JP6568539B2 - 対象の中の標的部位に放射線を照射するためのシステム - Google Patents
対象の中の標的部位に放射線を照射するためのシステム Download PDFInfo
- Publication number
- JP6568539B2 JP6568539B2 JP2016554389A JP2016554389A JP6568539B2 JP 6568539 B2 JP6568539 B2 JP 6568539B2 JP 2016554389 A JP2016554389 A JP 2016554389A JP 2016554389 A JP2016554389 A JP 2016554389A JP 6568539 B2 JP6568539 B2 JP 6568539B2
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M37/00—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
- A61B18/24—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor with a catheter
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/40—Applying electric fields by inductive or capacitive coupling ; Applying radio-frequency signals
- A61N1/403—Applying electric fields by inductive or capacitive coupling ; Applying radio-frequency signals for thermotherapy, e.g. hyperthermia
- A61N1/406—Applying electric fields by inductive or capacitive coupling ; Applying radio-frequency signals for thermotherapy, e.g. hyperthermia using implantable thermoseeds or injected particles for localized hyperthermia
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/02—Radiation therapy using microwaves
- A61N5/022—Apparatus adapted for a specific treatment
- A61N5/025—Warming the body, e.g. hyperthermia treatment
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
-
- A—HUMAN NECESSITIES
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- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1027—Interstitial radiation therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/103—Treatment planning systems
- A61N5/1039—Treatment planning systems using functional images, e.g. PET or MRI
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1071—Monitoring, verifying, controlling systems and methods for verifying the dose delivered by the treatment plan
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N7/02—Localised ultrasound hyperthermia
- A61N7/022—Localised ultrasound hyperthermia intracavitary
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/1815—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using microwaves
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- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00642—Sensing and controlling the application of energy with feedback, i.e. closed loop control
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- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00666—Sensing and controlling the application of energy using a threshold value
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
- A61B2018/00791—Temperature
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
- A61B2018/2255—Optical elements at the distal end of probe tips
- A61B2018/2294—Optical elements at the distal end of probe tips with a diffraction grating
-
- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F2007/0086—Heating or cooling appliances for medical or therapeutic treatment of the human body with a thermostat
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F2007/0088—Radiating heat
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F2007/0095—Heating or cooling appliances for medical or therapeutic treatment of the human body with a temperature indicator
- A61F2007/0096—Heating or cooling appliances for medical or therapeutic treatment of the human body with a temperature indicator with a thermometer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/05—General characteristics of the apparatus combined with other kinds of therapy
- A61M2205/051—General characteristics of the apparatus combined with other kinds of therapy with radiation therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/50—General characteristics of the apparatus with microprocessors or computers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/067—Radiation therapy using light using laser light
-
- A—HUMAN NECESSITIES
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- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/103—Treatment planning systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N7/02—Localised ultrasound hyperthermia
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Vascular Medicine (AREA)
- Electromagnetism (AREA)
- Otolaryngology (AREA)
- Optics & Photonics (AREA)
- Molecular Biology (AREA)
- Dermatology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Radiation-Therapy Devices (AREA)
- Thermotherapy And Cooling Therapy Devices (AREA)
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP14156948 | 2014-02-27 | ||
| EP14156948.3 | 2014-02-27 | ||
| EP14193853 | 2014-11-19 | ||
| EP14193853.0 | 2014-11-19 | ||
