KR102088408B1 - Intelligent artificial and 3D computer based patient specific gantry-couch collision protection system for radiation therapy and prevention method thereof - Google Patents

Abstract

The present invention relates to a patient-customized gantry-couch collision preventing system for radiotherapy, which avoids a collision by previously determining the collision between a gantry and a couch for each session in accordance with a radiotherapy plan for each patient, and to a collision preventing method thereof. According to the present invention, a patient and a fixing tool of the patient are scanned as a three-dimensional image. Also, rotation of a gantry and a couch corresponding to a radiation irradiation angle for each session is simulated in accordance with radiotherapy plan information using the three-dimensional image and pre-generated radiotherapy plan information. In addition, generation of collision of the gantry and the couch for each session in a process of the simulation is determined, and then a rotation angle of the gantry and the couch is adjusted to avoid the collision when it is determined that the collision is generated.

Description

An artificial and 3D computer based patient specific gantry-couch collision protection system for radiation therapy and prevention method thereof

The present invention relates to a gantry-couch collision prevention system and method for radiation therapy, and in particular, an artificial intelligence and a 3D computer-based collision between a gantry and a couch are performed in advance for each session according to radiation therapy for each patient. It relates to a patient-specific gantry-couch anti-collision system for radiation therapy and a method for preventing collisions by detecting the stimulus and adjusting the rotation angles of the gantry and the couch to prevent collisions for each session.

Currently, the latest radiation therapy for the treatment of cancer has been used and developed as well as photon and heavy ion treatments that are conventionally used, as well as treatments using proton beams.

The radiation treatment is gradually developed as a patient-specific treatment, and thus a treatment plan is elaborated and tightly established. These techniques use a larger number of beams (portal or field) and a small irradiation field (small field), and thus the number of gantry and couch positions, that is, the angle and height change, has increased. Moreover, in the event of an inevitable situation in which adaptive treatment and other treatment equipment need to be changed, its treatment plan should be able to be amended immediately.

Such gantry-couch collisions frequently occur in cases of craniospinal tumors in conventional radiotherapy, and the head field and spine field must always be matched during radiation treatment, in which case the gantry and couch must be considered in order to consider beam spreadability. Should be rotated. The technique for this rotation is called a couch kick and can be calculated with the following simple equation.

At this time, L ₂ is the length of the lateral head field and SAD is the distance from the source to the axis of the lateral head field (source to axis).

In particular, in the case of the recent proton or heavy particle beam treatment, it has a physical property called Bragg-peak, which releases the maximum energy at a specific depth in the material and delivers it only to the tumor tissue and protects the normal tissue. Due to these characteristics, proton treatment is in the spotlight worldwide, and reports of treatment prognosis are increasing. In order to efficiently deliver the prescribed dose, the proton treatment plan establishes a treatment plan that reduces the semi-shading due to air-gap by minimizing the gap between the patient's body surface and the treatment equipment.

However, there is a risk of discrepancies between the treatment plan and positioning during actual treatment, including proton therapy. The radiation treatment planning system can be planned without considering whether the object is moving or not. Basically, even if there is a collision inspection function inside the radiation treatment planning system, it is actually caused by the attachment of a patient fixation device and other beam modifiers. It is impossible to simulate treatment.

On the day of treatment, the radiologist finds the patient lying on the couch, and the patient must defer radiation therapy until a new radiation treatment plan is established. It is practically difficult to re-treat these treatment plans after modification on the same day.

Currently, a passive treatment plan is being established with a level close to the actual prescribed dose depending on the skill level of the person making the radiation treatment plan.

However, since this method cannot simulate the actual treatment scenario, the collision between the patient and the treatment equipment remains. This situation occurs after the final confirmation of the radiation treatment plan by the physician / medical physicist prior to radiation therapy, and the responsibility of each group is inevitable.

Accordingly, there is a need for a method for preventing collision by providing a 3D visually animated monitoring system and an optimal angle when colliding with each radiation information immediately after establishing a radiation treatment plan.

Republic of Korea Registered Patent Publication No. 10-1540704 Republic of Korea Patent Publication No. 10-2010-0085449

The present invention is to solve the above-mentioned problems in the prior art, to provide a patient-specific gantry-couch collision prevention system and its collision prevention method capable of monitoring the collision of the gantry and the couch in advance when planning radiation treatment There is this.

