JPH05111542A - Automatic adjusting device for revolving chair in sitting position radiation surgical system - Google Patents

Abstract

PURPOSE:To allow an unskilled person to determine the position of a positioning device by providing a sensor receiving the light from an electron beam linear accelerating/irradiating device, calculating the drift between the rotating centers of the electron beam linear accelerating/irradiating device and a revolving chair, and automatically controlling the sliding system of the revolving chair. CONSTITUTION:An artificial positioning device 42 having a sensor 311 is fitted to the back rest of a revolving chair 300. The position of the laser beam radiated from an electron beam linear accelerating/irradiating device 41 coincides with the rotation center of the electron beam linear accelerating/irradiating device 41, and the sensor 311 of the artificial positioning device 42 feeds the change of the potential of the portion where the laser beam is irradiated to an image analyzing means 43 as the output signal. The image analyzing means 43 calculates the drift between the signal indicating the position of the laser beams and the signal indicating the position of the rotation center of the revolving chair 300, and a control circuit 44 controls a servo motor adjusting the sliding systems of the revolving chair 300 to match the rotation centers of the electron beam linear accelerating/irradiating device 41 and the revolving chair 300.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic adjusting device for a rotating chair in a sitting position irradiation surgical treatment system using an electron beam linear acceleration irradiation device which allows a patient to perform radiation irradiation surgical treatment in a comfortable sitting position. In recent years, for example, an affected area such as a tumor or an arteriovenous malformation (hereinafter, the affected area to be treated by radiation is simply referred to as an affected area) is not treated by a surgical operation, but ionized by x-rays, γ-rays or the like. Treatments have been advanced to irradiate radiation (hereinafter, all ionizing radiation used for treatment is simply referred to as radiation) to chemically alter the cellular tissue of the affected area.

[0002]

2. Description of the Related Art A conventional sitting position surgical treatment system will be described with reference to FIG. FIG. 6 is a diagram for explaining a sitting irradiation surgical treatment system. In FIG. 6, a patient 61 sits on a swivel chair 62 and is irradiated with a radiation beam 64 from an electron beam linear acceleration irradiation device 63.
It shows the state of being received toward the center of. The irradiation field at the irradiation center of the radiation beam 64 at this time is, for example, 3 mm in diameter.
It can be any size of mm or more. Back 6
By changing the angle of 6 and by adjusting the fixing portion 67 of the head fixing device, the head fixing device 68 is changed to the swivel chair 6
2 is attached at a predetermined position. The adjustment of the attachment is performed so that the swivel chair 62 can be rotated at a constant angular velocity about a vertical axis passing through the center position of the affected area. The rotation angular velocity of the swivel chair 62 is, for example, about 1/2 rotation per second, but can be set to any rotation speed. In this case, since the patient 61 sitting on the swivel chair 62 rotates at a constant angular velocity, his / her eyes do not rotate. Further, the rotation center of the electron beam linear acceleration irradiation device 63 is adjusted so as to rotate about the center of the affected area 65 within a vertical plane passing through the center position of the affected area. Furthermore, a jaw fixing device 69 and the like are provided that allow irradiation of radiation without fatigue of the patient 61 for a long time.

As shown in FIG. 6, the radiation irradiation angle of the electron beam linear acceleration irradiation device 63 is 0 in front of the horizontal plane of the affected area 61.
In degrees, for example, the rotation starts from -45 degrees and reaches the position of 225 degrees behind the patient 61 in FIG.
This rotation angle can be further widened to a total angle of about 300 degrees. However, since the swivel chair 62 rotates at a constant angular velocity, it does not need to rotate to the rear shown in FIG.
It is the same when starting from -45 degrees and ending at 90 degrees. At this time, the peripheral speed of the swivel chair 62 is fast in the vicinity of 0 degree shown in FIG. 6 which is farthest from the vertical axis passing through the center position of the affected part 65, and is the slowest just above the axis. Therefore, in order to irradiate the same amount of the radiation beam 64 at the center position of the affected part 65 per unit time, the rotation speed of the electron beam linear acceleration irradiation device 63 is farthest from the vertical axis passing through the center position of the affected part 65. It is necessary to make it slow near 0 degree shown in (1) and fast just above the axis. Then, it is preferable to control the rotation speed of the electron beam linear acceleration irradiation device 63 based on a trigonometric function. This speed control can be performed using a computer, but since the speed is such that it moves in a full angle of 135 degrees in 30 to 40 minutes, this section is, for example, 6
It is also possible to divide the speed into equal parts and gradually change the speed little by little. By controlling the rotation speed of the electron beam linear acceleration irradiation device 63 in this way, the amount of the radiation beam 64 irradiated to the center of the affected area 65 becomes constant.

FIG. 7 is an explanatory view of the head fixing device, and FIG.
Is a top view thereof, FIG. 7B is a perspective view thereof, and FIG. 8 is a view for explaining the localizer device. FIG. 9 is an explanatory diagram of a CT scan performed to obtain the center position of the affected area. FIG. 10 is a diagram for explaining the simulation device. In FIGS. 7A and 7B, the head
The ring 721 is composed of a head fixing column mounting portion 722 and a localizer device mounting hole 723. And
Inside the head ring 721, four head-fixing column mounting portions 722 are provided.
In No. 22, the head fixing support 725 is attached to the head ring 721.
Can be adjusted to move toward the center of. A skull fixing pin 726 is horizontally slidably attached to the inside of the upper end of the head fixing column 725. Head ring 7
After placing the skull of the patient who underwent local anesthesia in 21, the head fixing column 725 and the skull fixing pin 726 were
After adjusting the position, it is fixed at each position. At this time, the skull fixing pin 726 breaks through the skin of the head and partially digs into the skull. The position of the cranial fixation pin 726 serves as a reference for the x-axis, y-axis, and z-axis coordinates within the head ring 721.

