KR101479701B1 - High Intensity Monochromatic Parallel X-ray Module Control System and Method Thereof - Google Patents

Abstract

The present invention provides a system for controlling high intensity monochromatic parallel X-ray module and a method for controlling the system for controlling the high intensity monochromatic parallel X-ray module, wherein the system comprises a parallel X-ray module which irradiates high intensity monochromatic parallel X-rays by condensing X-rays generated from a X-ray source; a robot arm capable of performing multi-degree of freedom motions which controls location of the parallel X-ray module by being combined with the parallel X-ray module; and a control unit which controls operation of the robot arm by being provided with cancer information from recording equipment which recorded tumor cells in order for the high intensity monochromatic parallel X-rays to locally investigate the tumor cells. The system for controlling parallel X-ray module and the method for controlling the same of the present invention maximize effects of cancer therapy and minimize damages of healthy tissues around the tumor cells by enabling the high intensity monochromatic parallel X-rays to locally investigate. Also, the system for controlling the parallel X-ray module and the method for controlling the same prevent required amount or more of X-rays from being irradiated by controlling the irradiation intensity of the high intensity monochromatic parallel X-rays, thereby minimizing side effects of a patient, increasing recovery rate of the patient, and performing low cost and high efficiency radiation therapy system.

Description

TECHNICAL FIELD [0001] The present invention relates to a high-intensity short-wavelength parallel X-ray module control system,

The present invention relates to a parallel X-ray module control system and a control method thereof, more particularly, to a local examination of a high-intensity short-wavelength parallel X-ray for cancer tissue near the skin such as thyroid cancer, prostate cancer, breast cancer and skin cancer Wavelength parallel-X-ray module control system and a control method thereof, which enable effective X-ray therapy to be performed while minimizing damage to healthy tissue around the cancer tissue.

Radiation therapy uses radiation, such as X-rays, gamma rays, and proton beams, to delay or stop tissue growth of various cancers and malignancies, and then breaks them down to treat the disease.

In the case of cancer patients in Korea, the number of patients in the year 2007 is 161,920, and the order of occurrence is gastric cancer, lung cancer, liver cancer, and cervical cancer. For the treatment of these cancers, the role of x-rays, in particular of various radiations, is important.

     In general, X-ray therapy for cancer is a means of local / regional control of the localized areas where the tumor is large and invasive and difficult to operate or can not be surgically removed. As a result, 60% .

    However, as shown in FIG. 1, the conventional X-ray treatment is difficult to locally investigate cancer tissues due to the characteristics of the X-ray itself radiated from the X-ray source, There is a problem that the healthy cell tissue is exposed to the X-ray. As a result, the patient suffering from the X-ray treatment suffer from cell tissue damage, hair loss, weakening of immunity and additional complications.

Recently, high-intensity short-wavelength parallel X-ray therapy techniques have been developed to minimize the damage to healthy tissues other than cancer tissues.

Therefore, it is urgently required to develop a control system for local treatment of cancer tissues using a high-intensity short-wavelength parallel X-ray therapy technique.

Korea Published Patent: 10-2012-0138003 (Published on December 24, 2012)

Korean Registered Patent: 10-1039108 (Published on June 06, 2011)

SUMMARY OF THE INVENTION The present invention has been made to solve the conventional problems,

An object of the present invention is to provide a method and apparatus for locally investigating a cancer tissue by controlling the position of a parallel X-ray module that irradiates high intensity short-wavelength parallel X- To provide a high-strength short-wavelength parallel X-ray module control system and method for controlling X-ray irradiation intensity so as to minimize damage to healthy tissue around cancer tissue and to perform effective X-ray treatment There is.

According to an aspect of the present invention, there is provided a parallel X-ray module control system for converging X-rays generated from an X-ray source and irradiating a parallel X- Line module; A robot arm coupled to the parallel X-ray module and capable of multi-DOF movement to adjust the position of the parallel X-ray module; And a control unit for controlling the operation of the robot arm by receiving cancer information from an imaging device that photographs the cancer tissue so that the high-intensity short-wavelength parallel X-ray is locally irradiated to the cancer tissue.