In addition, the present invention receives the information of the radiation treatment plan, including the patient for the radiation treatment and the patient's fixture, through the simulation of each beam session to determine whether the collision between the gantry and the couch, and learned There is an additional object to provide a patient-specific gantry-couch anti-collision system and its anti-collision method for radiation therapy to provide an optimal angle and position in case of collision based on machine learning data obtained by learning a case of a radiation treatment plan.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description. Will be able to.

According to an embodiment of the present invention, an artificial intelligence and a 3D computer-based radiation therapy patient-specific gantry-couch collision prevention system include a 3D scanner that scans a patient and the patient's fixation device as a 3D image; A simulation unit for simulating rotation of the gantry and the couch corresponding to the irradiation angle for a plurality of sessions according to the radiation treatment plan information using the 3D image and parasitic radiation treatment plan information; A collision determination unit that determines whether a collision of the gantry and the couch occurs for each of the plurality of sessions in the process of the simulation; And an angle adjusting unit that adjusts the rotation angle of the gantry and the couch to avoid the collision according to whether the collision occurs.

In addition, according to an embodiment of the present invention, an artificial intelligence and a 3D computer-based radiation therapy patient-specific gantry-couch collision prevention method include a scanning step in which a 3D scanner scans a patient and the patient's fixation device as a 3D image. ; A simulation step of a simulation unit simulating the rotation of the gantry and the couch corresponding to the irradiation angle for a plurality of sessions according to the radiation treatment plan information using the 3D image and the generated radiation treatment plan information; A collision determination step in which a collision determination unit determines whether a collision of the gantry and the couch occurs for each of the sessions during the simulation; And an angle adjusting step of adjusting the rotation angle to avoid collision between the gantry and the couch in the angle adjusting unit according to whether the collision occurs.

According to the present invention, it is possible to provide a user with a collision of a gantry couch through mock treatment immediately after a radiation treatment plan in all types of radiation treatment.

In addition, in detail, the present invention is a three-dimensional animated program, and can provide a user with a method for checking whether a collision occurs through simulation for each beam (session) in the treatment information of each patient.

In addition, it is possible to provide a user with a method capable of presenting an optimal position / angle when a collision occurs by using machine learning-based pre-trained treatment plan information proposed in the present invention.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description. will be.

1 is a schematic configuration diagram of a patient-specific gantry-couch collision prevention system for radiation treatment according to an embodiment of the present invention.
2 is a flow chart illustrating a method for preventing gantry-couch collision customized for radiation treatment according to an embodiment of the present invention.

Embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the embodiments of the present invention, when it is determined that detailed descriptions of related well-known configurations or functions interfere with the understanding of the embodiments of the present invention, detailed descriptions thereof will be omitted.

In addition, in describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to the other component, but another component between each component It should be understood that may be "connected", "coupled" or "connected".

1 is a schematic configuration diagram of a patient-specific gantry-couch collision prevention system for radiation treatment according to an embodiment of the present invention.

Referring to FIG. 1, the gantry-couch collision prevention system 100 according to the present invention includes a 3D scanner 110, a simulation unit 120, a collision determination unit 130, an angle adjustment unit 140, and a display 150. It is configured to include.

The 3D scanner 110 scans the patient and the patient's fixture in 3D to obtain a 3D scanning image of the patient and the fixture. For example, in a state where the patient lies on the fixation device, the 3D scanner 120 scans the fixation device together with the patient in 3D to generate an image corresponding thereto. The 3D scanner 120 may be, for example, a fixed 3D scanner or a mobile 3D scanner, and the patient fixing device may include, for example, a couch.

The radiation treatment plan unit 120 receives the radiation treatment plan information generated by the radiation treatment and the 3D image generated by the 3D scanner 120, and uses the radiation treatment plan information to determine the radiation angle of each session according to the radiation treatment plan. Simulate the movement (rotation) of the corresponding gantry and couch. This is to verify that physical collision between the gantry and the couch occurs theoretically by simulating the movement of the gantry and the couch according to the radiation treatment plan established for each session before applying to the treatment of the actual patient.

In the generated radiation treatment plan information, since the irradiation angle of radiation to be irradiated in response to the shape and position of the affected part of the patient for each session and the rotation angle of the gantry and the couch accordingly are preset, the simulation unit 120 Is to simulate the rotation of the gantry and couch based on this information.

