JP5038714B2 - 放射線治療装置用患者位置決めシステム - Google Patents
放射線治療装置用患者位置決めシステム Download PDFInfo
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Description
本願は、「精確な患者位置合わせおよびビーム治療システム」と共に称する2003年8月12日出願の米国予備出願第60/494,699号および2004年6月10日出願の米国予備出願第60/575,095号の利益を主張し、それらはすべて参照として組み入れられている。
前述の誤差の原因は、示された実施形態の装置100により対処した種類の誤差を単に説明するものであり、前述の装置100が追加の誤差に対処できることがわかるであろう。本実施形態において、距離SADは、理想的にはアイソセンタ120を通過する放射線源106からガントリの回転軸までの距離として定義される。相対尺度および距離の説明および理解のため、本実施形態ではSADはおおよそ2.3メートルに等しい。
Claims (43)
- 放射線治療システムであって、
ガントリと、
患者固定装置に対して患者を固定するよう構成される患者固定装置と、
前記患者固定装置を3つの並進軸及び3つの回転軸に沿って前記ガントリ内部に位置決めするよう前記患者固定装置と相互に接続する患者位置決め装置と、
実質的に不可動な基準系を定義する複数の固定ランドマークと、
前記ガントリと相互に接続し、ビーム軸に沿って選択的に放射線治療を施す放射線治療ノズルと、
少なくとも前記患者固定装置および前記ノズルの前記複数の固定ランドマークにより定義された実質的に不可動な基準系における位置測定値を取得する複数の外部測定装置と、
少なくとも前記患者固定装置および前記ノズルの前記複数の固定ランドマークにより定義された実質的に不可動な基準系に対する位置測定値を取得し、前記実質的に不可動な基準系における前記位置測定値と所望の方向付けとの差を決定し、制御信号を前記患者位置決め装置に送って患者を前記ビーム軸に対して6自由度で前記所望の方向付けに位置決めする制御装置と、
を備えている、放射線治療システム。 - 前記位置測定値を取得するため、前記外部測定装置が少なくとも前記患者固定装置および前記ノズルの光学画像を取得する、請求項1に記載のシステム。
- 少なくとも前記患者固定装置と前記ノズルに固定した複数のマーカーを更に備え、前記外部測定装置が前記マーカーの位置測定値を取得する、請求項1に記載のシステム。
- 前記ガントリおよび患者位置決め装置の少なくとも一つと動作通信する少なくとも一つの局部位置フィードバック装置を更に備え、前記少なくとも一つの局部位置フィードバック装置が前記ガントリおよび患者位置決め装置の前記少なくとも一つの位置を示す、少なくとも前記並進軸及び回転軸での位置データを前記制御装置に提供する、請求項1に記載のシステム。
- 前記システムが、患者の画像を取得し、前記ノズルに対し患者対象アイソセンタの相対
位置を決定する患者撮影装置を更に備えている、請求項1に記載のシステム。 - 前記システムが患者を初期位置に位置決めし、患者撮影後補正ベクトルを決定し、制御信号を送り、前記患者位置決め装置および前記患者対象アイソセンタを前記ノズルに対し所望の患者の姿勢に移動する、請求項5に記載のシステム。
- 前記患者撮影装置が少なくとも一つの放射線用イメージャを備えている、請求項5に記載のシステム。
- 前記患者撮影装置が少なくとも一つのX線源と少なくとも一つのソリッドステートX線イメージャとを備えている、請求項7に記載のシステム。
- 前記患者撮影装置が前記ビーム軸内およびビーム軸外へ可動である、請求項5に記載のシステム。
- 前記対象アイソセンタをより精度良く決定するために、前記患者撮影装置によって複数の面から前記患者の画像を取得する、請求項5に記載のシステム。
- 位置測定値の取得と、前記位置決め制御信号の前記患者位置決め装置への伝送とを繰返し行う、請求項1に記載のシステム。
- 前記ノズルがガントリアイソセンタの回りを回転できるよう前記ガントリと相互に接続する、請求項1に記載のシステム。