In addition, the parallel X-ray module includes a position adjusting device for adjusting the intensity of the irradiated high-intensity short-wavelength parallel X-ray, and the controller controls the operation of the robot arm to perform local examination of the high intensity short wavelength parallel X- The intensity of the parallel X-ray is controlled by controlling the position adjusting device based on the received cancer information.

Here, the parallel X-ray module includes an X-ray source that receives X-rays from an external source; An X-ray mirror for condensing the X-ray generated from the X-ray source and outputting a high-intensity short-wavelength parallel X-ray needle; And a housing covering the X-ray source and the X-ray mirror and having an exit port through which the high-intensity short-wavelength parallel X-ray needle is emitted.

The X-ray mirror is a multi-layer laminated X-ray mirror, which adjusts the intensity of the parallel X-ray by controlling the tilt when the X-ray mirror is a multi-layer laminated X-ray mirror .

Also, the X-ray mirror is a pipe-type X-ray mirror which is radially inserted and fixed into a ring-shaped frame to form a circular inner diameter, and the position adjusting device is characterized in that the X- And the intensity of the parallel X-ray is controlled by controlling the forward and backward movement when the mirror is a mirror.

The robot arm includes a coupling unit coupled to the parallel X-ray module, a first driving unit for adjusting the rotational angle of the coupling unit, and a control unit for controlling the rotational angle of the first driving unit And a second drive unit, wherein the control unit controls the first drive unit and the second drive unit, respectively.

According to another aspect of the present invention, there is provided a parallel X-ray module control method comprising the steps of: setting precise coordinates of a position of a cancer by receiving cancer information from an imaging device; Adjusting the irradiation direction of the parallel X-ray module by controlling the operation of the robot arm so as to irradiate the high-intensity short-wavelength parallel X-ray toward the set coordinates; When the irradiation direction of the high-intensity short-wavelength parallel X-ray of the parallel X-ray module is determined, a local examination of the high-intensity short-wavelength parallel X-ray is performed on the cancer tissue; And adjusting the output intensity of the high-intensity short-wavelength parallel X-ray irradiated based on the cancer information provided from the imaging equipment.

Here, the robot arm includes a first driving unit for adjusting the rotational angle of the coupling unit coupled with the parallel X-ray module, and a second driving unit for adjusting the rotational angle of the first driving unit And the operation is respectively controlled to adjust the irradiation direction of the parallel x-ray module.

The output intensity of the high-intensity short-wavelength parallel X-ray is adjusted through the inclination of the X-ray mirror for condensing the X-ray generated from the X-ray source and outputting the high-intensity short-wavelength parallel X- .

According to the parallel X-ray module control system and the control method of the present invention, a parallel X-ray module for irradiating a high-intensity short-wavelength parallel X-ray is coupled to a robot arm capable of multi-DOF motion, Ray tube, it is possible to precisely coordinate the irradiation direction of the parallel X-ray and to control the operation of the robot arm so as to localize the high intensity short-wavelength parallel X-ray to the cancer tissue, thereby maximizing the effect of the cancer treatment, It is possible to minimize the damage to the healthy tissue around the tissue.

In addition, based on the cancer information provided from the imaging equipment, the irradiation intensity of the high-intensity short-wavelength parallel X-ray is adjusted to minimize the side effect of the patient, It is possible to implement a highly efficient radiation treatment system.

1 is a conceptual diagram showing a conventional X-ray therapy technique.
FIG. 2 is a block diagram showing the entire concept of a high-strength short-wavelength parallel X-ray module control system according to an embodiment of the present invention.
FIG. 3 is a cross-sectional view for explaining a parallel X-ray module in a high-strength short-wavelength parallel X-ray module control system according to an embodiment of the present invention, wherein the X-ray mirror is a multilayer X- Cross-section.
4 is a cross-sectional view illustrating a parallel X-ray module in a high-strength short-wavelength parallel X-ray module control system according to an embodiment of the present invention. FIG. 4 is a sectional view showing a case where the X- .
FIG. 5 is a perspective view illustrating a treatment device by a combination of a parallel X-ray module and a robot arm in a high-intensity short-wavelength parallel X-ray module control system according to an embodiment of the present invention.
6 is a flowchart illustrating a method of controlling a high-intensity short-wavelength parallel X-ray module according to an embodiment of the present invention.
FIG. 7 is a conceptual diagram illustrating a high-intensity short-wavelength parallel X-ray therapy technique according to an embodiment of the present invention. FIG.
8 is a view showing an example in which a high-intensity short-wavelength parallel X-ray according to an embodiment of the present invention is applied to the treatment of cancer near the skin.