FIG. 8 is a diagram for explaining the localizer device. In FIG. 8, the localizer device 830
Is an upper ring 831 and a lower ring 832, and a vertical support member 833 and an inclined support member 8 that support both of them.
It is composed of 34. Further, a localizer device 830 is attached to the head ring 7 below the lower ring 832.
A head ring mount 835 is provided for mounting at 21 fixed positions. The vertical support member 833 and the inclined support member 834 are made of, for example, a member such as carbon resin that does not affect the CT image. The head ring mounting portion 835 of the localizer device 830 is inserted into the localizer device mounting hole 723 of the head ring 721.

FIG. 9 shows C for obtaining the center position of the affected area.
It is explanatory drawing of T scan. In FIG. 9, reference numeral 941
Indicates the skull and 942 indicates the affected area. The positions of the skull fixing pin 726, the vertical support member 833, and the inclined support member 834 are made of metal or carbon, so that they can be known by a CT scan. That is, the positional relationship between the head ring 721 and the affected area 942 in the x-axis direction and the y-axis direction is shown in FIG.
The vertical supporting member 833 of the book can be understood, and the relative position in the z-axis direction can be calculated by the distance ratio between each vertical supporting member 833 and the inclined supporting member 834. These calculations are usually performed programmatically, for example by a computer.

FIG. 10 is a diagram for explaining the simulation device. In FIG. 10, a simulation device 150 has an x-axis direction sliding rod 152 and a y-axis direction sliding rod 153 placed on a base 151. Further, the z-axis direction sliding rod support portion 154 is slidably attached along the y-axis direction sliding rod 153 and is also slidably attached along the x-axis direction sliding rod 152. There is. Furthermore, a z-axis direction sliding rod 155 is attached to the z-axis direction sliding rod support portion 154 so as to be vertically slidable,
A lower instruction pin 156 is attached to the tip end portion thereof so as to face upward. A plurality of support members 157 are provided at the end of the base 151, and a plurality of support members 157 are provided above the tip of the support member 157.
A ring on which a pseudo head ring 158 exactly the same as the head ring 721 shown in FIG. The pseudo head ring 158 is provided with a semicircular support member 159, and the upper instruction pin attachment portion 160 is slidably attached along the semicircular arc of the semicircular support member 159. Then, the upper instruction pin 161 is slidably attached to the upper instruction pin attachment portion 160 in the longitudinal direction thereof.

Since the three-dimensional position between the head ring 721 attached to the skull of the patient and the center of the affected area is calculated, the head ring 7 attached to the patient is calculated.
The pseudo head ring 158 exactly the same as 21 is mounted on the support member 157 of the simulation device 150. Then, according to the x, y, z coordinate points obtained from the above calculation result, the lower instruction pin 15 of the simulation device 150 is
6 and the position of each tip of the upper instruction pin 161 are moved to confirm that the coordinate point and the position of the instruction pin match. After confirming that the point pointed by each of the above-mentioned pointing pins coincides with the center coordinate point of the affected area, the pseudo head ring 158 is detached from the simulation device 150, and the patient attaches the head ring 721 to the electron beam straight line. It is fixed at a position where it is irradiated with radiation from the accelerated irradiation device.
The relationship between the above position on the bed and the position of the head ring fixed to the head of the patient is determined in advance so that radiation from the electron beam linear acceleration irradiation device can be easily received. Therefore, since the point of coincidence between the two instruction pins of the pseudo head ring 158 corresponds to the center position of the affected area when the patient lies on the bed, the electron beam linear acceleration irradiation device and the bed are centered around this position. If it is set so as to rotate, the irradiation of radiation from the electron beam linear acceleration irradiation device is always focused on one point. Then, the pseudo head ring 158 is removed, and the head ring 721 attached to the affected area is attached to the position where the pseudo head ring 158 was attached together with the patient. In this way, the affected area is irradiated with radiation.

[0009]

In the above-mentioned sitting position irradiation surgical treatment system, it is not possible to allow a deviation between the center of the affected part and the center of irradiation of radiation. That is, if there is a slight deviation between the center of the affected area and the center of radiation irradiation, the normal cells other than the affected area will be irradiated with the radiation and the cellular tissue will be destroyed. However, in order to align the orienting device in the sitting irradiation surgical treatment system in the conventional example with the center of rotation of the swivel chair, the operator of the sitting irradiation surgical treatment system needs to manually adjust the horizontal and vertical adjustment devices one by one. there were. In addition, the above center adjustment does not have to be performed once. It is common to make many adjustments by trial and error. Therefore, during long-term treatment,
Careful attention and skillful operation were required in order to keep the swivel chair in place and to adjust it several times.

The present invention is intended to solve the above problems, and enables a non-skilled person to determine the position of a stereotactic apparatus in a sitting irradiation surgical treatment system. An object is to provide an automatic adjusting device.

