KR101751168B1

KR101751168B1 - Platform using micro electro mechanical system sensor with 9 degree of freedom for monitoring of setup variation to 9 axis information in radiotherapy

Info

Publication number: KR101751168B1
Application number: KR1020160001578A
Authority: KR
Inventors: 김성규; 오세안; 예지원; 박재원
Original assignee: 영남대학교 산학협력단
Priority date: 2016-01-06
Filing date: 2016-01-06
Publication date: 2017-06-27

Abstract

The present invention relates to a platform for 9-axis monitoring of a patient's movement during radiation therapy using a 9-DOF microelectromechanical system sensor. The present invention relates to a platform for monitoring 9-axis movement of a patient, Electromechanical system sensor module; A control module connected to the sensor module and controlling the sensor module; A power module connected to the control module to supply power to the control module; A transmission module connected to the control module and transmitting data of the sensor module; A receiving module for receiving data from a transmitting module; And a computer coupled to the receiving module for processing the data.

Description

[0001] The present invention relates to a platform for monitoring 9-axis motion of a patient during radiotherapy using a 9-degree-of-freedom microelectromechanical system sensor,

The present invention relates to a platform for monitoring the movement of a patient during radiation therapy and, more particularly, to a platform for monitoring movement of a patient during radiation therapy using a Degree Of Freedom (DOF) microelectromechanical system (MEMS) &Lt; / RTI > to a platform for monitoring movement in nine axes.

The treatment of radiation-induced tumors has two different purposes: to accurately deliver prescription doses to treatment targets and to protect surrounding major organs, so that the accuracy and precision of treatment are closely related to the therapeutic range.

In the case of performing radiation therapy, the irradiation position of the radiation should be prevented from deviating from the affected part. The patient can move arbitrarily during treatment, and can inevitably move due to breathing or heartbeat. In order to synchronize the irradiation with the movement of such a patient, it is necessary to monitor the movement of the patient momentarily and accurately measure the position of the affected part.

In the conventional radiotherapy, as shown in FIG. 1A, an image guide system such as EPID (Electronic Portal Imaging Device), OBI (On Board Imager), and CBCT (Cone Beam Computed Tomography) guiding system). However, we did not know how much the patient was moving during the treatment, and only a limited amount of information about the patient's movements was obtained with the recent system.
[Prior Art Literature]
[Patent Literature]
1. Patent Publication No. 10-1489093 (Feb.
[Non-Patent Document]
1. Internet articles http://www.epnc.co.kr/news/articleView.htmlidxno=9359 (Approval was approved September 5, 2012, revised 2012.09.06., Http://archive.org, saved 2015.06.07.)

It is an object of the present invention to provide a platform for continuously monitoring the movement of a patient during radiation therapy.

In order to achieve the above object, the present invention provides a 9-degree-of-freedom microelectromechanical system sensor module disposed in a patient and continuously detecting movement of a patient during radiotherapy; A control module connected to the sensor module and controlling the sensor module; A power module connected to the control module to supply power to the control module; A transmission module connected to the control module and transmitting data of the sensor module; A receiving module for receiving data from a transmitting module; And a computer coupled to the receiving module for processing the data.

In the present invention, the 9-DOF micro-electromechanical system sensor module may include a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer.

In the present invention, the control module may be an adonino board.

In the present invention, the power module may be a battery.

In the present invention, the transmitting module and the receiving module may be a Bluetooth module.

However, if the 9-DOF micro-electromechanical system (MEMS) sensor developed by the present invention is used, the motion of the patient during the radiation treatment can be detected by the 9-axis . The use of 9-sided MEMS sensors in the monitoring of patient's movement in radiotherapy is the first attempt at home and abroad, and information about the motion of the patient during treatment can also provide good information for increasing the effectiveness of radiation therapy have.

Figure 1 compares the existing and the radiation therapy monitoring system of the present invention.
2 schematically shows the overall configuration of a radiation therapy monitoring system according to the present invention.
Figure 3 illustrates components that may be used in a radiation therapy monitoring system in accordance with the present invention.
Figures 4 and 5 show the output data of the radiation therapy monitoring system according to the present invention.

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

FIG. 1 is a graph comparing a conventional radiation therapy monitoring system of the present invention with a radiation therapy monitoring system of the present invention. As shown in FIG. 1 A, the conventional radiation therapy uses an image guide system such as EPID, OBI, or CBCT However, it was not possible to know how much the patient was moving during the treatment, and only the limited information about the patient 's movement was found with the recent system.