These and other objects, features and other advantages of the present invention will become more apparent by describing in detail preferred embodiments of the present invention with reference to the accompanying drawings. Hereinafter, a high-strength short-wavelength parallel X-ray module control system and a control method thereof according to the present invention will be described in detail with reference to the accompanying drawings. For purposes of this specification, like reference numerals in the drawings denote like elements unless otherwise indicated.

FIG. 2 is a configuration diagram showing the overall concept of a high-strength short-wavelength parallel X-ray module control system according to an embodiment of the present invention. FIGS. 3 and 4 are cross- FIG. 3 is a cross-sectional view showing a case where the X-ray mirror is a multilayer thin film X-ray mirror, and FIG. 4 is a cross-sectional view showing the X- FIG. 5 is a perspective view showing a treatment device by a combination of a parallel X-ray module and a robot arm in a high-intensity short-wavelength parallel X-ray module control system according to an embodiment of the present invention; FIG. to be.

2, the high-strength short-wavelength parallel X-ray module control system according to an embodiment of the present invention includes a parallel X-ray module 200, a position adjusting device 300, a robot arm 400, a controller 500 ).

As shown in FIGS. 3 and 4, the parallel X-ray module 200 includes an X-ray source 210 receiving power from the outside to generate X-rays, an X- Ray source 210 and the X-ray mirror 220, and forms a high-strength short-wavelength parallel X-ray needle. The X-ray source 220 and the X- And a housing 230 for emitting light.

The housing 230 is divided into a first space 231 in which the X-ray source 210 is installed and a second space 232 in which the X-ray mirror 220 is installed, An entrance 234 is formed in the wall 233 so that an X-ray generated by the X-ray source 210 is incident on a space where the X-ray mirror 220 is installed. An exit port 235 for outputting the high-intensity short-wavelength parallel X-ray 221 output from the X-ray mirror 220 is formed on the side wall of the second space 232.

The X-ray source 210 installed in the first space 231 applies a structure that can be fastened in the vicinity of the X-ray optical component, and receives power from an external generator (not shown).

The X-ray mirror 220 installed in the second space 232 condenses the X-ray generated from the X-ray source 210 and generates a high-intensity short-wavelength parallel X-ray 221 And the output high-intensity short-wavelength parallel X-ray 221 is output to the exit port 235 to form an X-ray needle.

The X-ray mirror 220 may be a multi-film stacked X-ray mirror as shown in FIG.

Here, the multi-film laminated X-ray mirror 220 can be manufactured by forming a substrate and then stacking aluminum (Al) and tungsten (W) on the substrate.

The X-ray mirror 220 may be a pipe-shaped X-ray mirror having a circular inner diameter as shown in FIG.

Here, the pipe-type X-ray mirror 220 is composed of a mirror frame having a radial coupling groove formed at regular intervals along a ring-shaped inner peripheral surface, and a rectangular mirror having a curved surface on one side, The outer end of the mirror frame is fitted into the coupling groove of the mirror frame with the inner end thereof facing the center of the frame, and the inner end of the curved surface is closely contacted to form a circular inner diameter.

In addition, the control unit 500 receives a control signal from the control unit 500 to control the tilt of the X-ray mirror 200 or controls the movement of the X-ray mirror 200 before and after the control unit 500 A position adjusting device 300 for adjusting the intensity of the parallel X-ray is incorporated.

When the X-ray mirror 220 is a multi-layer laminated X-ray mirror, the position adjusting device 300 adjusts the output intensity of the high-intensity short-wavelength parallel X-ray outputted by adjusting the inclination of the X-ray mirror 220 . In this case, the output intensity of the parallel X-rays is highest when the parallel X-rays output from the X-ray mirror 220 are outputted through the exit port 235. The angle of inclination of the X- The intensity of the parallel X-ray becomes weaker as the output amount of the parallel X-ray emitted to the exit port 235 becomes smaller.