[0011]

In order to achieve the above object, an automatic adjusting device for a rotating chair in a sitting irradiation surgical treatment system according to the present invention receives a light beam from an electron beam linear acceleration irradiation device into a pseudo localization device. Invention in which the rotation center of the electron beam linear acceleration irradiation device and the rotation center of the swivel chair are automatically made to coincide with each other, and a pseudo-localization imaged by a CCD camera attached to the emission center of the electron beam linear acceleration irradiation device. A second invention in which the center of rotation of the electron beam linear accelerating irradiation device and the center of rotation of the rotating chair are automatically matched based on the image of the device, a pseudo localization device imaged by the CCD camera, and a patient equipped with the localization device, And the center of rotation of the electron beam linear acceleration irradiation device and the center of rotation of the rotating chair are automatically matched based on the image of the affected area obtained by the CT scan and the CT scan. 3 consists of aspects of the invention.

(First Invention) An automatic adjustment device for a rotating chair in a sitting irradiation surgical treatment system according to the first invention is an electron beam linear acceleration irradiation device for irradiating radiation while rotating in a vertical plane centering on an affected part, It consists of a swivel chair that rotates in a horizontal plane centered on a vertical axis that passes through the center of the affected area,
In order to match the rotation center of the rotating chair with the irradiation center of the electron beam linear acceleration irradiation device, the rotation center is set in the X-axis direction,
And the first and second sliding mechanisms for moving in the Y-axis direction (114, 115, 116, 120, 132, 1 in FIG. 1).
17, 137, and 130, 134, 135, 13
6, 124, 133, 123) and the seat part in the X-axis direction to match the center of the affected part with the center of rotation of the swivel chair.
The third to fifth sliding mechanisms (223, 224, 225, 226, 2 in FIG. 2) for moving in the axial direction and the Z-axis direction.
32, 227, and 235, 236, 237, 24
2, 233, 234) and a sensor (311 in FIG. 3) that receives the light beam emitted from the electron beam linear acceleration irradiation device, and is attached to the center position of the swivel chair. A localization device (271 in FIG. 3),
Image analysis means for analyzing the rotation center of the electron beam linear acceleration irradiation device obtained by the sensor (311) of the localization device and the rotation center of the rotating chair by an image, and calculating the deviation between the rotation centers of the two (Fig. 4a). 45) and a control circuit (4 in FIG. 4a) for automatically controlling the sliding mechanism of the rotating chair based on the value obtained by the image analysis means (45).
4) and.

(2nd invention) In the 2nd invention, instead of the light beam emitted from the electron beam linear acceleration irradiation device of the first invention, the electron beam linear acceleration irradiation device is attached to the radiation center, and the rotation center of the swivel chair is set. CCD camera for imaging (42 in FIG. 4b)
1) and image analysis means for automatically matching the rotation center of the electron beam linear acceleration irradiation device with the rotation center of the rotation chair based on the center image of the rotation chair imaged by the CCD camera (421). 4a in FIG. 4a).

(3rd invention) In the 3rd invention, instead of the light beam emitted from the electron beam linear acceleration irradiation apparatus of the first invention, it is attached to the radiation center of the electron beam linear acceleration irradiation apparatus. C for imaging a patient with a stereotaxic instrument
An electron beam based on a CD camera (421 in FIG. 4b), a center image of a swivel chair imaged by the CCD camera (421), an image of a patient with a stereotaxic apparatus, and an image of an affected area obtained by a CT scan. It is composed of a rotation center of the linear acceleration irradiation device and a rotation center of the rotating chair, and an image analyzing means (426 in FIG. 4b) for automatically matching the rotation center of the rotating chair and the center of the affected area.

[0015]

[Work]

(First invention) The swivel chair is moved to a lower portion of the electron beam linear acceleration irradiation device, and is placed so that a rotation center of the swivel chair in the X-axis direction substantially coincides with a vertical rotation center of the electron beam linear acceleration irradiation device. He will be fixed in that place. A localization device equipped with a sensor is attached to the swivel chair. The swivel chair has first and second moving centers of rotation in the X-axis direction and the Y-axis direction so that the rotation center of the swivel chair coincides with the irradiation center of the electron beam linear acceleration irradiation device.
And the third to fifth sliding mechanisms that move the seat in the X-axis direction, the Y-axis direction, and the Z-axis direction to match the center of the affected part with the center of rotation of the swivel chair. It is equipped. The first sliding mechanism to the fifth sliding mechanism,
For example, a rotary shaft with a screw thread that converts the rotation of a servomotor into a linear motion, a bearing of the rotary shaft, a movable part including a ball screw and a nut rotatably fitted to the rotary shaft, a rail, It is composed of a sliding recess or the like that is slidably fitted to the rail.

First, a laser beam indicating the center of rotation of the electron beam linear acceleration irradiation device is applied to the sensor of the localization device. In the sensor portion irradiated with the laser beam, the potential changes, and a coordinate signal representing the coordinate value of the X axis and the Y axis in the localization device with respect to the rotation center position of the electron beam linear acceleration irradiation device is output and sent to the image analysis means. To be done. on the other hand,
An electric signal representing the rotation center position of the swivel chair is sent to the image analysis means. The image analysis means compares the coordinate signal representing the center of rotation of the electron beam linear acceleration irradiation device with the electric signal representing the position of the center of rotation of the swivel chair to calculate the deviation of the coordinate position. That is, the deviation between the rotation center of the electron beam linear acceleration irradiation device and the rotation center of the rotating chair is obtained as numerical values in the X-axis direction and the Y-axis direction. Therefore, the control circuit converts the signals into signals that can control the sliding mechanism of the swivel chair based on these numerical values. Then, by this signal, the center of rotation of the swivel chair is automatically controlled so as to move to the center of rotation of the electron beam linear acceleration irradiation device.

