JP5795903B2 - Treatment table top plate attaching / detaching system and treatment table top plate attaching / detaching method - Google Patents

Description

  Embodiments of the present invention relate to a treatment table top plate attachment / detachment system and a treatment table top attachment / detachment method for attaching / detaching a top plate between a transport carriage and a treatment table.

  2. Description of the Related Art As a treatment table system for positioning a patient in radiation therapy or the like, there is a structure in which a top board on which a patient rides at the time of treatment is detachable from the treatment table. In the operation of such a treatment table, first, the top board on which the patient is placed is mounted on the transport carriage and transported into the treatment room, and the treatment table receives it and positions it in the treatment posture. In addition, after the treatment is completed, the top board is similarly transferred from the treatment table to the transport carriage.

  In the treatment table system as described above, when the attachment / detachment mechanism is attached to the distal end of the treatment table, it is necessary to position the top plate and the attachment / detachment mechanism portion. As the three-dimensional measurement sensor required at that time, passive measurement based on a camera image that does not require active irradiation such as a laser is used because it is used in a space where a human is present. As a camera measurement method used for positioning for such attachment / detachment, there is a method of measuring a positional relationship with an object by holding a camera at a device hand such as a treatment table.

  In order to increase the time efficiency of the treatment, there is a demand to secure a wide parking range of the transport carriage and reduce the time required for parking. However, when a camera is held at the end of the device such as a treatment table, the range in which the camera at the distal end of the treatment table can be photographed is limited to the vicinity of the distal end position.

  On the other hand, there is also a method in which a camera is installed and fixed at a bird's-eye view position such as a room ceiling, and a position in a predetermined coordinate system is measured. However, with this method, it is possible to secure a wide angle of view by attaching the camera to the ceiling of the room or the like, but there is a problem that three-dimensional measurement with sufficient accuracy cannot be performed. In addition, the measurement result is calculated based on the top plate position based on a pre-defined coordinate system such as a room coordinate system. Therefore, if the parking range is wide, the absolute positioning accuracy of the treatment table in all operating areas There was a problem that it was necessary to guarantee.

JP 2009-207524 A Japanese Patent Laid-Open No. 2007-061979 JP 2010-071743 A

  SUMMARY OF THE INVENTION Problems to be solved by the present invention are a treatment table top plate attaching / detaching system and treatment capable of ensuring both the detection range of the transport carriage and the accuracy necessary for attaching / detaching the top plate without requiring absolute positioning accuracy of the treatment table. It is to provide a method for attaching and detaching the table top.

The treatment table top plate attaching / detaching system of the embodiment is a top plate for placing a patient, a treatment table installed in a treatment room, on which the top plate can be placed, and the top plate can be placed and movable. It is possible to photograph the entire transporting carriage provided in the parking range of the transporting carriage, the attachment / detachment mechanism provided on the treatment table and the top plate, and enabling the treatment table and the top plate to be attached / detached. And a proximity camera installed so as to be able to photograph both the treatment table and the attaching / detaching mechanism portion of the top board. Then, based on the measurement result obtained by the wide-range imaging camera, the proximity camera is moved to a position where both the treatment table and the attaching / detaching mechanism of the top plate can be imaged by the proximity camera, and the proximity camera The treatment table is moved to a position where the attachment / detachment operation of the treatment table and the top plate by the attachment / detachment mechanism unit can be started based on the measurement result obtained in step (b).

  According to the embodiment of the present invention, the position of the transport carriage is measured using the wide range imaging camera, and the position of the attaching / detaching mechanism is measured using the proximity camera, so that the absolute positioning accuracy of the treatment table is not required. Both the detection range of the transport carriage and the accuracy required for attaching and detaching the top plate can be ensured.

1 is a schematic configuration diagram showing a treatment table system according to a first embodiment. The flowchart for demonstrating the conveyance operation in the sample stand system concerning 1st Embodiment. The top view which shows the positional relationship of the top plate, the treatment table, and the conveyance trolley in the treatment table system concerning 1st Embodiment. The principal part block diagram which shows the treatment table system concerning 2nd Embodiment. The principal part block diagram which shows the treatment table system concerning 3rd Embodiment.

