KR20160090558A - The marker tracking apparatus - Google Patents

Abstract

The present invention relates to an acute angle projected marker tracking apparatus including: a first diagnosis light irradiation unit including a first diagnosis light irradiation unit configured to irradiate first diagnosis light to a lesion portion of a patient and a first diagnosis light detection unit configured to project the first diagnosis light having passed through the lesion portion; a second diagnosis light irradiation unit including a second diagnosis light irradiation unit configured to irradiate second diagnosis light to the lesion portion while forming an acute angle with an irradiation angle of the first diagnosis light and a second diagnosis light detection unit configured to project the second diagnosis light having passed through the lesion part; and a calculation unit configured to extract a location of a marker previously inserted into the lesion portion from an image acquired from the first diagnosis light detection unit and the second diagnosis light detection unit and calculate three-dimensional coordinates of the marker. In an acute angle projected marker tracking-optical treatment apparatus and optical treatment method according to the present invention, an angle of an imaging device is set to be an acute angle, so that a degree of freedom of a system design is increased, a treatment time is shortened, and thus, pain of a patient can be reduced.

Description

[0001] THE MARKER TRACKING APPARATUS [0002]

The present invention relates to an acute angle marker tracking apparatus, an optical therapy apparatus and an optical therapy method including the same, and more particularly, to an acute angle marker tracking apparatus for tracking an acute angle marker, And more particularly, to a device and a method that can be performed.

The probability of developing malignant tumors (cancer) continues to increase. To treat tumors such as cancer, three methods are used, such as surgery, chemotherapy, and radiation therapy. The goal of radiation therapy is to minimize radiation dose to normal cells, and radiation to cancer cells to the maximum extent. Exposure of normal cells to radiation during radiation therapy is considered an accident, and side effects can lead to erythema, hair loss, and even death. In order to minimize radiation exposure to normal cells, it is necessary to precisely track the location of the tumor and irradiate it, even if there is fine movement of the patient's respiration.

Korean Patent No. 1,058,193 (published on May 20, 2010) discloses a non-invasive real-time tumor-based radiation therapy system for detecting radiation emitted from a tumor by absorbing radioactive medicines injected into a human body and irradiating therapeutic radiation .

However, such a non-invasive real-time tumor tracking system is a method of injecting a radioactive substance into a human body, and there is a problem that a patient is exposed to radiation due to a radioactive substance supplied through the blood.

Korean Patent No. 1,058,193 (Published May 20, 2010)

The present invention provides an acute angle marker tracking apparatus, an optical therapy apparatus, and a phototherapy method capable of resolving a problem that a patient is exposed to radiation by a radioactive material in a light therapy in a conventional patient, It has its purpose.

The solution to the above problem includes a first diagnostic light irradiation unit configured to irradiate a first lesion portion of a patient with a first diagnostic light beam and a first diagnostic light detection portion configured to project a first diagnostic light beam passing through the lesion region A first diagnostic light irradiating unit, a second diagnostic light irradiating unit configured to irradiate a lesion site with an irradiation angle of the first diagnostic light and an acute angle, and a second diagnostic light irradiating unit configured to project a second diagnostic light, Dimensional coordinate of the marker from the image acquired from the second diagnostic light irradiation unit, the first diagnostic light detection unit, and the second diagnostic light detection unit including the diagnostic light detection unit, and to calculate the three-dimensional coordinates of the marker An acute angle marker marker tracking device configured to include an arithmetic unit can be provided.

The arithmetic unit may be configured to calculate the three-dimensional coordinates of the marker using the coordinate information of the pixel having the lowest intensity value in the acquired first and second images, and calculate the coordinates of the marker from the coordinates of the extracted marker The matrix may be used to calculate the three-dimensional coordinates of the marker.

Furthermore, the arithmetic unit can be configured to extract the position of the marker inserted in the tumor of the patient and to calculate the three-dimensional coordinates of the marker.

On the other hand, the marker may be configured to include a metal, and preferably, the marker may include gold.

A first diagnostic light irradiation unit, a first diagnostic light detection unit, and a second diagnostic light detection unit, which are configured to be movable inwardly of the frame, the patient support unit in which the patient is located, the first diagnostic light irradiation unit and the second diagnostic light irradiation unit, Extracts the position of the marker inserted in the lesion site from the image obtained from the therapeutic section configured to irradiate the therapeutic light, the first diagnostic light detection section and the second diagnostic light detection section, calculates the three-dimensional coordinates of the marker, And a control unit configured to control the treatment unit so that the treatment light can be irradiated to the lesion portion corresponding to the dimension coordinate.