However, in this state, the center of the affected part of the patient and the center of rotation of the electron beam linear acceleration irradiation apparatus and the center of rotation of the rotating chair do not often coincide with each other. Therefore, the patient is equipped with a stereotactic device and a CT scan is performed. By this CT scan, the center of the affected area of the patient is determined as the coordinate position in the stereotactic device. Therefore, this coordinate position is moved onto the pseudo localization device. The pseudo localization device is attached to a swivel chair, and the third to fifth sliding mechanisms are arranged so that the coordinate position of the pseudo localization device, that is, the coordinate position in the localization device of the affected part and the rotation center of the swivel chair coincide with each other. Adjust. After the adjustment of the swivel chair is completed, the patient sits in the swivel chair to start the treatment in the state of performing the CT scan, and the treatment is finished when a predetermined time is reached.

(2nd invention) A CCD camera is detachably attached to the center of the electron beam linear accelerating and irradiating device for irradiating radiation, and the CCD camera images the pseudo localization device attached to the center of the swivel chair. If the center of the pseudo localization device is installed so as to coincide with the center of rotation of the swivel chair, the error between the image center of the imaged pseudo localization device and the image center of the CCD camera is calculated by the image analysis means. The control circuit
Based on the value calculated by the image analysis means, the first and second sliding mechanisms of the swivel chair are controlled to move the swivel chair in the X-axis direction and the Y-axis direction. As described above, according to the second aspect of the present invention, the center of rotation of the swivel chair is automatically moved to the center of rotation of the electron beam linear acceleration irradiation device with the help of the CCD camera, so that it can be installed at the correct position regardless of the operator.

(Third Invention) A CCD camera according to the second invention is
An image of a patient with the pseudo-localization device attached to the center of the swivel chair and the localization device is taken. Then, the image analysis means includes an image of the pseudo localization device, an image of the patient, and C.
Based on the image of the affected area taken by T scan,
X-axis direction, Y-axis direction,
And the error in the Z-axis direction is calculated. The control circuit moves the rotary chair and the seat of the rotary chair to a desired position by each sliding mechanism based on the error information in the X-axis direction, the Y-axis direction, and the Z-axis direction calculated by the image analysis means. To control. Therefore, the third invention was able to completely automate the adjustment of the swivel chair and the seat portion of the swivel chair.

[0020]

[Examples] FIG. 1 is a diagram for explaining a rotary drive unit that is a lower portion of a swivel chair. FIG. 2 is a diagram for explaining an adjusting unit that is an upper part of the swivel chair. FIG. 3 is a diagram for explaining the outer appearance of the swivel chair in which the adjustment unit is placed on the rotation drive unit. First, the rotation drive unit 100 will be described with reference to FIG. The rotary drive unit 100 includes a rotary chair grounding base 111, an X-axis-Y-axis movable flange 121, and an X-axis-Y-axis movable flange 121.
It is composed of a shaft table 131. Openings 112 are formed at four locations in the grounding base 111 for the swivel chair. Moreover, 4 is provided on the grounding base 111 for the swivel chair.
The individual floating casters 113, the X-axis direction adjusting motor 114, the bearings 115 and 116, and the pair of X-axis direction rails 117 (only one of which is visible in FIG. 1) are fixed. The floating transfer caster 113 causes the movable cylinder 118 to move the roller 119 to the opening 1.
It can be projected from 12 to the outside of the grounding base 111 for a swivel chair, or can be stored. That is, the roller 119 of the floating type caster 113 is moved from the opening 112 of the grounding base 111 for the swivel chair to the movable cylinder 118.
When the roller 119 is housed, the rotation drive unit 100 is fixed and becomes immovable.

The X-axis-Y-axis movable flange 121 has a truncated cone shape, and a recess 122 is formed in the upper portion thereof, and a pair of sliding recesses 123 and a movable portion 124 are formed in the lower portion. . Further, the X-axis table 131 has a movable portion 1 at the bottom.
32, a pair of sliding recesses 137 that slide along the X-axis direction rail 117 (only one is visible in FIG. 1), and a pair of Y-axis direction rails 133 and bearings 134, 135 on the upper part. And a Y-axis direction adjusting motor 136 are attached. Further, a main motor 141 is fitted in the recess 122 of the X-axis / Y-axis movable flange 121. The main motor 141 is a direct-acting type in which the rotor of the motor itself rotates, and a flange 142 and a cable hollow 143 through which a power supply and control wiring are passed are formed on the rotor. Further, the main motor 141 is a flat servomotor, and the rotation speed detector in the rotating portion detects the rotation speed, and a control circuit (not shown) makes the rotation speed of the main motor 141 constant based on this rotation speed. ing.

The threaded rotary shaft 120 connected to the rotary shaft of the X-axis direction adjusting motor 114 is supported by bearings 115 and 116 and is formed under the X-axis table 131. The ball screw / nut type movable part 132 is rotatably fitted. Therefore, the rotary shaft 120 connected to the X-axis direction adjusting motor 114 is rotated at a predetermined number of rotations by the speed reducer, whereby the movable portion 132 moves in the X-axis direction. At this time, an X-axis table 131, which will be described later, slidably moves on an X-axis direction rail 117 provided on the swivel chair grounding base 111. Further, the X-axis direction rail 117 is slidably fitted in a sliding recess 137 provided in the lower portion of the X-axis table 131, and smoothly and accurately moves in the X-axis direction.