  Hereinafter, a treatment table top mounting / demounting system according to an embodiment will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a schematic configuration diagram showing a treatment table system according to the first embodiment.

  The treatment table system according to the present embodiment includes a top plate 10 on which a patient who is in a treatment posture is placed, a treatment table 20 installed in the treatment room and on which the top plate 10 can be placed, and a top plate 10 placed thereon. A movable carriage 30 that is movably provided, a first camera (wide range imaging camera) 40 and a second camera (proximity camera) 50 for measuring the positional relationship between the top 10 and the treatment table 20. Etc.

  An attachment / detachment mechanism 11 for attaching / detaching the treatment table 20 is provided on the top board 10, and an attachment / detachment mechanism 21 for attaching / detaching the top board 10 is provided on the treatment table 20. The treatment table 20 can move a portion where the attachment / detachment mechanism 21 is fixed by a drive mechanism (not shown), and can further move the top 10 to a desired position with the top 10 attached. It has become.

  The transport carriage 30 can be manually moved, and is transported from the outside into the treatment room with the top 10 placed thereon, and is arranged at a predetermined parking position near the treatment table.

The first camera 40 is provided on the ceiling portion of the treatment room, and can photograph the entire conveyance carriage parking range in the attaching / detaching operation of the top board 10 and the treatment table 20. The 2nd camera 50 is provided in the conveyance trolley 30, and can image | photograph the attachment / detachment mechanisms 11 and 21 simultaneously.

  Next, the operation in which the treatment table 20 grips the top 10 in the present embodiment configured as described above will be described with reference to the flowchart of FIG. 2 and the positional relationship diagram of FIG.

  First, as shown to Fig.3 (a), the conveyance trolley 30 which mounted the top plate 10 is parked roughly in the parking range in a treatment room (step S1 of FIG. 2). The 1st camera 40 is installed so that imaging | photography of the whole parking range of the conveyance trolley 30 is possible, and when the conveyance trolley 30 is parked to a parking position, this will be detected and the position of the top plate 10 will be measured. (Step S2 in FIG. 2). As for the installation position of the first camera 40, it is desirable to install it in an opening provided on the ceiling, for example, in order to avoid interference with devices operating in the treatment room and to ease anxiety about the patient.

  Next, based on the above measurement result, the treatment table 20 moves to a position immediately before starting the gripping operation with the top board 10, that is, to a position where both the detachable mechanism parts 11 and 21 can be photographed by the second camera 50. An instruction is sent (step S3 in FIG. 2). At this time, a position having a margin in consideration of the measurement error of the first camera 40 is designated so that the treatment table 20, the top plate 10, and the transport carriage 30 do not interfere with each other. Thereby, as shown in FIG.3 (b), the attachment / detachment mechanism 11 of the top plate 10 and the attachment / detachment mechanism 21 of the treatment table 20 will adjoin.

  When the treatment table 20 is moved until just before the gripping operation of the top plate 10 is started (step S4 in FIG. 2), the second camera 50 is attached to the attachment / detachment mechanism portion 21 of the treatment table 20 and the pair of top plates. The ten attachment / detachment mechanisms 11 can be photographed simultaneously. In this state, from the image acquired by the second camera 50, the positions of the treatment table side attaching / detaching mechanism 21 and the top plate side attaching / detaching mechanism 11 are respectively measured in the camera internal coordinate system, and the treatment table side attaching / detaching mechanism 21 and the top plate side attaching / detaching mechanism 11 are attached. The relative position of the mechanism 11 is calculated (step S5 in FIG. 2). Here, since the second camera 50 measures the relative position of the treatment table side attaching / detaching mechanism 21 and the top plate attaching / detaching mechanism 11 photographed on the same image, a highly accurate calibration regarding the installation position of the camera itself is necessary. Absent. In addition, as an example of the image measurement processing at this time, it is conceivable to use pattern matching using the shape feature of the attachment / detachment mechanism.