| PCT/EP2015/053962 WO2015128392A1 (en) | 2014-02-27 | 2015-02-26 | System for applying radiation to a target region within a subject |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2017506555A JP2017506555A (ja) | 2017-03-09 |
| JP2017506555A5 JP2017506555A5 (enExample) | 2018-08-09 |
| JP6568539B2 true JP6568539B2 (ja) | 2019-08-28 |
Family
ID=52692601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016554389A Expired - Fee Related JP6568539B2 (ja) | 2014-02-27 | 2015-02-26 | 対象の中の標的部位に放射線を照射するためのシステム |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US10092444B2 (enExample) |
| EP (1) | EP3110505B1 (enExample) |
| JP (1) | JP6568539B2 (enExample) |
| CN (1) | CN106061541B (enExample) |
| WO (1) | WO2015128392A1 (enExample) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3110505B1 (en) | 2014-02-27 | 2017-07-05 | Koninklijke Philips N.V. | System for applying radiation to a target region within a subject |
| JP2020501698A (ja) * | 2016-12-16 | 2020-01-23 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 焦点放射線治療のための位置決め支援デバイス |
| EP3501461A1 (en) * | 2017-12-22 | 2019-06-26 | Koninklijke Philips N.V. | Device and system for personalized skin treatment for home use |
| CN109471147B (zh) * | 2018-09-25 | 2022-10-18 | 中国辐射防护研究院 | 一种基于变权重离散的γ剂量率计算方法及系统 |
| CA3158711A1 (en) | 2019-11-18 | 2021-05-27 | M.D. Anna O. LIKHACHEVA | System for conforming treatment applicators to non-uniform surfaces |
| US11041740B1 (en) | 2019-12-20 | 2021-06-22 | EmpNia Inc. | Method and apparatus for real time respiratory gating signal generation and detection of body deformation using embedded fiber Bragg gratings |
| US12209892B1 (en) | 2019-12-20 | 2025-01-28 | EmpNia Inc. | Method and apparatus for breath-hold monitoring in diagnostic and therapeutic procedures |
| US11504010B2 (en) | 2019-12-20 | 2022-11-22 | EmpNia Inc. | Wearable health monitoring device |
| US12515073B2 (en) | 2020-08-17 | 2026-01-06 | Geometry Therapeutics, Inc. | Collapsible and curved radiation therapy system and methods |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3739749A1 (de) * | 1987-11-24 | 1989-06-08 | Mueller Christa Dr | Selektive, gleichzeitige und gleichortige behandlung von tumoren mittels waerme und radioaktiver strahlung durch zweizonenkombinationsnadel |
| JPH07185017A (ja) * | 1993-12-27 | 1995-07-25 | Olympus Optical Co Ltd | 治療装置 |
| JPH09122260A (ja) * | 1995-11-02 | 1997-05-13 | Olympus Optical Co Ltd | 治療装置 |
| JPH1015082A (ja) * | 1996-07-04 | 1998-01-20 | Olympus Optical Co Ltd | ハイパーサーミア用アプリケータ |
| US7582050B2 (en) | 2004-03-31 | 2009-09-01 | The Regents Of The University Of California | Apparatus for hyperthermia and brachytherapy delivery |
| GB0513910D0 (en) * | 2005-07-07 | 2005-08-10 | Univ Newcastle | Immobilisation of biological molecules |
| US7717618B2 (en) | 2005-12-30 | 2010-05-18 | Optech Ventures, Llc | Apparatus and method for high resolution temperature measurement and for hyperthermia therapy |
| US8211099B2 (en) | 2007-01-31 | 2012-07-03 | Tyco Healthcare Group Lp | Thermal feedback systems and methods of using the same |
| US8360950B2 (en) | 2008-01-24 | 2013-01-29 | Senorx, Inc. | Multilumen brachytherapy balloon catheter |
| KR101146917B1 (ko) * | 2009-04-28 | 2012-05-22 | 한국전기연구원 | 나노에미터 기반 x 선과 온열 카테터를 적용한 근접치료 시스템 및 그 방법 |
| US8874230B2 (en) | 2009-08-27 | 2014-10-28 | New Jersey Institute Of Technology | Integrated fiber optic raman spectroscopy and radio frequency ablation |
| JP5771219B2 (ja) * | 2009-12-28 | 2015-08-26 | コーニンクレッカ フィリップス エヌ ヴェ | 形状検知による追跡を行うことを特徴とする小線源治療方法及び装置 |
| CN102670298A (zh) * | 2011-03-18 | 2012-09-19 | 中国科学院理化技术研究所 | 广谱型肿瘤热疗设备 |
| CN103491876B (zh) * | 2011-04-27 | 2016-05-04 | 皇家飞利浦有限公司 | 能量施加装置 |
| WO2014064552A1 (en) | 2012-10-26 | 2014-05-01 | Koninklijke Philips N.V. | System, catheter and planning method for hyperthermia-adjuvant brachytherapy |
| EP3110505B1 (en) | 2014-02-27 | 2017-07-05 | Koninklijke Philips N.V. | System for applying radiation to a target region within a subject |
-
2015
- 2015-02-26 EP EP15710730.1A patent/EP3110505B1/en not_active Not-in-force
- 2015-02-26 WO PCT/EP2015/053962 patent/WO2015128392A1/en not_active Ceased
- 2015-02-26 US US15/121,392 patent/US10092444B2/en not_active Expired - Fee Related
- 2015-02-26 JP JP2016554389A patent/JP6568539B2/ja not_active Expired - Fee Related
- 2015-02-26 CN CN201580010705.4A patent/CN106061541B/zh not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| EP3110505A1 (en) | 2017-01-04 |
| US20160361194A1 (en) | 2016-12-15 |
| JP2017506555A (ja) | 2017-03-09 |
| WO2015128392A1 (en) | 2015-09-03 |
| CN106061541A (zh) | 2016-10-26 |
| US10092444B2 (en) | 2018-10-09 |
| CN106061541B (zh) | 2019-08-27 |
| EP3110505B1 (en) | 2017-07-05 |
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