The threaded rotary shaft 130 connected to the rotary shaft of the Y-axis direction adjusting motor 136 is supported by bearings 134 and 135, and also the X-axis.
A ball screw / nut type movable portion 124 formed under the Y-axis movable flange 121 is rotatably fitted. Therefore, the rotary shaft 130 connected to the Y-axis direction adjusting motor 136 is rotated at a predetermined rotation speed by the speed reducer, so that the movable portion 124 moves in the Y-axis direction. At this time, the X-axis / Y-axis movable flange 121 is provided on the X-axis table 131 and slidably moves on the Y-axis direction rail 133. The Y-axis direction rail 133 is slidably fitted in a sliding recess 123 provided in the lower portion of the X-axis-Y-axis movable flange 121, and smoothly and accurately moves in the Y-axis direction. It is a thing.

An X-axis-Y-axis movable flange 121 mounted on the rotating chair grounding base 111 having the above-described structure.
Is an X-axis direction adjusting motor 114 including a servo motor.
Alternatively, the Y-axis direction adjusting motor 136 is automatically finely adjusted in the X-axis direction and the Y-axis direction based on a signal from a control circuit described later. And with these adjustments, the X-axis
The rotation center of the main motor 141 provided in the recess 122 of the Y-axis movable flange 121 is made to coincide with the rotation center of the electron beam linear acceleration irradiation device.

Next, the adjusting section 200 will be described with reference to FIG. In FIG. 2, a swivel chair base 211
Is formed with a truncated cone-shaped recess into which a rotary drive unit 100, which is not visible in the figure, is formed, and a protective cover 212 having a substantially truncated cone shape is attached to leave a portion on which a patient's leg is placed. ing. The swivel chair base 211 includes a Z-axis direction adjusting motor 213, a pair of Z-axis direction rails 214 and 214 ', and a Z-axis direction adjusting motor 213.
Bearings 215 are attached.

The swivel chair table 221 has a sliding recess 222 that slides on the Z-axis direction rails 214 and 214 '.
For example, as shown in the drawing, a bearing 223 provided on the side portion,
224, the X-axis direction adjusting motor 225, and the rotating shaft 22 connected to the rotating shafts of the X-axis direction adjusting motor 225.
6 and a pair of X-axis direction rails 227, 227 '(not visible in FIG. 2) provided on the upper part of the swivel chair table 221.

The X-axis direction table 231 is provided in the lower part and is rotatably fitted to the rotary shaft 226. For example, a ball screw / nut type movable part 232 and a Y-axis direction rail 233 provided in the upper part. , 234, a Y-axis direction adjusting motor 235, and a threaded rotating shaft 237 connected to the bearing 236 and the rotating shafts of the Y-axis direction adjusting motor 235. The X-axis direction adjusting motor 2
25 and the Y-axis direction adjusting motor 235 are servo motors, and are driven by a signal from a control circuit described later, a foot switch, or the like.

The Y-axis direction table 241 is slidably mounted on the pair of Y-axis direction rails 233 and 234, and is rotatably fitted to, for example, a ball screw / nut type movable portion 242. , Notch 243 are provided. Then, in the cutout portion 243, a vertically movable auxiliary lift 244 including, for example, a gas spring 245 and the like is attached. A chair seat plate 251 is attached to the Y-axis direction table 241.
On the chair seat plate 251, a seat portion 252, an elbow pad 253,
A foot up cushion 254 is attached. Further, a backrest 26 is provided at the rear of the chair seat plate 251.
1 is attached so that it can move up and down. The backrest 261 includes a backrest 262 with front and rear and tilting mechanisms,
Shoulder guard 263 and sitting height adjusting motor 264
A bearing 265, a rotary shaft 266 connected to the seat height adjusting motor 264, and a Z-axis direction sliding portion 267, Y.
Axial stop nut 268, stereotactic fixing ring adjustment part 269
And are attached. Further, a localization fixing ring 271 is attached to the localization fixing ring adjustment unit 269.

The flange 142 of the main motor 141 attached to the recess 122 of the grounding base 111 for the swivel chair shown in FIG. 1 and the base 21 for the swivel chair of the adjusting unit 200.
1 and are connected. The X-axis direction adjusting motor 225 attached to the swivel chair table 221 is integrated with the movable portion 232 by rotating it for a predetermined time by pressing a control circuit (not shown) or a foot switch, which is not shown. X-axis direction table 231
Slides on the X-axis direction rail 227 in the X-axis direction. Similarly, by rotating the Y-axis direction adjusting motor 235 for a predetermined time, the Y integrated with the movable portion 242 is formed.
The axial table 241 includes the Y-axis rails 233 and 23.
4 Slide in the Y-axis direction. Further, by rotating the Z-axis direction adjusting motor 213 attached to the swivel chair base 211 for a predetermined time, the swivel chair table 22
1 moves up and down along a pair of Z-axis direction rails 214, 214 '.