However, as shown in FIG. 1B, the micro-electromechanical system (MEMS) sensor having 9 degrees of freedom according to the present invention can be used to continuously monitor a patient's movement during treatment.

FIG. 2 schematically shows the overall configuration of a radiation therapy monitoring system according to the present invention. The monitoring system according to the present invention includes a 9-DOF microelectromechanical system sensor module 10, a control module 20, a power module 30 A switch 40, a transmitting module 50, a receiving module 60, a converter 70, a cable 80, a computer 90, and the like.

The rest of the computer 90 can be placed in a treatment room 1 and the computer 90 and the like can be placed in a control room 1, The radiation shielding material 2 may be provided between the first and second electrodes. Further, the treatment room 1 may be provided with the irradiation apparatus 4 and the needle bed 5. The irradiation apparatus 4 is a device for irradiating the patient 6 with radiation, and the head (Gantry Head) is movable up and down and left and right. The needle bed (5) can be constructed so that the patient can lie down, and the needle bed (5) can also be moved up and down and left and right.

The 9-degree-of-freedom microelectromechanical system sensor module 10 is a sensor module that is disposed in a patient and continuously senses the movement of the patient during the radiation therapy, and can monitor the motion of the patient in real time during the radiation therapy. 9 The degree of freedom depends on the displacement (Δx, Δy, Δz), acceleration, rotation angle (pitch roll, yaw), angular velocity, bearing or magnetic flux density (magnetic field), etc. for three axes . &Lt; / RTI > The 9 degrees of freedom MEMS sensor module 10 may include a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer. For example, the measurement range of the gyroscope may be ± 2000 ° / sec (dps), the measurement range of the accelerometer may be ± 16 g, and the measurement range of the magnetometer may be ± 4800 μT. The 9-degree-of-freedom MEMS sensor module 10 may be attached or fixed to the patient 6 using a tape or a band, and the mounting site is not particularly limited and may be at least one site or two sites such as the head and thorax, The number of installers is not particularly limited and may be one or more than two.

The control module 20 may be connected to the 9-DOF MEMS sensor module 10 through a cable or the like to control the sensor module 10. As the control module 20, for example, an Arduino board can be used. The Arduino board is a device control board that incorporates a micro controller for open source, and is a simple version of a computer main board. A device such as a sensor 10 or a component can be connected to the board, and a computer 90) and load the software.

The power module 30 may be connected to the control module 20 through a cable or the like to supply power to the control module 20. The power module 30 may be, for example, a battery, a power supply, or a general power supply.

The switch 40 is provided between the control module 20 and the power module 30 so as to switch on and off of the power source and can be omitted if necessary.

The transmission module 50 may be connected to the control module 20 through a cable or the like to transmit data of the 9-degree-of-freedom MEMS sensor module 10. As the transmission module 50, for example, a Bluetooth module or another wireless communication module (NFC) may be used.

The receiving module 60 can receive the data from the transmitting module 50. As the receiving module 60, for example, a Bluetooth module or another wireless communication module (NFC) may be used.

By using a wireless communication module such as a Bluetooth module as the transmission module 50 and the reception module 60, it is possible to easily install and transmit data without restriction of distance or space, and it is possible to transmit / receive data even if there is an obstacle between two modules It is possible to perform smooth data communication without receiving.

The converter 70 may be used for connection with the computer 90 when an add-on board or the like is used, and may be omitted if necessary. The converter 70 may be connected to the receiving module 60 by a cable or the like.

The cable 80 can be used to connect the converter 70 and the computer 90, and can use, for example, a USB cable or the like.

The computer 90 may process the data received from the receiving module 60. The computer 90 may have a program capable of processing data, and may output the processed data to a monitor or the like.

3 shows an example of components usable in the radiation therapy monitoring system according to the present invention. The 9-DOF MEMS sensor module 10 is an MPU-9250 module (9DOF), the control module 20 is an Arduino Promini 328 (HC-06 Master 5V) as the transmitting module 50, a Bluetooth module (HC-06 Slave 5V) as the receiving module 60, a Li-Po 3.7V 2500mAh battery as the power module 30, The converter 70 is an FTDI Basic Breakout 3.3 / 5V (Arduino Compatible), a USB cable 1.8 m (nano) for a cable 80 and an HP notebook for a computer 90. Each component is connected by an appropriate cable. Fig. 3 illustrates only one embodiment of the present invention, and may have a different configuration from that of Fig.