When the X-ray mirror 220 is a pipe-type X-ray mirror, the position adjusting device 300 adjusts the intensity of the high-intensity short-wavelength parallel X-ray outputted by adjusting the forward and backward positions of the X- .

In this case, the output intensity of the parallel X-ray increases as the pipe-type X-ray mirror 220 advances and becomes closer to the exit port 235, the output intensity of the high-intensity short- The output intensity of the high-intensity short-wavelength parallel X-ray output becomes weaker.

5, the robot arm 400 includes a coupling unit 410 detachably coupled to the parallel X-ray module, a first driving unit 420 for adjusting the left and right rotation angles of the coupling unit, And a second driving unit 430 for adjusting the rotational angles of the first and second driving units.

The first driving unit 420 and the second driving unit 430 are respectively controlled by the control unit 500 to control the position of the coupling unit 410 in various directions such as up, down, left, and right. In addition, the multi-degree-of-freedom motion of the coupling unit 410 allows the parallel X-ray module 200 coupled to the coupling unit 410 to be freely moved.

The control unit 500 determines the coordinates of the high-intensity short-wavelength parallel X-ray irradiated from the parallel X-ray module 200 based on the cancer information provided from the imaging apparatus 100, And controls the operation of the robot arm 400 in accordance with the set coordinates.

That is, the operation of the first drive unit 420 and the second drive unit 430 of the robot arm 410 is controlled to adjust the position of the parallel X-ray module 200 to the coordinates set in the controller 500 , And the high-intensity short-wavelength parallel X-ray irradiated from the parallel X-ray module 200 can accurately and precisely locally irradiate the cancer tissue.

In addition, when the operation of the robot arm 400 is controlled and the irradiation direction of the high-intensity short-wavelength parallel X-ray is determined, the control unit 500 applies a control signal to the position adjusting device 300 based on the dark information, Adjust the strength. Here, the adjustment of the output intensity of the parallel X-ray is performed by adjusting the intensity of the parallel X-ray outputted based on the cancer information such as the size and depth of the cancer, thereby preventing the irradiation of the X- .

A control method in addition to the operation of the control system of the parallel X-ray module configured as described above will be described as follows.

6 is a flowchart illustrating a method of controlling a high-intensity short-wavelength parallel X-ray module according to an embodiment of the present invention.

As shown in FIG. 6, first, the control unit 500 receives cancer information from the imaging apparatus 100 that has taken a picture of the cancer tissue and analyzed it. The imaging device 100 includes various imaging devices used to diagnose cancer. That is, information on the arm photographed by the photographing apparatus 100 is received, and accurate coordinates of the position of the arm of the patient are set.

Next, the control unit 500 applies a control signal to the robot arm 400 so as to irradiate the high-intensity, short-wavelength parallel X-ray toward the set coordinates.

The first driving unit 420 and the second driving unit 430 of the robot arm 400 receiving the control signal of the controller 500 are connected to the coupling unit 410 The position of the exit port of the parallel X-ray module 200 coupled to the controller 500 is adjusted to the coordinates set in the controller 500 (step S20).

The parallel X-ray module 200, which receives power from the outside, collects X-rays generated from the X-ray source 210 and outputs a high-intensity short-wavelength parallel X-ray in step S30, 500 adjusts the output intensity of the parallel X-ray by applying a control signal to the position adjusting device 300 based on the dark information. The position adjusting device 300 receives a control signal from the controller and adjusts the tilt of the X-ray mirror 220 or controls the movement of the X-ray mirror 220 before and after the position of the X- (Step S40)

FIG. 7 is a conceptual diagram illustrating a high-intensity short-wavelength parallel X-ray therapy technique according to an embodiment of the present invention. FIG. 8 is a diagram illustrating an example of applying a high intensity, short wavelength parallel X-ray according to an embodiment of the present invention Fig.

As shown in FIGS. 7 and 8, local irradiation of high-intensity short-wavelength parallel X-rays can be performed on cancer tissues near the skin such as thyroid cancer, prostate cancer, breast cancer and skin cancer. Becomes an unchanged needle, and the cancer tissue is accurately irradiated.