The backrest 261 has a seat height adjusting motor 264 according to the seat height of the patient after the patient sits on the seat portion 252.
To rotate. The front and rear and backrest 262 with the tilt mechanism are fitted to the back of the patient. Since the positional relationship between the stereotaxic fixation ring 271 and the affected part of the patient is predetermined by CT scan or the like, the X of the adjustment part 200 is adjusted so that the center of the affected part of the stereotaxic fixation ring 271 is substantially the rotation center of the adjustment part 200. The axial adjustment motor 225, the Y-axis direction adjustment motor 235, the Z-axis direction adjustment motor 213, the Z-axis direction sliding portion 267, the Y-axis direction stop nut 268, the localization fixing ring adjustment portion 269, etc. are adjusted in advance. .

Next, the sitting position irradiation surgical treatment system will be described with reference to FIGS. 4 and 5. 4a and 4b are block diagrams for explaining the present invention.
FIG. 5 is a flow chart for explaining the present invention.
First, the swivel chair 300 (FIG. 3) is transported to the lower part of the electron beam linear acceleration irradiation device 41. At this time, the rotation driving unit 10
The floating casters 113 (FIG. 1) of 0 (FIG. 1) are projected downward to facilitate the movement of the swivel chair 300. After the swivel chair 300 is moved to a predetermined position, the floating-type moving caster 113 has the opening 1 of the swivel chair grounding base 111.
When housed in 12, the swivel chair 300 is fixed in that position. In step 51, in order to match the rotation center of the electron beam linear acceleration irradiation device 41 in the vertical plane with the rotation center of the rotation chair 300 in the horizontal plane, the rotation chair 30
Pseudo-localization device 4 with sensor 311 from 0 backrest
2 is attached. This sensor 311 is, for example, C
A thing such as a CD is used, but is not limited to this.

In step 52, from the electron beam linear acceleration irradiation device 41 to the sensor 311 of the pseudo localization device 42,
For example, a laser beam is emitted. The position of this laser beam coincides with the rotation center of the electron beam linear acceleration irradiation device 41. The sensor 311 in the pseudo localization device 42 has a change in the potential of the portion irradiated with the laser beam, and this is sent to the image analysis means 43 as an output signal. In step 53, the image analysis means 43 checks where the signal is located at the coordinate position in the pseudo localization device 42. That is, the image analysis unit 43 shifts the deviation between the signal indicating the position of the laser beam emitted from the electron beam linear acceleration irradiation device 41 and the signal output from the center of the pseudo localization device 42 indicating the rotation center position of the swivel chair 300. Calculate

In step 54, the control circuit 44 controls the swivel chair 3 based on the value calculated by the image analysis means 43.
00 is converted into a signal for controlling a servo motor for adjusting each sliding mechanism. That is, the image analysis means 43 continues the adjustment until the rotation center of the electron beam linear acceleration irradiation device 41 and the rotation center of the rotating chair 300 coincide with each other. As described above, the adjustment from step 51 to step 54 can be automatically performed. Further, for this adjustment, the laser beam emitted by the electron beam linear acceleration irradiation device 41 and a signal indicating the rotational position of the rotary chair are displayed on the image display means 46, and while watching this display, for example, the rotary chair 45 by a foot switch. It is also possible to control each sliding mechanism.

As described above, after the electron beam linear acceleration irradiation device 41 and the swivel chair 45 are made to coincide with each other in rotation center, the rotation center of the swivel chair 45 and the center position of the affected part are coincided with each other. Hereinafter, a method for identifying the position of the affected area will be described. In step 55, for example, the head ring 721 shown in FIG. 7B is attached to the skull of the patient by the skull fixing pin 7.
It is fixed at 26. In step 56, the CT scan of the affected area determines the positional relationship between the head ring 721 and the center of the affected area in the X-axis direction and the Y-axis direction. When it is desired to obtain a positional relationship in the Z-axis direction in addition to the X-axis direction and the Y-axis direction, a CT scan is performed by attaching the localizer device 830 shown in FIG. 8 to the head ring 721.

In step 57, the coordinate position of the affected area obtained by the CT scan is set in the pseudo localization device 42. In step 58, the center of the affected part may not coincide with the center of the swivel chair 300. Therefore, it is checked whether the center of the affected part and the center of rotation of the swivel chair match. In step 59, in order to move the patient to the center of rotation of the swivel chair 300 in a comfortable posture, the adjustment unit 2 shown in FIG.
The X-axis direction adjusting motor 225, the Y-axis direction adjusting motor 235, and the Z-axis direction adjusting motor 213 of No. 00 are rotated by pressing a foot switch or the like (not shown). Continue this operation until the center of rotation of the swivel chair coincides with the center of the affected area. By displaying the image of the affected area by CT scan on the image display means 46, the operation can be performed quickly while watching the screen. Further, it is possible to automatically control the sliding mechanism of the swivel chair 300 as described above.