- 前記制御装置が前記実質的に不可動な基準系において前記外部測定装置により測定した方向付けおよび位置差ベクトルを決定し、前記差ベクトルを第二基準系において少なくとも一つの補正ベクトルに変換し、患者を前記ビーム軸に対して所望の姿勢に位置決めする、請求項12に記載のシステム。
- 前記少なくとも一つの補正ベクトルによって、前記ノズルを前記ガントリアイソセンタの回りを回転するよう誘導する、請求項13に記載のシステム。
- 動作する複数の構成要素を有する放射線治療システムのための患者位置決めシステムであって、
実質的に固定された第一基準系を定義する複数の固定ランドマークと、
前記実質的に固定された第一基準系における前記複数の構成要素の位置測定値を取得するよう配置され、前記複数の固定ランドマークにより定義された第一基準系における前記複数の構成要素の方向付け情報を提供する複数の外部測定装置と、
患者支持器に対して実質的に位置固定した患者を支持し、患者を制御可能に3つの並進軸及び3つの回転軸で位置決めするよう構成された可動患者支持器と、
前記複数の外部測定装置から情報を取得し、前記複数の固定ランドマークにより定義された第一基準系における前記複数の構成要素の位置測定値と該複数の構成要素に対する患者の所望の姿勢との差を決定し、該差に基づいて前記可動患者支持器に動作指示して患者を6自由度の前記所望の姿勢に位置合わせすることによって、前記位置決めシステムが前記複数の構成要素の動作を補償する制御装置と、
を備えている、患者位置決めシステム。 - 患者の前記所望の姿勢への位置合わせは、前記放射線治療システムが放射線ビームを誘導するビーム供給目標点に対する前記患者支持器の位置合わせを含んでいる、請求項15に記載の位置決めシステム。
- 患者の画像を取得する患者イメージャシステムと対象アイソセンタを更に備え、前記位
置決めシステムが前記対象アイソセンタの位置を決定し、該対象アイソセンタを前記ビーム供給目標点に位置合わせする、請求項16に記載の位置決めシステム。 - 動作する前記構成要素の少なくとも一つが動作制御可能であり、前記位置決めシステムがフィードバック機能を備え、制御信号を送ることにより患者を前記所望の姿勢に位置合わせし、前記少なくとも一つの動作制御可能な構成要素を位置決めする、請求項15に記載の位置決めシステム。
- 動作する前記複数の構成要素の選択ポイントに固定した複数のマーカーを更に備え、前記外部測定装置が前記マーカーの位置測定値を取得する、請求項15に記載の位置決めシステム。
- 複数の外部測定装置により単一のマーカーの位置測定値を取得することで、単一の外部測定装置による測定より前記単一のマーカーの位置測定の精度を高めている、請求項19に記載の位置決めシステム。
- 固定および可動構成要素を有する放射線治療システムであって、
ガントリと、
患者ポッドに対して患者を実質的に不動にするよう構成された患者ポッドと、
前記患者ポッドを3つの並進軸及び3つの回転軸に沿って前記ガントリ内部に位置決めするよう前記患者ポッドと相互に接続された患者位置決め装置と、
前記ガントリと相互に接続し、ビーム軸に沿って選択的に治療のための放射線を供給する放射線治療ノズルと、
実質的に固定された第一基準系を定義する複数の固定ランドマークと、
前記複数の固定ランドマークにより定義され実質的に固定された第一基準系における少なくとも前記患者ポッドと前記ノズルの位置測定値を取得し、前記第一基準系における少なくとも前記患者ポッドと前記ノズルの方向付け情報を提供する複数の外部測定装置と、
前記複数の固定ランドマークにより定義され実質的に固定された第一基準系における少なくとも前記患者ポッドと前記ノズルの位置測定値を取得し、前記ビーム軸に対して患者を6自由度で所望の姿勢に位置決めするための動作指示と、その6自由度の動作指示に基づき前記治療システムの他の固定および可動構成要素に対して前記患者ポッドの対応する動作軌道を決定し、前記動作指示に対して衝突が起きるかどうかを決定し、衝突が示される場合に動作を阻止する制御装置と、
を備えている、放射線治療システム。 - 前記外部測定装置が位置測定値を取得するために少なくとも前記患者ポッドとノズルの光学画像を取得する、請求項21に記載のシステム。
- 少なくとも前記患者ポッドとノズルに固定した複数のマーカーを更に備え、前記外部測定装置が前記マーカーの位置測定値を取得する、請求項21に記載のシステム。