In the radiation treatment plan information, a specific radiation treatment plan, such as radiation dose and radiation irradiation angle, is set for each patient's affected area for each session. Specifically, the radiation treatment plan is based on, for example, an image of an affected area photographed by computed tomography (CT) equipment or magnetic resonance imaging (MRI) equipment and a radiation dose prescribed by a doctor. Set the contours of the organs, and set the rotation angle of the gantry and couch for treatment for each session based on the contour. In addition, the type of radiation to be irradiated to the affected area, the amount of energy, the radiation dose, and the weight are set for each session.

Here, a session refers to a unit of treatment that classifies radiation according to the irradiation angle of a radiation beam that irradiates the affected area during radiation treatment. For example, radiation is irradiated from various angles, and sessions are classified according to changes in the irradiation angle. This is to separate the sessions by the irradiation angle of radiation. The radiation dose irradiated for each session may be different, or the same radiation dose may be divided into sessions of various angles and irradiated.

At this time, since the irradiation angle of the radiation is different for each session, the movement (rotation) of the gantry and the couch occurs correspondingly. Therefore, the irradiation angle of radiation for each session is closely related to the angular movement of the gantry and the couch.

As such, since the irradiation angle of the radiation changes according to the shape of the affected part of the patient in the couch, the angle of the gantry and the couch changes corresponding to the radiation angle. To this end, the angle of the gantry-couch is set in the radiation treatment plan information. At this time, the radiation dose prescribed by the doctor, the type of radiation, the intensity of radiation suitable for the tumor type, and the maximum radiation dose point are set.

The intensity of radiation and the maximum radiation dose point, for example, in the case where the patient's tumor is located in a shallow area or a tumor such as skin cancer, do not use a general photon beam, but use an electron beam to match the maximum radiation point to the location and depth of the tumor. Can stand. In some cases, a wedge capable of modulating a radiation beam may be physically inserted or irradiated by modulating radiation.

The collision determination unit 130 determines whether a collision of the gantry and the couch occurs for each session through the simulation process. For example, in the simulation process in which the angle of the gantry and the angle of the couch are changed to irradiate radiation to the first point of the affected area in the first session and then radiated to the other point of the affected area in the second session, the gantry and the couch are physically related to each other. It is to judge whether it collides with.

At this time, the collision determination unit 130 is designed to check even specific information such as whether a collision occurs, how and in what session the collision occurs, and when the gantry and the couch change from an angle to an angle. .

Throughout the present invention, the collision is described as a collision between the gantry and the couch, but substantially includes a collision between the gantry and the couch as well as a collision between the patient lying on the gantry and the couch. This is to avoid collision between the gantry and the patient and collision between the patient and the gantry when the patient is lying on the couch and rotates the gantry and the couch respectively according to the radiation treatment plan.

The angle adjusting unit 140 adjusts the rotation angles of the gantry and the couch to avoid the collision depending on whether or not a collision occurs in the collision determination unit 130. For example, if it is determined that a collision has occurred in the collision determination unit 130, the rotation angle of the gantry and the couch capable of avoiding the collision is adjusted based on pre-stored information and pre-learned information, and the collision has not occurred. If it is judged, the rotation angle of the gantry and the couch should be maintained. Preferably, the rotation angle is adjusted to 0 (zero). This is despite the fact that irradiated radiation is generated at the radiation angle of each session in the parasitic radiation treatment plan information, when it is determined that a physical collision of the gantry and the couch occurs during the simulation process, the gantry and the couch are avoided to avoid the collision. Is to adjust the angle of each. If a collision does not occur, the radiation treatment plan is well established, so adjust to maintain the rotation angle. Through this angle adjustment, ultimately, the reliability of physical collision avoidance of the gantry and the couch can be further increased.

The angle adjusting unit 150 may adjust the rotation angle of the gantry and the couch as well as the irradiation angle to prevent collision between the gantry and the couch based on pre-stored information and previously learned information. In general, radiation therapy has a substantially limited range and area to be treated except for special treatment, and information for each session is stored in advance for cases where treatment has been well-prepared, and information for each successful session Since the irradiation angle of the radiation, the rotation angle of the gantry and the couch are included, learning by artificial intelligence (AI) is performed with this pre-stored information, and the existing radiation treatment is based on the learned information. It is to be able to provide information to prevent conflicts that can occur in the plan.

