load applied to the top plate 51a is measured. By the operation of the rotating gantry 53 and the treatment table 51, it is possible to irradiate the affected area with particle beams from various directions. The operation of the treatment table 51 is controlled by the control device 57.

  The top plate 51a is provided with four markers 54a made of a material that reflects infrared rays in its outline. The marker 54a is installed so as to surround the treatment area on the top board 51a (two of them are omitted for convenience of illustration). In addition, a fixture 58 for fixing the movement around the affected area of the patient is installed on the top plate 51a, and a plurality of markers 54b using a material that reflects infrared rays in its outline are also installed on the fixture 58. .

  A measurement unit 55 is provided around the rotating gantry 53. The measuring unit 55 includes a rail 55a surrounding the rotating gantry 53 and six cameras 55b installed on the rail 55a. The camera 55b is installed facing the isocenter. The camera 55b is set to a magnification such that the markers 54a and 54b are within the visual field when the top 51a is at the treatment position.

  The image processing device 56 calculates the three-dimensional coordinates of the markers 54a and 54b from the images of the markers 54a and 54b taken by the six cameras 55b.

  The configuration and operation of the control device 57 and the irradiation nozzle 52, the flow of treatment by the particle beam treatment device 200, and the flow of positioning of the treatment table 51 by the treatment table positioning device are the same as those in the first embodiment, and the details are omitted.

  Also in the particle beam therapy system 200 and the treatment table positioning device of Example 2 of the present invention, substantially the same effects as those of the particle beam therapy device 100 and the therapy table positioning device of Example 1 described above can be obtained.

  Further, the treatment table 51 has a fixing tool 58 for fixing the affected part, and the measurement unit 55 measures the three-dimensional position / posture of the fixing tool 58 so that the tertiary of the marker 54b of the fixing tool 58 closer to the affected part. By measuring and feeding back the three-dimensional position / posture of the fixture 58 from the original coordinates, it is possible to improve the irradiation accuracy of the particle beam to the affected part. Further, since the camera 55b is disposed so as to surround the irradiation position in three dimensions, the measurement accuracy of the markers 54a and 54b is improved, and the situation in which the markers 54a and 54b cannot be photographed by the camera 55b is reduced.

  Although the irradiation nozzle 52 is rotated by the rotating gantry 53, the irradiation nozzle 52 may be fixed to the wall of the treatment room. In this case, since the irradiation nozzle 52 does not move, the camera 55b can be arranged more freely. Further, the camera 55b may be installed in a fixed part in the treatment room such as a floor, a wall, or a ceiling instead of the rail 55a.

<Others>
In addition, this invention is not limited to said Example, Various modifications are included. The above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Also, a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment. Moreover, it is also possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  For example, although the particle beam therapy system has been described as an example in the above-described embodiments, the radiotherapy system of the present invention can be an apparatus that irradiates X-rays, electron beams, and the like.

DESCRIPTION OF SYMBOLS 1,51 ... Treatment table 1a, 51a ... Top plate 1b, 51b ... Positioning mechanism 1c, 51c ... Force sensor 2, 52 ... Irradiation nozzle (irradiation apparatus)
3, 53 ... Rotating gantry 4, 54a, 54b ... Marker 5, 55 ... Measuring unit (measuring unit)
5a, 55a ... rails 5b, 55b ... cameras 6, 56 ... image processing devices 7, 57 ... control device 10 ... command device 11 ... control system 12 ... driver 13 ... position estimation device 14 ... database 15 ... position calculation device 16 ... position Determination device 30 ... Accelerator 35 ... Beam transport device 40,45 ... Central control system 42,47 ... Irradiation control device 58 ... Fixing tool 100,200 ... Particle beam therapy device P ... Particle beam

Claims (10)

A radiotherapy apparatus for irradiating a target area with radiation,
A treatment table on which the patient can be placed, capable of positioning the patient having the target area;
A measurement unit for measuring the three-dimensional position / posture of the treatment table;
A fully-closed control system for positioning the treatment table by feeding back information on the three-dimensional position and posture of the treatment table measured by the measurement unit;
Semi-closed control system for positioning the treatment table using the estimated value of the three-dimensional position / posture of the treatment table without using the information of the three-dimensional position / posture of the treatment table measured by the measurement unit; A radiation therapy apparatus comprising: The radiotherapy apparatus according to claim 1, wherein
The treatment table is a structure having at least one joint,
The semi-closed control system calculates an estimated value of a three-dimensional position / posture of the treatment table from each joint angle of the treatment table, and feeds back the estimated value to position the treatment table. Therapeutic device. The radiotherapy apparatus according to claim 1, wherein
When the treatment table is within a predetermined range from the irradiation position of the radiation and the three-dimensional position / posture of the treatment table is obtained by the measurement unit, the treatment table is moved by the full-closed control system. Positioning,
When the treatment table is not within the predetermined range from the irradiation position, or when the three-dimensional position / posture of the treatment table cannot be obtained by the measurement unit, the treatment table is positioned by the semi-closed control system. A radiotherapy apparatus characterized by: The radiotherapy apparatus according to claim 1, wherein
The radiotherapy apparatus characterized by irradiating the target region with the radiation only while the three-dimensional position / posture of the treatment table is obtained by the measurement unit. The radiotherapy apparatus according to claim 1, wherein
The radiation therapy apparatus, wherein the radiation irradiation is stopped when the treatment table moves more than a predetermined size during the radiation irradiation. The radiotherapy apparatus according to claim 1, wherein
A radiotherapy apparatus, wherein the estimated value of the semi-closed control system is calibrated using information on a three-dimensional position / posture of the treatment table measured by the measurement unit. The radiotherapy apparatus according to claim 1, wherein
The estimated value of the three-dimensional position / posture of the treatment table is compared with the information of the three-dimensional position / posture of the treatment table measured by the measurement unit, and the readjustment time of the treatment table and the measurement unit is determined. A radiotherapy apparatus characterized by: The radiotherapy apparatus according to claim 1, wherein
The treatment table has a top plate on which a patient is placed, or a fixture for fixing the affected part,
The measurement unit measures a three-dimensional position / posture of the top plate or the fixture. The radiotherapy apparatus according to claim 1, wherein
The measurement unit includes a plurality of cameras installed around the treatment table. A treatment table positioning device for positioning a treatment table on which a patient is placed during radiation treatment,
A measuring unit for measuring a three-dimensional position / posture of a treatment table on which the patient is placed;
A fully-closed control system for positioning the treatment table by feeding back information on the three-dimensional position and posture of the treatment table measured by the measurement unit;
Semi-closed control system for positioning the treatment table using the estimated value of the three-dimensional position / posture of the treatment table without using the information of the three-dimensional position / posture of the treatment table measured by the measurement unit; A treatment table positioning device characterized by comprising:

Images