KR100740339B1 - Device for simulating the position according to the organ motion induced by respiration in real-time - Google Patents

Abstract

A device for simulating a position according to an organ motion induced by respiration in real-time is provided to simulate a motion of the organ for verifying whether a radiation is irradiated on a desired position in case that the motion of a certain part of the organ according to respiration is generated. The device includes an organ motion tracing device(11) and an organ motion simulating part(12). The organ motion tracing device comprises an irradiator(20), a visible ray generating unit(30) for converting a radiation into a visible ray, a camera(35) for taking a photograph of an image formed by the visible ray, a signal converter(40) for converting the image into a digital image signal, and a computer processing device(50) comprising a display part(51), an input part(52), a control part(53), and a storage part(54). The organ motion simulating part comprises a frame, a moving member where the radiation is irradiated, a servo motor for moving the moving member with respect to the frame, and a motor control part(55) for generating a signal for driving of the servo motor.

Description

Device for simulating the position according to the organ motion induced by respiration in real-time}

1 is a schematic configuration diagram of an apparatus for reproducing long-term motion according to an embodiment of the present invention.

2 is a view for explaining a structure for obtaining an analog image of the long-term movement of the organs inside the patient of the long-term motion reproduction apparatus shown in FIG.

3 is a schematic configuration diagram of a long-term motion reproducing unit of the long-term motion reproducing apparatus shown in FIG. 1.

4 is a schematic perspective view of the frame assembly portion of the long-term motion reproducing portion shown in FIG.

FIG. 5 is a plan view of the part shown in FIG. 4; FIG.

FIG. 6 is a sectional view taken along the line VI-VI shown in FIG.

7A and 7B are conceptual views for verifying the irradiation degree of the radiation treatment apparatus using the long-term motion reproducing apparatus shown in FIG.

8 is a schematic perspective view of a frame assembly portion of a long-term motion reproducing unit according to another embodiment of the present invention.

<Description of the symbols for the main parts of the drawings>

10 ... Long-term motion reproducing device 11 ... Long-term motion real-time tracking device

12.Long-term motion reproducing unit 55 ... Motor control unit

56 ... frame 57 ... sliding member

58, 58a ... moving member 60 ... 1st servo motor

62 2nd Servo Motor X ... 1st Direction

Y ... 2nd direction 500,501 ... Frame assembly

550,551 ... rail 601,602 ... ballscrew

650,651 Ball Nut

The present invention relates to an apparatus for reproducing long-term motion used in a device for irradiating radiation to a treatment site of a patient accurately and effectively in consideration of the movement of organs during radiation treatment of gastric cancer, lung cancer, and the like. The present invention relates to a long-term motion reproducing apparatus adapted to reproduce a change in position.

Modern people living in a complicated society have been unable to stay healthy due to many stresses and irregular meals. In particular, these modern people are most likely to be malignant tumors, or cancer deaths. The incidence of cancer is also increasing socially, and national measures are urgently needed. Accordingly, treatment methods such as cancer are also of major interest, and in particular, the importance of radiation therapy is emphasized.

Successful radiation therapy for cancerous tumors requires two important factors. First, the location of the radiation to be irradiated to the tumor must be accurate, and second, the planned dose and the actual dose should be consistent.

Accurate radiation therapy for tumors requires reduction of various displacement errors. Displacement errors related to the patient's body can be classified into three types. The types are classified into posture-related long-term movement errors, inter-fraction long-term movement errors, and internal-fraction long-term movement errors.

Posture-related organ movement errors change the position of internal organs depending on the position of the patient, whether standing or lying. Posture-related long-term movement errors can be eliminated by planning and taking care of the patient's posture, such as when planning a treatment position, and then planning the position.

Inter-fractional long-term movement error is caused by the movement of internal organs, and the position of the organs and surrounding organs changes according to the degree of filling of the bladder, the filling of the rectum, or the degree of filling of the stomach. Such interfraction long-term movement errors can be eliminated by making the patient's condition the same during treatment planning and treatment.

Internal fractional organ movement error is the change in the position of the organ and its surrounding organs due to breathing or heartbeat. This error can not only occur physiologically in a living person, but the movement is frequent, especially in the case of breathing, the fluctuation range is large, and the change in the position of the corresponding organs affected by the respiratory movement including the diaphragm is problematic. In order to eliminate such internal fractional long-term movement error, the internal organ movement by breathing is traced to reflect the change in the position of a specific part of the organ according to the breathing so that the radiation is irradiated only when the specific part is in a certain position range. .