In the embodiment of the present invention, the simulation unit 120, the collision determination unit 130, and the angle adjustment unit 140 may be implemented as a computer program or computer software, and as another example, the computer program or software It can also be implemented in the form of hardware or modules that can be mounted and executed on a computer. Such hardware or modules can be, for example, microcomputers or computer devices.

It was not possible to determine in advance whether or not the gantry and couch collided in the radiation treatment plan after establishing the radiation treatment plan at the current technical level, and confirmed whether a collision occurred while performing actual radiation treatment. As described above, when determining the occurrence of a collision during actual radiation treatment, it was very cumbersome because the treatment had to be stopped and the treatment plan had to be revised again to treat the patient, and the patient was in danger. Therefore, in the present invention, it is determined whether or not a collision occurs in advance through simulation using the radiation treatment plan information already established and 3D scanning images of the patient and the fixation device, and if it is determined that a collision occurs, it is to be performed again before treatment. . This is to be able to avoid collision between the gantry and the couch even in the already established radiation treatment plan by incorporating the present invention into a number of already established radiation treatment plans.

As described above, since the radiation technology that prevents physical collision between the gantry and the couch during radiation treatment cannot be guaranteed, in the present invention, the collision between the gantry and the couch is performed through a routine for correcting the angle of the gantry and the couch after establishing a radiation treatment plan. It is to ensure that a radiation treatment plan with guaranteed prevention can be established.

Therefore, the gantry-couch collision prevention system and method according to the present invention can be applied in combination with a meteorological radiation treatment planning system, a gantry and couch equipment for technicians, and radiation treatment equipment. This means that even after a radiation treatment plan has already been established, the present invention is applied, and even after numerous radiation treatment plans have already been established, simulation of rotation of the gantry and couch can be performed for each session, and through such simulation, the gantry and It is possible to check whether there is a collision between the couches. If it is determined that a collision between the gantry and the couch is generated by applying the present invention after the radiation treatment plan is established, radiation treatment is performed by adjusting the angle of the gantry and the couch to prevent the collision between the gantry and the couch in the radiation treatment plan information. You can make it possible to re-plan.

The display 150 visually displays a simulation process performed by the simulation unit 120. Preferably, it can be displayed in three dimensions. In addition, the display 170 may visually display various information on whether a physical collision of the gantry and the couch occurs for each session, and at what angle. Furthermore, the display 170 may also display information on the irradiation angle of radiation, the adjusted rotation angle of the gantry and the couch, which can avoid such a collision.

Hereinafter, a method for preventing collision between a gantry and a couch according to an operation of a patient-specific gantry-couch collision prevention system for radiation therapy according to the present invention will be described with reference to FIG. 2.

2 is a flow chart illustrating a method for preventing gantry-couch collision customized for radiation treatment according to an embodiment of the present invention.

Referring to FIG. 2, in the method for preventing gantry-couch collision customized for radiation treatment according to the present invention, the 3D scanner 110 scans the patient and the patient's fixture in three dimensions (S101) to the simulation unit 120 The 3D scanning image is transmitted (S103). The 3D scanning image may be in a format of a file that can be simulated by the simulation unit 120 or may be converted into a corresponding format by the simulation unit 120.

Subsequently, the simulation unit 120 receives the parasitic radiation treatment plan information and the 3D scanning image (S105), and uses this to correspond to the irradiation angle of the radiation for a plurality of sessions included in the radiation treatment plan information, and By performing rotation of the gantry and the couch respectively, a corresponding radiation treatment plan is simulated (S107). In this simulation, a simulation test is performed in which gantry and couch are rotated for each session according to a corresponding radiation treatment plan. For example, when the radiation treatment plan information is set to irradiate radiation at an angle of X at a 30-degree angle to a central point of a specific tumor, gantry and couch are used to irradiate the radiation at a 30-degree angle to the central point. You decide what angle you need to rotate and run a simulation that rotates the gantry and couch according to this decision. To this end, the radiation treatment plan information is set with advance information such as radiation dose and intensity of radiation prescribed by a doctor.

While performing the simulation, the collision determination unit 130 determines whether a collision of the gantry and the couch occurs for each session in the simulation process (S109). If it is determined that a collision has occurred (S111), notification is performed by displaying various information related to the collision on the display 150 (S113).