In step 60, when the center of the affected part and the center of rotation of the swivel chair coincide with each other in step 58, treatment is started. That is, as shown in FIG. 6, assuming that the radiation irradiation angle of the electron beam linear acceleration irradiation device 63 is 0 ° in front of the horizontal plane of the affected part 65, for example, the radiation irradiation angle starts from −45 ° and is behind the patient 61 shown in FIG. To the position of 225 degrees. This rotation angle can be further widened to a total angle of about 300 degrees. However, since the swivel chair 62 rotates at a constant angular velocity, it does not need to rotate to the rear of the patient 61 shown in FIG. 6, and it is the same even if it starts from −45 degrees and ends at 90 degrees. At this time, the peripheral speed of the swivel chair 62 is fast in the vicinity of 0 degree shown in FIG. 6 which is farthest from the vertical axis passing through the center position of the affected part 65, and is the slowest just above the axis. Therefore, in order to irradiate the same amount of the radiation beam 64 at the center position of the affected part 65 per unit time, the rotation speed of the electron beam linear acceleration irradiation device 63 is farthest from the vertical axis passing through the center position of the affected part 65. It is necessary to make it slow near 0 degree shown in (1) and fast just above the axis. Then, it is preferable to control the rotation speed of the electron beam linear acceleration irradiation device 63 based on a trigonometric function. This speed control can be performed using a computer, but since the speed is such that it moves over 135 degrees in all angles over 30 to 40 minutes, this section is divided into, for example, 6 equal parts. You can also change the speed little by little. Thus, the electron beam linear acceleration irradiation device 6
When the rotation speed of 3 is controlled, the amount of the radiation beam 64 irradiated to the center of the affected part 65 becomes constant. That is, in step 61, it is checked whether or not the set time is reached, and if the set time is reached, the treatment is terminated. Further, the rotation of the electron beam linear acceleration irradiation device 63 can be made to perform a reciprocating motion in which the amplitude of the rotation is gradually increased about 0 degree shown in FIG. In this case, the number of irradiations of the electron beam linear acceleration irradiation device 63 is large near 0 degrees, and the number of irradiations is small near 90 degrees shown in FIG. In this way, the dose of radiation to the affected area is adjusted, but the speed of the electron beam linear acceleration irradiation device 63 can be controlled by calculating the dose distribution to the head.

Next, another embodiment will be described with reference to FIG. 4b. The difference between the embodiment shown in FIG. 4b and the embodiment shown in FIG. 4a is that a CCD camera is detachably attached to the emission center of the electron beam linear acceleration irradiation device instead of the light beam. That is, the CCD camera 421 captures an image of the pseudo localization device 422 in which the center of rotation of the swivel chair is displayed, and stores this image in the image storage unit 423. Also, CC
The D camera 421 is used for the affected part 424 of the patient who is equipped with the stereotactic device.
Is imaged together with the localization device, and this image is stored in the image storage means 423 in the same manner as described above. Further, the CT scanning device 425 scans the affected part of the patient equipped with the stereotactic device, and an image storing means 423 displays an image showing the position of the affected part of the patient.
Remember. Since the image analysis means 426 matches the rotation center of the electron beam linear acceleration irradiation device, the rotation center of the rotation chair, and the center of the affected area from each of the images, how should each sliding mechanism of the rotation chair be controlled? Calculate whether it is good or not. Then, the calculation result becomes a control signal for each sliding mechanism by the control circuit 427. The above control controls only the sliding mechanism 428 that moves in the X-axis direction and the Y-axis direction of the swivel chair, or both the sliding mechanism 428 and the sliding mechanism 429 that moves the seat portion of the swivel chair. Either control can be selected. Further, it is also possible to display the calculation result of the image analysis means 426 on the image display means 430 and manually control each sliding mechanism while watching this.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments. And
Various design changes can be made without departing from the invention as set forth in the claims. For example, although the tumor of the head has been described as an example, it is needless to say that the present invention can be applied to the orbital part, the ENT, or other parts of the body other than the head. Further, the image analysis means, the control circuit, and the like are well-known techniques, and although detailed description is omitted, they can be configured by well-known techniques. Further, instead of the laser beam used in this embodiment, a combination of radiation and a radiation sensor or infrared and an infrared sensor can be used. It goes without saying that the CCD can also be replaced with this as long as it has an equivalent action.

[0039]

According to the present invention, since the center of the affected area and the center of rotation of the swivel chair can be automatically adjusted, the preparation time before starting the treatment can be shortened. . According to the present invention, it is possible to electronically control the adjustment so that the center of the affected part and the center of rotation of the swivel chair coincide with each other, and thus it is possible to reduce adjustment errors. In particular, if the user makes a confirmation while looking at the image display means at the time of the above adjustment, the adjustment error can be further reduced. According to the present invention, it is possible to maintain a natural and comfortable posture to reduce the pain of the patient during the treatment time, so that not only the patient is hospitalized and treated, but also the patient is hospitalized while living a normal life. It can be treated.

[Brief description of drawings]

FIG. 1 is a diagram for explaining a rotation drive unit that is a lower portion of a swivel chair.

FIG. 2 is a diagram for explaining an adjusting unit that is an upper part of a swivel chair.

FIG. 3 is a diagram for explaining the outer appearance of a swivel chair in which an adjustment unit is placed on a rotation drive unit.

FIG. 4a is a block diagram illustrating the present invention.

FIG. 4b is a block diagram of another embodiment for explaining the present invention.

FIG. 5 is a flowchart for explaining the present invention.

FIG. 6 is a diagram for explaining a sitting position irradiation surgical treatment system.

7A and 7B are explanatory views of a head fixing device, in which FIG. 7A is a top view thereof, and FIG. 7B is a perspective view thereof.

FIG. 8 is a diagram for explaining a localizer device.

FIG. 9 is an explanatory diagram of a CT scan performed to obtain the center position of the affected area.

FIG. 10 is a diagram for explaining the simulation device.