  Next, the treatment table 20 is instructed to perform a correction operation to a more accurate position where the grasping operation can be started by calculating backward from the relative position (step S6 in FIG. 2). Thereby, as shown in FIG.3 (c), the attachment / detachment mechanism 11 of the top plate 10 and the attachment / detachment mechanism 21 of the treatment table 20 will be correctly aligned. After confirming that the positional relationship is such that the attaching / detaching operation can be performed by the correction operation (step S7 in FIG. 2), the treatment table 20 performs an operation of gripping the top 10 (step S8 in FIG. 2).

  When the top 10 is gripped by the treatment table 20, the transport carriage 30 is moved away from the treatment table 20 as shown in FIG.

  Further, when the treatment table 20 performs an operation of opening the top plate 10 onto the transport carriage 30, the following action is performed. First, the transport cart 30 on which nothing is placed is roughly parked in the parking range in the treatment room. The first camera 40 detects this, measures the position of the transport carriage 30, and is instructed to move to the position immediately before the treatment table 20 starts the opening operation of the top 10. At this time, a position having a margin in consideration of the measurement error of the first camera 40 is designated so that the treatment table 20 and the top board 10 do not interfere with the transport carriage 30.

  After the treatment table 20 has moved until just before the opening operation of the top board 10 is started, the second camera 50 can photograph the vicinity of the attachment / detachment mechanism of the treatment table 20 and the top board 10. After performing the correction operation by the treatment table 20 from the image taken by the second camera 50 until the position where there is no problem even if the top plate 10 is opened on the transport carriage 30, the treatment table 20 opens the top plate 10. To implement.

  As described above, according to the present embodiment, both the detection range and the accuracy required for attachment / detachment are ensured by detecting a minute positional shift by the second camera 50 while securing the detection range by the first camera 40. At the same time, by measuring the relative position between the top 10 and the treatment table 20 and performing a correction operation, positioning can be performed even when the absolute positioning accuracy of the treatment table 20 is not guaranteed.

  That is, the detection range of the proximity camera (second camera) 50 can be ensured by roughly positioning the transport carriage 30 based on the measurement result of the wide-range measurement camera (first camera) 40. And the position accuracy required for attaching and detaching a top plate can be ensured by carrying out the exact positioning of the conveyance trolley 30 by the measurement result of the proximity camera 50. Therefore, it is possible to ensure both the detection range of the transport carriage 30 and the accuracy necessary for attaching and detaching the top plate without requiring the absolute positioning accuracy of the treatment table 20. Furthermore, by using the wide-range measurement camera 40, it is possible to increase the time efficiency of treatment by ensuring a wide parking range of the transport carriage 30 and reducing the time required for parking.

  In addition, since it is possible to omit high-precision calibration work related to the installation position of the proximity camera 50, it is possible to improve maintainability. Further, by using these cameras 40 and 50, it is possible to detect the vertical movement of the chest due to the breathing of the patient lying on the top board 10, and it is possible to perform the respiratory synchronized therapy by synchronizing the radiation therapy beam with the breathing.

(Second Embodiment)
FIG. 4 is a main part configuration diagram showing a treatment table system according to the second embodiment. In addition, the same code | symbol is attached | subjected to the same part as FIG. 1, and the detailed description is abbreviate | omitted.

  The difference between the present embodiment and the first embodiment described above is that the second camera 50 is not on the transport carriage 30 but near the distal end of the treatment table 20 and the attachment / detachment mechanism portion 21 and the top plate of the treatment table 20. The ten attachment / detachment mechanisms 11 are arranged so as to be capable of photographing at the same time.

  In the present embodiment configured as described above, the attachment / detachment mechanism 11 is moved by the second camera 50 by the movement of the treatment table 10 based on the measurement result of the first camera 40, as in the first embodiment. Both relative positions of 21 can be detected. At this time, since the second camera 50 is installed on the treatment table 20, it is possible to perform power feeding and image transfer by wire such as a cable passed through the treatment table machine.

  Therefore, according to the present embodiment, the same effects as those of the first embodiment can be obtained, as well as the power supply and image transmission signal cable for using the second camera 50 on the conveyance carriage side, Alternatively, it is possible to improve mobility and operating time by eliminating wireless signal transmission equipment and power supply batteries.