- 前記ガントリおよび患者位置決め装置の少なくとも一つと動作通信する少なくとも一つの局部位置フィードバック装置を更に備え、前記少なくとも一つの局部位置フィードバック装置が前記ガントリおよび患者位置決め装置の少なくとも一つの位置を示す位置データを前記制御装置に提供する、請求項21に記載のシステム。
- 患者撮影装置であって、患者の画像を取得するために前記ビーム軸内へ可動であり、前記放射線ビームへの前記患者撮影装置の露出を減らすために前記ビーム軸の外へ可動である患者撮影装置を更に備え、前記システムが前記ノズルに対する患者対象アイソセンタの相対位置を決定する、請求項21に記載のシステム。
- 前記システムが患者を初期位置に位置決めし、患者撮影後、前記ノズルに対して前記患者位置決め装置と前記患者対象アイソセンタとを所望の姿勢に移動するために、6次元の補正ベクトルおよび対応する動作指示と動作軌道を決定して、該動作軌道を評価し、衝突が示される場合、動作を阻止する、請求項25に記載のシステム。
- 前記患者位置決め装置に対して位置測定値の取得と動作指示を繰返し行う、請求項21に記載のシステム。
- 前記ノズルをガントリアイソセンタの回りを回転可能となるよう前記ガントリに相互接続する、請求項21に記載のシステム。
- 前記システムが、前記ビーム軸に対して患者を所望の姿勢に位置決めするため前記患者位置決め装置および前記ガントリの両方に対する動作指示と、前記動作指示に基づき前記治療システムの他の固定および可動構成要素、前記ガントリおよび前記患者位置決め装置各々に対する動作軌道とを決定し、前記動作指示に対して衝突が起きるかどうかを決定し、衝突が示される場合、動作を阻止する、請求項28に記載のシステム。
- 前記システムが、前記所望の姿勢の取得スピードを上げるため、前記患者位置決め装置とガントリの同時動作のための動作指示と対応する軌道を決定する、請求項29に記載のシステム。
- 前記外部測定装置が、決定した前記動作軌道に入る可能性のある物体をさらにモニターし、そのような物体との衝突が示される場合、動作を阻止する、請求項21に記載のシステム。
- 固定および可動構成要素を有しビーム軸に沿って選択的に治療のための放射線を供給する放射線治療システムのための経路計画および衝突回避システムであって、
患者支持器に対して実質的に位置固定した患者を支持し、患者を制御可能に3つの並進軸及び3つの回転軸で位置決めするよう構成された可動患者支持器と、
実質的に固定された基準系を定義する複数の固定ランドマークと、
位置情報を提供するために、前記複数の固定ランドマークにより定義され実質的に固定された基準系における前記放射線治療システム及び患者支持器の構成要素の位置測定値、並びに前記前記複数の固定ランドマークにより定義され実質的に固定された基準系における他の任意の物体の位置測定値を取得するよう配置された複数の外部測定装置と、
前記複数の外部測定装置から位置情報を取得し、前記可動患者支持器に動作指示し患者を自動的に6自由度の所望の姿勢に位置合わせし、対応する動作エンベロープを決定する制御装置であって、前記動作エンベロープを評価し、衝突が示される場合、前記患者支持器の動作を阻止し、そうでなければ動作を開始する制御装置と、
を備えている、経路計画および衝突回避システム。 - 患者の前記6自由度の所望の姿勢への位置合わせが、前記放射線治療システムが前記治療のための放射線のビームを誘導するビーム供給目標点に対して前記患者支持器を位置合わせすることを含んでいる、請求項32に記載の経路計画および衝突回避システム。
- 患者の画像および対象アイソセンタを取得するために前記ビーム軸の内外へ可動である患者イメージャシステムを更に備え、前記経路計画および衝突回避システムが前記患者イメージャと前記患者支持器の両方についての6自由度の動作指示と軌道を決定し、衝突が示される場合、動作を阻止する、請求項32に記載の経路計画および衝突回避システム。
- 動作する前記複数の構成要素の選択ポイントに固定した複数のマーカーを備え、前記外部測定装置が前記マーカーの位置測定値を取得する、請求項32に記載の経路計画および衝突回避システム。