Along with this, if it is determined that the collision occurred in step S111 in the angle setting information 140, another rotation angle that can avoid the collision between the gantry and the couch based on the pre-stored information and the pre-learned information is adjusted and presented. S115).

The pre-stored information and the pre-learned information include a radiation angle for a number of radiation treatment plans in advance, a rotation angle of the gantry and the couch, and preferably a gantry and a gantry for each session depending on the shape and characteristics of each affected area until the previous. In the treatment plan that successfully performed radiation therapy without the collision of the couch, each session includes information on the radiation angle, gantry and the rotation angle of the couch. Based on this information, it is to re-adjust the irradiation angle and rotation angle of the gantry and the couch to allow treatment without collision between the gantry and the couch for each session through the learning of artificial intelligence (AI).

If it is determined in step S111 that no collision has occurred, the angle adjustment unit 140 performs angle adjustment to maintain the rotation angles of the current gantry and couch (S117), and the process ends. The maintenance of the rotation angle is to adjust the rotation angle so that the current rotation angle change amount is zero.

As such, the adjusted rotation angles of the gantry and the couch are then used to modify the radiation treatment plan information. That is, since a collision occurs between the gantry and the couch in the current radiation treatment plan, the radiation treatment plan is subsequently modified using the adjusted rotation angle. When the radiation treatment plan information is modified as described above, the modified radiation treatment plan information is input back to the simulation unit 120 (S105).

Accordingly, the above-described processes (S105 to S115) are repeated, and if it is determined that no collision occurs in this repeating process, the process ends through step S117. That is, the iterative process proceeds until it is determined that a collision does not occur in step S111, and when it is determined that a collision does not occur in step S111, the process proceeds to step S117 and ends.

As described above, the patient-specific gantry-couch collision prevention system and method for radiation treatment according to the present invention uses the radiation treatment plan information and 3D images of the patient and the fixture while the radiation treatment plan is already established. In the radiation treatment plan, it is possible to check whether the gantry and the couch collide in advance, to avoid the collision, and further to modify the radiation treatment plan. Furthermore, the present invention can also be applied in the process of establishing a radiation treatment plan. That is, it can be applied to all radiation treatments in which a radiation treatment plan is established and treatment is performed by rotating the gantry and the couch. This may be used not only for radiation therapy for cancer treatment, but also for photon and heavy ion treatment in use, and protons and MR-LINAC.

As described above, the present invention verifies whether the collision of the gantry and the couch every several sessions with a visualized 3D simulation considering the treatment equipment to be used for radiation therapy and the characteristics of the patient, and is optimal to avoid this in the event of a collision. It is to provide an artificial gantry-couch collision avoidance system that can immediately modify a treatment plan by adjusting and presenting an angle.

Particularly, in the present invention, geometric information for each medical device and a 3D image of a patient and a patient's fixation device are input, and the radiation angle for each session can be adjusted in modeling based on this, and according to the treatment plan of the modeling object. It is possible to determine whether there is a collision by receiving information of each treatment session. If it is determined that a collision occurs, a method to prevent a collision between the gantry and the couch can be immediately suggested by immediately adjusting the optimal angle with the learned information.

The detailed description of preferred embodiments of the present invention disclosed as described above has been provided to enable those skilled in the art to implement and practice the present invention. Although described above with reference to preferred embodiments of the present invention, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, those skilled in the art can use each of the configurations described in the above-described embodiments in a manner of combining with each other. Accordingly, the present invention is not intended to be limited to the embodiments presented herein, but to give the broadest scope consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit and essential features of the present invention. Accordingly, the above detailed description should not be construed as limiting in all respects, but should be considered illustrative. The scope of the invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention. The present invention is not intended to be limited to the embodiments presented herein, but is intended to give the broadest scope consistent with the principles and novel features disclosed herein. In addition, claims that do not have an explicit citation relationship in the claims can be combined to form an embodiment or included as a new claim by amendment after filing.