As described above, according to the present invention, a parallel X-ray module for irradiating a high-intensity short-wavelength parallel X-ray is coupled to a robot arm capable of multi-degrees of freedom motion, By controlling the operation of the robot arm by setting the coordinates, the irradiation direction of the parallel X-ray module is controlled, so that the local irradiation of the high-intensity short-wavelength parallel X-ray is more accurately and precisely performed on the cancer tissue, It is possible to maximize it.

In addition, by controlling the irradiation intensity of the parallel X-ray based on the cancer information provided from the imaging equipment, the damage to the healthy tissue around the cancer tissue can be minimized by preventing the irradiation of more than necessary X-rays.

100: imaging equipment 200: parallel X-ray module
210: X-ray source 220: X-ray mirror
221: high-intensity short-wavelength parallel X-ray 230: housing
231: first space 232: second space
233: compartment wall 234: entry port
235: Outgoing aperture 300: Positioning device
400: Robot arm 410: Coupling unit
420: first driving unit 430: second driving unit
500:

Claims (12)

A parallel X-ray module for condensing the X-rays generated from the X-ray source and irradiating a high intensity short wavelength parallel X-ray;
A robot arm coupled to the parallel X-ray module and capable of multi-DOF movement to adjust the position of the parallel X-ray module; And
And a control unit for controlling the operation of the robot arm by receiving the cancer information from an imaging device that photographs the cancer tissue so that the high-intensity short-wavelength parallel X-ray is locally irradiated to the cancer tissue,
The parallel X-ray module includes a position adjusting device for adjusting the intensity of the irradiated high-intensity short-wavelength parallel X-
The control unit controls the operation of the robot arm to control the position adjusting device based on the received cancer information when locally illuminating the high-intensity short-wavelength parallel X-ray to the cancer tissue, thereby adjusting the intensity of the parallel X- Parallel X-ray module control system. delete The method according to claim 1,
The parallel X-ray module includes an X-ray source for receiving X-rays from an external source;
An X-ray mirror for condensing the X-ray generated from the X-ray source and outputting a high-intensity short-wavelength parallel X-ray needle;
A housing which covers the X-ray source and the X-ray mirror and has an emission port through which the high-intensity short-wavelength parallel X-ray needle is emitted;
Ray module control system. The method of claim 3,
Wherein the X-ray mirror is a multi-layer laminated X-ray mirror. 5. The method of claim 4,
Wherein the position adjusting device adjusts the intensity of the parallel X-ray by controlling the inclination of the X-ray mirror. The method of claim 3,
Wherein the X-ray mirror is a pipe type X-ray mirror having a circular inner diameter. The method according to claim 6,
Wherein the position adjusting device adjusts the intensity of the parallel X-ray by controlling the forward and backward movement of the X-ray mirror. The method according to claim 1,
Wherein the robot arm comprises: a coupling unit coupled to a parallel X-ray module; a first driving unit for adjusting the rotational angle of the coupling unit to the left and right; a second driving unit for controlling the rotational angle of the first driving unit; And a driving unit for driving the parallel X-ray module. 9. The method of claim 8,
Wherein the control unit controls the first driving unit and the second driving unit, respectively. Establishing precise coordinates of the position of the arm by receiving the cancer information from the imaging equipment;
Adjusting the irradiation direction of the parallel X-ray module by controlling the operation of the robot arm so as to irradiate the high-intensity short-wavelength parallel X-ray toward the set coordinates; And
Adjusting the output intensity of the high-intensity short-wavelength parallel X-ray irradiated based on the cancer information provided from the imaging equipment;
Wherein the parallel X-ray module control method comprises: 11. The method of claim 10,
The robot arm includes a first drive unit for adjusting the rotational angle of the coupling unit coupled with the parallel X-ray module, and a second drive unit for adjusting the rotational angle of the first drive unit And controlling the irradiation direction of the parallel X-ray module. 11. The method of claim 10,
The output intensity of the high-strength short-wavelength parallel X-ray is controlled by the inclination of the X-ray mirror that condenses the X-ray generated from the X-ray source and outputs the high-intensity short-wavelength parallel X- Wherein the parallel X-ray module control method comprises:

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