The positional displacement data may be usefully used to accurately irradiate specific portions of the patient's internal organs that are displaced by breathing during the patient's radiation therapy. However, before using the positional displacement data to plan the treatment of the patient and immediately irradiate the patient with high-energy therapeutic radiation, the irradiated radiation can overcome the errors caused by the movement of internal organs due to the patient's breathing. It is necessary to verify whether the device, but there is a problem that there is no device to replace the movement of the internal organs of the patient.

The present invention has been made to solve this problem, when the movement of a specific part of the internal organs caused by breathing, the internal organs specific to the breathing to help verify whether the therapeutic radiation is irradiated at the desired location An object of the present invention is to provide a long-term motion reproducing apparatus that reproduces the movement of a part.

In order to achieve the above object, a long-term motion reproducing apparatus according to the present invention comprises: a radiation irradiation device for irradiating radiation;

Visible light generating means for converting the radiation irradiated from the radiation device into visible light;

A camera for capturing an image formed by the visible light generated by the visible light generating means;

A signal converter converting the image photographed by the camera into a digital image signal;

A display unit for displaying a digital image formed by the digital image signal on a screen; an input unit for selecting a specific portion of an image displayed on the display unit; and position change data according to a time change of the specific portion selected by the input unit. A computer processing apparatus including a control unit configured to generate a first and a storage unit configured to store the position change data and the digital image created by the control unit;

frame;

A movable member installed to be movable with respect to the frame and irradiated with radiation generated from a radiation irradiation device;

A servo motor for moving the moving member relative to the frame; And

The moving member reproduces the positional displacement of the specific part of the organ based on the positional displacement data based on the positional displacement data based on the positional displacement data according to the movement of the organ by the patient's respiration. It is provided with a motor control unit for generating a signal for driving the servo motor, so that the irradiated radiation can be irradiated to a desired position on the moving member,

The moving member is characterized in that it is configured to verify the positional treatment of the specific part of the organ according to the movement of the organ by the breath of the patient to verify the radiation treatment plan of the patient in consideration of the displacement.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic configuration diagram of a long-term motion reproducing apparatus according to an embodiment of the present invention, Figure 2 is a structure for obtaining an analog image of the long-term movement of the internal organs of the patient of the long-term motion reproducing apparatus shown in FIG. 3 is a schematic configuration diagram of a long-term motion reproducing unit of the long-term motion reproducing apparatus shown in FIG. 1, and FIG. 4 is a schematic perspective view of a frame assembly portion of the long-term motion reproducing apparatus shown in FIG. 5 is a plan view of the portion shown in FIG. 4, and FIG. 6 is a cross-sectional view of the VI-VI line shown in FIG.

1 to 6, the long-term motion reproducing apparatus 10 of the present embodiment includes a long-term motion real-time tracking device 11 and a long-term motion reproducing unit 12.

The long-term motion real time tracking device 11 includes a radiation irradiation device 20, a visible light generating means 30, a camera 35, a signal converter 40, and a computer processing device 50. .

The radiation irradiation device 20 is a device for irradiating diagnostic radiation to the treatment site of the patient. The radiation irradiation device 20 is a device for generating radiation by using the hot electrons from the filament, and is mainly used in the field of physics or medicine, and its structure and principle are well known, and thus detailed description thereof will be omitted.

As shown in FIG. 2, the visible light generating unit 30 includes an incident screen 31, a visible light generating unit 32, and a reflection mirror 33.

The incident screen 31 is a portion through which the radiation irradiated from the radiation device 20 passes through the human body. The visible light generator 32 is disposed below the incident screen 31. The visible light generating unit 32 is a part in which the radiation incident on the incident screen 31 is converted into visible light, and its principle is generally well known, and thus detailed description thereof will be omitted. The reflection mirror 33 is provided to change the direction so that the light generated by the visible light generator 32 is incident on the camera 35. The reflection mirror 33 is disposed to be inclined with respect to the visible light generating unit 32. The camera 35 is provided for capturing an image formed by the visible light of which the direction is changed through the reflection mirror 33, and the detailed structure thereof is the same as that of a known video camera, and thus the detailed description thereof will be omitted.