(Third embodiment)
FIG. 5 is a main part configuration diagram showing a treatment table system according to the third embodiment. In addition, the same code | symbol is attached | subjected to the same part as FIG. 1, and the detailed description is abbreviate | omitted.

  In the present embodiment, the second camera 50 is arranged on the side wall 60 of the treatment room instead of on the transport carriage 30 so that the attachment / detachment mechanism 21 of the treatment table 20 and the attachment / detachment mechanism 11 of the top 10 can be photographed simultaneously. It is a thing.

  Also in the present embodiment configured as described above, similarly to the first embodiment, the attachment / detachment mechanism 11, the second camera 50 is moved by the movement of the treatment table 10 based on the measurement result of the first camera 40. Both relative positions of 21 can be detected. At this time, the second camera 50 can perform power feeding and image transfer from a cable passing through the inside of the wall.

  Therefore, according to the present embodiment, it is possible to eliminate the power feeding and image transmission cable and the like related to the second camera 50 in both the treatment table 20 and the transport carriage 30. In addition to the effects of the second embodiment, the treatment table It is possible to reduce the space for in-machine wiring and camera installation on the 20 side.

(Fourth embodiment)
Next, a fourth embodiment will be described. The figure also uses FIG.

  In this embodiment, in addition to the configuration of the first embodiment, a force sensor 32 is installed on a contact surface on which the top plate 10 on the transport carriage 30 is placed.

  In the present embodiment configured as described above, when the treatment table 20 is performing the gripping operation of the top board 10, when the acquired value of the force sensor 32 becomes smaller than a certain threshold A, the treatment table 20 Determines that the top plate 10 cannot be gripped well and is lifted, and stops. In addition, when the treatment table 20 is performing the opening operation of the top plate 10, the treatment table 20 and the top plate 10 are normally opened when the acquired value of the force sensor 32 becomes larger than a certain threshold value B. First, it is determined that an excessive force is applied between the top plate 10 and the transport carriage 30 and stops. The attaching / detaching operation of the top plate 10 is the same as that of the first embodiment.

  Therefore, according to the present embodiment, the same effects as those of the first embodiment can be obtained, and even when the patient fails to attach or detach due to the patient moving on the top board 10 during the grasping and opening operations. Abnormalities can be detected and accidents such as dropping of the top 10 from the transport carriage 30 can be prevented.

(Fifth embodiment)
Next, a fifth embodiment will be described. The figure also uses FIG.

  In addition to the configuration of the first embodiment, the present embodiment includes an infrared illumination 42 arranged on the ceiling where the first camera 40 is installed so as to illuminate the top plate from the same direction as the camera optical axis. The visible light cut filter 43 is arranged between the first camera 40 and the illumination 42 and the patient on the top board 10. However, the wavelength range of the illumination 42 is not limited to infrared rays, and may be light in an invisible region that can be detected by the first camera 40.

  In the present embodiment configured as described above, the first camera 40 performs measurement using an image in the infrared wavelength region, while the filter 43 may cut visible light so that the measurement light is invisible to the patient. it can. In addition, the image of the top 10 can be acquired without being affected by the illumination conditions in the visible light wavelength region in the treatment room.

  According to the present embodiment, the same effects as those of the first embodiment can be obtained, and the first camera 40 and the illumination 42 are invisible from the patient, and the brightness desired by the patient for the illumination in the treatment room is desired. Therefore, it is possible to relieve the patient's anxiety.

(Sixth embodiment)
Next, a sixth embodiment will be described. The figure also uses FIG.

  In this embodiment, in addition to the first embodiment, a measurement landmark 12 made of a retroreflective material is provided on the top board 10 and the transport carriage 30. In addition, although the example which provided the landmark 12 only on the top plate 10 is shown in the figure, you may make it provide the landmark 12 only on the conveyance trolley | bogie 30. FIG.