FIGS. 4 and 5 and Table 1 show output data of the radiation therapy monitoring system according to the present invention. FIG. 4 and Table 1 illustrate 9-degree-of-freedom data, .

AX MONTH AZ GX GY GZ CX CY CZ MAX One 0.9 1.26 124.08 249.99 159.83 32.23 46.29 -17.58 MIN -1.22 -1.87 -1.34 -147.7 -250 -250 -16.99 -10.55 -49.22 SD 0.5293 0.4426 0.3777 46.154 83.205 54.563 14.626 10.157 8.8537

Until now, there have been no reports of monitoring the patient's motion during radiation therapy using a 9-degree-of-freedom sensor for precise location and treatment of the patient. With the monitoring system according to the present invention, it is possible to monitor the motion of the patient during 9-axis during the radiation therapy, and the information on the motion of the patient during the treatment can be confirmed in real time, thereby remarkably increasing the radiation treatment effect.

The use of highly precise instruments in radiotherapy will result in geometric errors, and the magnitude of these errors is recognized as the limit of accuracy and precision of treatment. Geometric errors can be divided into random errors that occur randomly and systematic errors associated with the treatment system. Many studies have been carried out to reduce systematic errors, and several protocols have been proposed and applied clinically. However, it is impossible to completely eliminate the error, and the geometric residual error still remains. The target volume (PTV), which is appropriate for the clinical target volume (CTV) including the small tumor cells, is appropriately set, and the radiation dose is applied to the tumor cells to obtain the desired dose To compensate for the geometric error.

According to the present invention, an optimal radiation therapy setup margin (CTV-to-PTV margin) can be proposed from the setup uncertainties of the patient. This is a method that can reduce the side effects of radiation therapy and increase the effectiveness of radiation therapy by decreasing unnecessary radiation area to the patient by knowing more information about setup uncertainty (setup error) of the patient. According to the present invention, a marginal recipe (margin recipe = 2.5 Σ + 0.7 σ - 3 mm) of van Herk et al. Is obtained from the patient setup errors (systematic error Σ, statistical error σ) An optimal setup margin can be obtained by using the proposed formula of margin recipe (Marque recipe = 2Σ + 0.7σ) such as Stroom.

The system using the 9 DOF according to the present invention uses 3 DOF (x, y, z), 4 DOF (x, y, z, yaw) and 6 DOF (x, y, z, pitch, It has a remarkable effect. Specifically, since the information on the additional 3 DOF to 6 DOF that can not be obtained from the information on the 3-axis to 6-axis can be known, it is possible to accurately grasp the motion of the unknown patient in the conventional radiotherapy. This is information that was previously unknown in radiotherapy, and it will be a breakthrough device for patient's movement in radiotherapy. As described above, since the system using the 9 DOF according to the present invention can obtain the information about the setup error as much as possible, the unnecessary radiation area to the patient can be remarkably reduced, dramatically reducing the side effect of the radiation treatment, Can be greatly increased.

1: Treatment room
2: Radiation shielding material
3: Control room
4: Irradiation Apparatus
5: Bed
6: Patient
10: 9 degrees of freedom microelectromechanical system sensor module
20: Control module
30: Power module
40: Switch
50: Transmission module
60: Receiving module
70: Converter
80: Cable
90: Computer

Claims

A 9-degree-of-freedom microelectromechanical system sensor module disposed in a patient and continuously sensing the movement of the patient during radiation therapy;
A control module connected to the sensor module and controlling the sensor module;
A power module connected to the control module to supply power to the control module;
A transmission module connected to the control module and transmitting data of the sensor module;
A receiving module for receiving data from a transmitting module;
And a computer coupled to the receiving module for processing data,
And a set-up margin is obtained from a set-up error of the patient with respect to 9 degrees of freedom using Equation (1) or (2) below:
[Equation 1]
Margin recipe = 2.5 Σ + 0.7 σ - 3 mm
&Quot; (2) "
Margin recipe = 2Σ + 0.7σ
In the above equation,? Is a systematic error and? Is a statistical error.

The method according to claim 1,
Wherein the 9-degree-of-freedom microelectromechanical system sensor module comprises a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer.

The method according to claim 1,
Wherein the control module is an < RTI ID = 0.0 > daughterboard. &Lt; / RTI >

The method according to claim 1,
Wherein the power module is a battery.

The method according to claim 1,
Wherein the transmitting module and the receiving module are Bluetooth modules.