The signal converter 40 is provided to convert an analog image photographed by the camera 35 into a digital image signal. In the present embodiment, the signal converter 40 uses an 8-bit A / D converter, and Matrox's Meteor-∥_MC board, which converts 30 frames per second into a digital video signal, is used.

The computer processing apparatus includes a display unit 51, an input unit 52, a control unit 53, and a storage unit 54. The display unit 51 is provided to display a digital image formed by the digital image signal converted by the signal converter 40 on a screen. The input unit 52 is provided to select a position of a specific portion of the digital image displayed on the display unit 51. In this embodiment, a mouse is used. The control unit 53 is configured to track the position change data according to the time change of the position of the specific portion of the digital image selected by the mouse over time to create the position change data. The process of creating the position change data will be described in more detail as follows.

The controller 53 sets a scale of an image displayed on the display unit 51 to be selected by the mouse, and then sets a reference template having a predetermined size including a specific portion selected by the mouse from the input digital image. Acquire. Then, at a certain time, that is, in the present embodiment, the image is compared with the reference template by moving the reference template at the same position as that of the reference template in the new digital image input after 1/30 second. Search for and find. The corresponding position is stored in the storage unit 54 to be described later, and then a movable template having the same size as the reference template is obtained based on the position. Thereafter, the movable template is set as the reference template. In addition, the process of acquiring a new mobile template again at a position consistent with the new reference template after a predetermined time, that is, 1/30 seconds, is repeated for the newly set reference template. It contains an algorithm that writes to be repeated in 1/30 seconds. By such an algorithm, the positional displacement data of the specific part selected by the mouse can be tracked.

The storage unit 54 stores a digital image data of a specific portion created by the controller 53 and position change data of the specific portion. The digital image data stored in the storage unit 54 and the position change data of the specific portion thereof are displayed on the display unit 51, and may be transmitted through an appropriate transmission means for use in the next step.

The long-term motion reproducing unit 12 includes a frame assembly 500 including a frame 56, a sliding member 57, a moving member 58, a first servo motor 60, and a second servo motor 62. ) And a motor control unit 55.

The frame 56 is provided to install a sliding member 57 to be described later. The frame 56 is made of a metal material such as aluminum alloy. However, the material is not limited to metal, and when used in a device such as computer tomography (CT), a material such as an acrylic resin that is not affected by electromagnetic waves is used. The first servo motor 60 is fixed to the frame 56.

The sliding member 57 is installed to be movable in one direction with respect to the frame 56. As shown in FIG. 4, the sliding member 57 is provided to slide with respect to the frame 56 in the first direction X along the rail 550 on the frame 56. The first servo motor 60 is formed by the ball screw 601 and the ball nut 650 mechanism which are widely used for converting the rotational motion into the linear motion in this embodiment. It is connected dynamically with That is, the ball screw 601 is fixed to the rotation shaft of the first servo motor 60, and the ball nut 650 screwed to the ball screw 601 is fixed to the sliding member 57, the first servo The ball screw 601 rotates when the motor 60 rotates so that the sliding member 57 fixed to the ball nut 650 slides in the first direction X. As shown in FIG. On the other hand, instead of the ball screw 601 and the ball nut 650 mechanism, a known rack and pinion mechanism may be employed.

The second servo motor 62 is disposed in a direction perpendicular to the first servo motor 60 and fixed to the sliding member 57.

The movable member 58 is slidably coupled to the sliding member 57 in the second direction Y along the rail 551 as shown in FIG. 4. The moving member 58 has a form in which the center part is empty so that the radiation irradiated from the radiation irradiation device can be irradiated and transmitted. An acrylic resin plate or the like may be mounted on the central portion so as to place a sensor such as a film. The first direction X and the second direction Y are perpendicular to each other. Therefore, the movable member 58 is arranged to allow two-dimensional movement with respect to the frame 56 via the sliding member 57. In the central empty space of the movable member 58, a radiation measuring means such as a radiation film P, for example, a radiation film P which can measure a region through which the radiation irradiated from the radiation irradiation device is transmitted and the radiation arrival degree in the region is to be disposed. Can be. The moving member 58 is dynamically connected to the second servo motor 62. In the present embodiment, the moving member and the second servo motor are also connected to the sliding member and the first servo. Like the motor-connected means between the motors, it is the ball screw 602 and the ball nut 651.