  In the present embodiment configured as described above, the first camera 40 has a strong invisible reflected light even if the top board 10 and the transport carriage 30 do not have a linear edge portion necessary as a measurement reference for image position measurement. Thus, the landmark 12 can be photographed and measured with high luminance.

  Therefore, according to the present embodiment, the following effects can be obtained as well as the same effects as those of the first embodiment. In addition to being able to improve safety by making the exterior of the top 10 curved, the low contrast design that is disadvantageous for image processing by matching the color of the exterior of the top 10 and the landmark 12 By adopting, it becomes possible to give the patient a sense of security.

(Modification)
The present invention is not limited to the above-described embodiments.

  The wide range imaging camera and the proximity camera used in the embodiment only need to obtain a two-dimensional image signal, and a CCD camera, a CMOS camera, or the like can be used. Furthermore, the installation positions of these cameras can be changed as appropriate according to the specifications, and the wide-range imaging camera may be any position that can capture the entire parking area of the transport carriage. Any position may be used as long as both the top plate attaching / detaching mechanisms can be photographed. Moreover, the structure of the attachment / detachment mechanism is not limited at all, and any structure that allows reliable attachment / detachment between the top and the treatment table may be used.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 10 ... Top plate 11 ... Top plate attachment / detachment mechanism part 20 ... Treatment table 21 ... Treatment table attachment / detachment mechanism part 22 ... Retroreflective landmark 30 ... Conveyance cart 32 ... Force sensor 40 ... Wide-range camera (first camera)
42 ... Infrared illumination 43 ... Visible light cut filter 50 ... Proximity camera (second camera)
60 ... Side wall

Claims (8)

A top plate for placing the patient,
A treatment table installed in a treatment room and on which the top plate can be placed;
A transport carriage provided on the top plate and movably provided; and
An attachment / detachment mechanism provided on the treatment table and the top plate, enabling attachment / detachment of the treatment table and the top plate;
A wide range shooting camera installed so as to be able to shoot the entire parking area of the transport carriage;
A proximity camera installed so as to be capable of photographing both the treatment table and the attaching / detaching mechanism of the top plate;
Based on the measurement result obtained by the wide range imaging camera, means for moving the treatment table to a position where both the treatment table and the attaching / detaching mechanism of the top plate can be imaged by the proximity camera;
Based on the measurement result obtained by the proximity camera, means for moving the treatment table to a position where the attachment / detachment operation of the treatment table and the top plate by the attachment / detachment mechanism unit can be started,
A top table attaching / detaching system for a treatment table.   The top table attaching / detaching system for a treatment table according to claim 1, wherein the proximity camera is installed on the transport carriage.   The top table attaching / detaching system for a treatment table according to claim 1, wherein the proximity camera is installed on the treatment table.   The top table attaching / detaching system for a treatment table according to claim 1, wherein the proximity camera is installed on a side wall of the treatment room.   5. The treatment table top plate attachment / detachment system according to claim 1, further comprising a force sensor on a contact surface of the transport carriage with the top plate. 6. An invisible light illuminator installed so as to project light into a photographic range of the wide range photographic camera, and a visible light cut filter installed so as to block the wide range photographic camera and the invisible light illumination and the photographic range. The treatment table top mounting / demounting system according to any one of claims 1 to 5, further comprising:   7. The treatment table top plate attachment / detachment system according to claim 6, wherein at least one of the top plate and the transport carriage has a measurement landmark made of a retroreflective material. Using the treatment table top mounting / demounting system according to claim 1,
Parking the transport carriage on which the top plate is placed at a predetermined parking position in the treatment room;
Photographing the transport carriage parked at the parking position with the wide-range photographing camera;
And moving the treatment table based on said obtained measurement results obtained in a wide photographing camera, to a position where both of the detachable mechanism of the treatment table and the top plate in the proximity camera is capable of capturing,
A step of capturing both the detachable mechanism of the treatment table and the top plate in the near camera,
Based on the measurement result obtained by the proximity camera, moving the treatment table to a position where the attachment / detachment operation of the treatment table and the top plate by the attachment / detachment mechanism unit can be started,
A method for attaching and detaching a top plate for a treatment table, comprising:

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