[Explanation of symbols]

41 ... Electron beam linear acceleration irradiation device 42 ... Pseudo-localization device with sensor 43 ... Image analysis means 44 ...
Control circuit 45 ... Rotary chair equipped with a sliding mechanism that moves in the X-axis and Y-axis directions 46 ... Image display means 421 ... CCD camera 425 ... CT scanning device 429 ... X axis, Seat portion 100 of a swivel chair equipped with a sliding mechanism that moves in the Y-axis and Z-axis directions ...
・ Sliding recess 200 ・ ・ ・ Adjusting part 223 ・ ・
・ Bearing 300 ・ ・ ・ Swivel chair 224 ・ ・
・ Bearing 111 ・ ・ ・ Grounding base for swivel chair 225 ・ ・ ・ Motor for adjusting X-axis direction 112 ・ ・ ・ Opening device 113 ・ ・ ・ Cast for floating movement 226 ・
・ Rotary shaft 114 ・ ・ ・ X-axis direction adjustment motor 227 ・ ・
・ X-axis direction rail 115 ・ ・ ・ Bearing 231 ・ ・
・ X-axis direction table 116 ・ ・ ・ Bearing 232 ・ ・
・ Movable part 117 ・ ・ ・ X-axis direction rail 233 ・ ・
・ Y-axis direction rail 118 ・ ・ ・ Movable cylinder 234 ・ ・
・ Y-axis direction rail 119 ・ ・ ・ Roller 235 ・ ・ ・ Y-axis direction adjusting motor 120 ・ ・ ・ Rotating shaft 121 ・ ・ ・ X-axis-Y-axis movable flange 236 ・ ・
・ Bearing 122 ・ ・ ・ Recessed portion 237 ・ ・
・ Rotary shaft 123 ・ ・ ・ Sliding recess 241 ・ ・
・ Y-axis direction table 124 ・ ・ ・ Movable part 242 ・ ・
・ Movable part 130 ・ ・ ・ Rotary shaft 243 ・ ・
・ Notch 131 ・ ・ ・ X-axis table 244 ・
・ Auxiliary lift 132 ・ ・ ・ Movable part 245 ・
・ Gas spring 133 ・ ・ ・ Y-axis direction rail 251 ・ ・
・ Chair seat plate 134 ・ ・ ・ Bearing 252 ・ ・
・ Seat 135 ・ ・ ・ Bearing 253 ・ ・
・ Elbow pad 136 ・ ・ ・ Y-axis direction adjusting motor 254 ・ ・ ・ Foot up clip 137 ・ ・ ・ Sliding recession section 141 ・ ・ ・ Main motor 261 ・ ・
・ Backrest 142 ・ ・ ・ Flange 262 ・ ・ ・ Front and back and tilt 143 ・ ・ ・ Cable hollow backrest with mechanism 211 ・ ・ ・ Swivel chair base 263 ・ ・
・ Shoulder guard 212 ・ ・ ・ Protective cover 264 ・ ・
・ Seating height adjustment motor 213 ・ ・ ・ Z-axis direction adjustment motor 265 ・ ・
・ Bearing unit 266 ・ ・ ・ Rotating shaft 214 ・ ・ ・ Z-axis direction rail 267 ・ ・
・ Z-axis direction sliding part 215 ・ ・ ・ Bearing 268 ・ ・
・ Y-axis direction stop nut 216 ・ ・ ・ Rotating shaft 269 ・ ・ ・ Position fixing ring adjustment 221 ・ ・ ・ Rotary chair table part 271 ・ ・ ・ Position fixing ring

Claims (3)

[Claims] 1. An electron beam linear acceleration irradiation device that irradiates radiation while rotating in a vertical plane centered on the affected area, and a rotating chair that rotates in a horizontal plane about a vertical axis passing through the center of the affected area. In an automatic adjustment device for a swivel chair in a sitting position irradiation surgical treatment system, the rotational center of the swivel chair is made to coincide with the irradiation center of the electron beam linear acceleration irradiation device in the X-axis direction,
And the first and second sliding mechanisms that move in the Y-axis direction, and the seat section moves in the X-axis direction, the Y-axis direction, and the Z-axis direction to match the center of the affected area with the center of rotation of the swivel chair. A swivel chair including third to fifth sliding mechanisms, a sensor for receiving a light beam emitted from the electron beam linear acceleration irradiation device, and a localization device attached to a central position of the swivel chair. And an image analysis means for analyzing the rotation center of the electron beam linear acceleration irradiation device and the rotation center of the rotating chair obtained by the sensor of the localization device by an image, and calculating the deviation between the rotation centers of the two, and the image. A control circuit for automatically controlling the sliding mechanism of the swivel chair based on the value obtained by the analyzing means, and an automatic adjusting device for a swivel chair in a sitting irradiation surgical treatment system, comprising: . 2. A CCD camera attached to the radiation center of an electron beam linear accelerating irradiation device for imaging the rotation center of a swivel chair, and an electron beam linear acceleration irradiation based on the central image of the swivel chair imaged by the CCD camera. 2. An automatic adjusting device for a rotating chair in a sitting irradiation surgical treatment system according to claim 1, further comprising image analysis means for automatically matching a rotation center of the device and a rotation center of the rotating chair. 3. A CCD camera attached to the radiation center of the electron beam linear accelerating irradiation device to image a patient with a rotation center of the swivel chair and a localization device, and a central image of the swivel chair imaged by the CCD camera. The center of rotation of the electron beam linear acceleration irradiation device and the center of rotation of the rotating chair, and the center of rotation of the rotating chair and the center of the affected area were determined based on the image of the patient with a stereotactic device and the image of the affected area obtained by CT scanning. An automatic adjustment device for a rotating chair in a sitting irradiation surgical treatment system according to claim 1, further comprising: an image analysis unit for automatically matching.