The motor controller 55 is provided to generate a driving signal for controlling the first servo motor 60 and the second servo motor 62. That is, the motor control unit 55 based on the positional displacement data of the specific part of the organ created by the real-time tracking device 11 of the organ movement shown in FIG. Receiving the position displacement data of a specific part of the moving element 58 based on the position displacement data, the movable member 58 reproduces the position displacement of the specific part of the organ, and the radiation irradiated from the radiation irradiation device is moved to the movable member 58 In order to confirm whether the irradiation to the desired position on the image, it is to function to generate a signal for driving the servomotor.

Hereinafter, the operation of the long-term motion reproducing apparatus 10 according to the present invention having such a structure will be described.

By using the long-term motion reproducing apparatus 10 to reproduce the positional displacement of the specific region of the patient based on the positional displacement data according to the breathing of the specific region of the patient for treatment whether the therapeutic radiation is irradiated to the desired position The process of verification will be described.

For this purpose, it is necessary to obtain the positional displacement data according to the time of the specific part by tracking the movement of a specific part of the internal organs in response to the respiration, and the process is shown in FIGS. This is made possible by the tracking device 11.

That is, the patient irradiates the radiation through the radiation irradiation device 20 while the patient is lying above the incident screen 31 of the long-term motion real-time tracking device 11. At this time, the radiation irradiated from the irradiation device 20 uses a diagnostic radiation. The radiation irradiated from the radiation irradiation device 20 and passed through the human body of the patient passes through the incident screen 31 and is converted into visible light by the visible light generator 32. The visible light generated by the visible light generating unit 32 is changed in direction by the reflection mirror 33 disposed to be inclined with respect to the incident screen 31. The incident screen 31, the visible light generator 32, and the reflection mirror 33 form a visible light generator 30 for converting radiation into visible light. The image formed by the visible light whose direction is changed by the reflection mirror 33 is incident on the lens of the camera 35 and the image is captured. The analog image photographed by the camera 35 is converted into a digital image by the signal converter 40 and input to the computer processing apparatus 50. The display unit 51 provided in the computer processing apparatus 50 displays an image converted into a digital image signal by the signal converter 40, and a specific portion displayed on the display unit 51 through the input unit 52. By clicking, the control unit 53 tracks and writes the position displacement data of the specific part and obtains the position displacement data according to time. The position displacement data thus obtained may be displayed through the display unit 51, and may be stored in the storage unit 54 and may be transmitted to a necessary place through a network or the like as necessary.

By this process, necessary position displacement data obtained by tracking the movement of the internal organs of the patient in real time are obtained, and the organ motion reproducing unit 12 of the organ motion reproducing apparatus 10 is verified to verify the radiation treatment effect of the patient. Equipped with a radiation film (P) and placed in the therapeutic irradiation device on behalf of the patient. Then, as described with reference to FIGS. 1 and 2, the positional displacement data of a specific part of the patient's internal organs according to respiration are transferred to appropriate means, that is, the storage unit 54 or the control unit shown in FIGS. Input from the 53 to the motor control unit 55. The motor control unit 55 receiving the position displacement data generates a signal for driving the first servo motor 60 and the second servo motor 62 based on the position displacement data, and the first servo motor ( 60 and the second servo motor 62 are driven. By the driving of the first servo motor 60, the sliding member 57 makes a linear movement with respect to the frame 56 in the first direction X as shown in FIG. 4. Accordingly, since the movable member 58 is installed so that relative movement is impossible with respect to the sliding member 57 in the first direction X, the movable member 58 has the same distance as that of the sliding member 57. Will be moved to). On the other hand, by the driving of the second servo motor 62, the moving member 58 is a linear movement in the second direction (Y) as shown in Figure 4 with respect to the sliding member (57). Accordingly, since the movable member 58 is installed to be movable relative to the sliding member 57 in the second direction Y, the movable member 58 is disposed in the second direction Y with respect to the sliding member 57. Will move. Accordingly, the position of the first direction X is determined by the sliding member 57, and the position of the second direction Y is determined by the moving member 58. As a result, the movable member 58 is changed in position on the two-dimensional plane with respect to the frame 56. The case where the moving member 58 is marked by appropriate means to identify the position to be irradiated with radiation and the radiation is irradiated to the position will be described. If the radiation is irradiated only when the movable member 58 is located at a specific position in consideration of the movement of the movable member 58, the radiation film P shows the trace of the radiation as if the movable member 58 is When in the stationary state, the radiation area having a clear boundary line will be displayed as shown by the hatched portion in FIG. 7A as the radiation is irradiated. However, when the radiation is irradiated when the movable member 58 is not in a specific position, the movable member 58 is placed on the radiation film P mounted on the movable member 58, as shown in FIG. 7B. A trace of the movement in the direction will be left, and the trace will result in an unclear line between the virtual line and the solid line shown in FIG. 7B. In this way, it is possible to set up a radiation apparatus so that radiation is irradiated only to a specific part by considering radiation of internal organs in response to respiration, so that radiation can be clearly irradiated only to a treatment site.