- 複数の外部測定装置により単一のマーカーの位置測定値を取得して、単一の外部測定装置で測定するより前記単一のマーカーの位置をより精度良く測定する、請求項35に記載の経路計画および衝突回避システム。
- 患者体内の予め選定した位置へ治療を施すためのシステムであって、
実質的に固定された第一基準系を定義する複数の固定ランドマークと、
6自由度の動作が可能である患者位置決め装置とノズルを含む複数の可動構成要素と、
前記複数の固定ランドマークにより定義され実質的に固定された第一基準系における前記複数の可動構成要素及び該可動構成要素に近接する他の任意の物体の物理的な位置をモニターし、これらを表す信号を送る外部モニターシステムと、
前記複数の可動構成要素の動作をモニターし、これらを表す信号を送る内部モニターシステムと、
を備え、
前記外部および内部モニターシステムからの前記信号をモニターし、信号が構成要素の衝突が起きそうであると示す場合に前記複数の構成要素の動作を阻止する、システム。 - 前記外部モニターシステムが前記可動構成要素の特徴的なモニュメントを撮影し、その物理的位置をモニターする、請求項37に記載のシステム。
- 前記モニュメントが前記可動構成要素の選択部位に取付けたマーカーを備えている、請求項38に記載のシステム。
- 前記外部モニターシステムが前記可動構成要素の光学画像を取得する複数のカメラを備えている、請求項38に記載のシステム。
- 前記内部モニターシステムが前記可動構成要素の前記測定位置に関する情報を供給するために前記動作構成要素と動作通信するレゾルバーを備えている、請求項37に記載のシステム。
- 前記レゾルバーが回転角エンコーダを備えている、請求項41に記載のシステム。
- 前記患者位置決め装置により支持された患者の少なくとも一つの画像を取得する患者イメージャを備え、
前記システムが前記患者の少なくとも一つの画像を評価し、制御信号を送り、前記患者位置決め装置および前記ノズルの少なくとも一つを互いに動作するよう誘導し、所望の治療姿勢を実現する、請求項37に記載のシステム。
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KR20120034236A (ko) | 2012-04-10 |
AU2004266644B2 (en) | 2009-07-16 |
EP1664752A4 (en) | 2009-09-16 |
US20070164230A1 (en) | 2007-07-19 |
US20060017022A1 (en) | 2006-01-26 |
KR101212792B1 (ko) | 2012-12-20 |
US7199382B2 (en) | 2007-04-03 |
AU2009227819A1 (en) | 2009-11-05 |
US20050281374A1 (en) | 2005-12-22 |
AU2004266644A1 (en) | 2005-03-03 |
JP2007502166A (ja) | 2007-02-08 |
AU2009227819B2 (en) | 2011-03-31 |
CA2535121C (en) | 2021-03-23 |
CA2535121A1 (en) | 2005-03-03 |
KR20120101169A (ko) | 2012-09-12 |
WO2005018734A2 (en) | 2005-03-03 |
EP1664752A2 (en) | 2006-06-07 |
WO2005018734A3 (en) | 2005-10-20 |
AU2009227819A2 (en) | 2009-12-24 |
KR20060066723A (ko) | 2006-06-16 |
US7446328B2 (en) | 2008-11-04 |
MXPA06001581A (es) | 2006-05-19 |
KR101164150B1 (ko) | 2012-07-13 |
EP1664752B1 (en) | 2017-06-14 |
KR101249815B1 (ko) | 2013-04-03 |
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