110: 3D scanner 120: simulation unit
130: collision determination unit 140: angle adjustment unit
150: display

Claims (9)

A movable three-dimensional scanner that scans the patient and the patient's fixture simultaneously as a three-dimensional image while the patient moves while lying on the fixture;
A simulation unit for simulating rotation of the gantry and the couch corresponding to the irradiation angle for a plurality of sessions according to the radiation treatment plan information by using the 3D image and the radiation treatment plan information in which the rotation angles of the gantry and the couch are set;
A collision determination unit that determines whether a collision between the gantry and the couch and the gantry and the patient occurs for each of the plurality of sessions in the process of the simulation;
When the collision determination unit determines that a collision occurs between the gantry and the couch, an angle adjustment unit that adjusts a rotation angle of the gantry and the couch to avoid the collision based on pre-stored learning information; And
A simulation process performed by the simulation unit and a display for displaying whether the collision determined by the collision determination unit occurs in three dimensions,
The radiation treatment plan information includes an irradiation angle of radiation corresponding to the radiation treatment plan, each rotation angle of the gantry and couch, the intensity and maximum radiation dose point of the radiation according to the shape of the tumor, and whether the radiation is modulated,
Each time the irradiation angle of the radiation is changed, the session is divided,
The collision determination unit determines whether a collision occurs, if a collision occurs, whether it is a collision between the gantry and the couch, whether it is a collision between the gantry and the patient, the session in which the collision occurred, when the collision occurs between the gantry and the couch The rotation angles of the gantry and the couch are judged, but the angle of the gantry and the angle of the couch are respectively changed to irradiate radiation to the first point of the affected area in the first session and then to the other point of the affected area in the second session. In the simulation process to determine whether the gantry and the couch physically collide with each other,
When it is determined that the collision occurs at the collision determination unit, the angle adjustment unit learns and stores the rotation angles of the gantry and couch for each session set in a plurality of treatment plans previously stored as success cases of treatment. Based on the stored learning information, each rotation angle of the gantry and the couch is adjusted to avoid collision according to the radiation treatment plan,
After the rotation angles of the gantry and the couch are adjusted in the angle adjustment unit, the simulation unit receives a radiation treatment plan information reflecting the adjusted rotation angle. A patient-specific gantry-couch collision prevention system for radiation treatment. delete delete delete A scanning step of simultaneously scanning the patient and the patient's fixture with a three-dimensional image while the mobile three-dimensional scanner moves while the patient lies on the fixture;
The simulation unit uses the scanned 3D image and parasitic radiation treatment plan information in which the rotation angles of the gantry and the couch are set, according to the radiation treatment plan information, the gantry and the couch corresponding to the irradiation angle for each of the sessions. A simulation step of simulating rotation;
A collision determination step in which a collision determination unit determines whether a collision occurs between the gantry and the couch and the gantry and the patient for each of the sessions during the simulation;
When the collision determination unit determines that a collision occurs between the gantry and the couch, the angle adjustment step of adjusting the rotation angle to avoid the collision between the gantry and the couch in the angle adjustment unit based on pre-stored learning information; And
A simulation process performed by the simulation unit and a display for displaying whether the collision determined by the collision determination unit occurs in three dimensions,
The radiation treatment plan information includes each rotation angle of the gantry and couch corresponding to the radiation treatment plan, the intensity and maximum radiation dose point of the radiation according to the shape of the tumor, and whether the radiation is modulated,
Each time the irradiation angle of the radiation is changed, the session is divided,
In the collision determination step, whether a collision occurs, if a collision occurs, whether it is a collision between the gantry and the couch, whether it is a collision between the gantry and the patient, the session in which the collision occurred, when a collision occurs between the gantry and the couch Further comprising the step of determining the rotation angle of the gantry and the couch, the first session after irradiating the radiation to the first point of the affected area in the second session to the other point of the affected area to radiate the gantry and the angle of the gantry In the simulation process of changing the angle of each of the couch to determine whether the gantry and the couch physically collide with each other,
When it is determined that the collision occurs in the collision determination step, the angle adjustment step learns and stores the rotation angles of the gantry and couch for each session set in a plurality of treatment plans previously stored as success cases of treatment. And adjusts each rotation angle of the gantry and the couch to avoid collision according to the radiation treatment plan based on the stored learning information,
A method for preventing patient-specific gantry-couch collision for radiation treatment, wherein the simulation unit receives radiation treatment plan information reflecting the adjusted rotation angle after the rotation angles of the gantry and couch are adjusted in the angle adjustment step. delete delete delete delete

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