In the embodiment of the present invention, with respect to the sliding member 57 and the sliding member 57 which can be moved relatively linearly relative to the frame 56 to reproduce the movement of the internal organs of the patient in two dimensions. A moving member 58 capable of relatively linear movement and a first servo motor 60 for moving the sliding member 57 and a second servo motor 62 for moving the moving member 58 are provided. Although described and illustrated as described above, when the movement of the internal organs of the patient is reproduced only in one dimension, as shown in FIG. 8, the sliding member 57 and the first servomotor 60 are unnecessary. The moving member 58 is installed on the frame 56 so as to be slidable with respect to the frame 56, and the second servo motor 62 is fixed to the frame 56 and is driven by the moving member 58. Even if connected to the purpose of the present invention It can be done.

As mentioned above, although the present invention has been described with reference to preferred embodiments, the present invention is not limited to such examples, and various forms of embodiments may be embodied within the scope without departing from the technical spirit of the present invention.

As described above, in the apparatus for reproducing long-term motion according to the present invention, the respiratory apparatus may be used to verify whether the therapeutic radiation is irradiated to the treatment site of the patient according to the movement of a specific part of the internal organs due to respiration. By reproducing the movement of the specific parts of the internal organs, there is an effect of providing a means for verifying the irradiation effect in consideration of the long-term movements according to the patient's breathing.

Claims (4)

A radiation irradiation device for irradiating radiation; Visible light generating means for converting the radiation irradiated from the radiation device into visible light; A camera for capturing an image formed by the visible light generated by the visible light generating means; A signal converter converting the image photographed by the camera into a digital image signal; A display unit for displaying a digital image formed by the digital image signal on a screen; an input unit for selecting a specific portion of an image displayed on the display unit; and position change data according to a time change of the specific portion selected by the input unit. A computer processing apparatus including a control unit configured to generate a first and a storage unit configured to store the position change data and the digital image created by the control unit; frame; A movable member installed to be movable with respect to the frame and irradiated with radiation generated from a radiation irradiation device; A servo motor for moving the moving member relative to the frame; And The irradiation apparatus receives the position displacement data of a specific part of the organ according to the movement of the organ by the breathing of the patient, and based on the position displacement data, the movable member reproduces the position displacement of the specific portion of the organ. In order to confirm whether the radiation irradiated at the desired position on the moving member is provided with a motor control unit for generating a signal for driving the servo motor, And the movable member is configured to reproduce the positional displacement of a specific part of the organ according to the movement of the organ by the breathing of the patient, and to verify the radiation treatment plan of the patient in consideration of the displacement. The method of claim 1, The movable member is coupled to the frame to be movable in one direction with respect to the frame, And the servo motor is installed on the frame to move the moving member in the one direction with respect to the frame, and is connected to the moving member dynamically. The method of claim 1, A sliding member coupled to the frame to be movable in a first direction, the movable member being coupled to the sliding member to be movable in a second direction perpendicular to the first direction with respect to the sliding member, The servo motor may include a first servo motor installed in the frame to move the sliding member in the first direction with respect to the frame, and being electrically connected to the sliding member, and the moving member with respect to the sliding member. And a second servo motor installed on the sliding member to move in the second direction and being dynamically connected to the moving member. The method of claim 1, And the moving member includes a member made of acrylic resin in a central portion thereof.

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