The first diagnosis light irradiation unit, the second diagnosis light irradiation unit, the first diagnosis light detection unit, the second diagnosis light detection unit, and the treatment unit may be configured to be movable in the circumferential direction of the frame.

At this time, the treatment section may be configured to include two or more treatment light irradiation units.

The control unit may be configured to control the treatment unit, the first and second diagnostic light irradiation units, the patient support unit, and the like, including the functions of the operation unit.

According to the present invention, a diagnostic light irradiation step for irradiating two diagnostic lights to acute lesion area with an acute angle of the lesion site and an angle of incidence of the patient, an image acquisition step for acquiring two images of the lesion site, A coordinate calculating step of calculating coordinates of the marker inserted in the marker and calculating the three-dimensional coordinates of the marker, a treatment unit controlling the position and angle of the treatment light irradiation unit so that the treatment light is irradiated on the three- There is provided an acute-angled marker-tracking optical therapy method comprising the steps of:

The acute angle marker tracking apparatus, the optical therapy apparatus and the optical therapy method including the acute angle marker tracking apparatus according to the present invention can improve the degree of freedom in system design, reduce the treatment time, .

1 is a perspective view of an acute angle marker tracking optical therapy apparatus according to the present invention.
2 is a cross-sectional view of AA of FIG.
3 is a diagram showing an operation example of an acute angle marker tracking optical therapy apparatus.
4 is a diagram showing a coordinate extraction mechanism of a marker.
5 is a block diagram showing a conceptual diagram of an acute angle marker tracking optical therapy apparatus.
FIG. 6 is a flowchart illustrating an acute-angled marker-tracking optical therapy method according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an acute-angled marker (M) tracking optical therapy apparatus and an optical therapy method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the embodiments, the names of the respective components may be referred to as other names in the art. However, if there is a functional similarity and an equivalence thereof, the modified structure can be regarded as an equivalent structure. In addition, reference numerals added to respective components are described for convenience of explanation. However, the contents of the drawings in the drawings in which these symbols are described do not limit the respective components to the ranges within the drawings. Likewise, even if the embodiment in which the structure on the drawing is partially modified is employed, it can be regarded as an equivalent structure if there is functional similarity and uniformity. Further, in view of the level of ordinary skill in the art, if it is recognized as a component to be included, a description thereof will be omitted.

1 is a perspective view of an acute-angled marker (M) tracking optical therapy apparatus according to the present invention.

As shown in the figure, the acute angle marker (M) tracking optical therapy apparatus according to the present embodiment includes a frame 100, a patient support unit 200, a diagnostic light irradiation unit, and a treatment unit.

The frame 100 may include a plurality of layers and may include a first rotating panel 110 and a second rotating panel 120 on the inner side so as to be rotatable independently in the circumferential direction about the patient supporting portion 200 And can be configured to rotate. However, the shape of the frame 100 is only an example, and the shape of the frame may be variously modified.

 The diagnostic light irradiation unit and the treatment unit are configured to include a diagnostic light irradiation unit and a treatment light irradiation unit installed in the frame 100, which will be described later in detail.

The patient support 200 comprises a sliding and / or swivable bed 210 and a supporter 220. The patient support 200 includes a bed 210 on which the patient P can be placed in a lying state and a supporter 220 for supporting the bed 210. [ At this time, the supporter 220 may be slidable to the inside of the diagnostic light irradiation unit 300 and the treatment light irradiation unit as shown in FIG. The bed 210 and the supporter 220 are swivelable on the upper side so that the angle of the patient P can be adjusted within a predetermined angle range when the patient P is lying down.

2 is a cross-sectional view taken along line A-A 'in Fig.

As shown in the figure, the frame 100 may be formed in a donut shape, and the diagnostic light irradiation unit 300 and the treatment unit 400 may be disposed inside.

The diagnostic light irradiating unit 300 is configured to irradiate diagnostic light to the lesion area of the patient P and acquire the projected image of the diagnostic light passing through the lesion area. The diagnostic light irradiating unit 300 includes a first diagnostic light irradiating unit 310 and a second diagnostic light irradiating unit 320. The diagnostic light irradiating unit 300 includes diagnostic light detecting units 330 and 340 installed opposite to the diagnostic light irradiating units 310 and 320 ). The irradiation unit transmits the transmissive light to the lesion area of the patient P, and the light transmitted through the lesion area is projected to the diagnostic light detecting part 330, 340. At this time, the transmissive light may be composed of X-rays.

The treatment section 400 may be configured to include the treatment light irradiation units 410 and 420 and the beam stoppers 430 and 440. The treatment light irradiation units 410 and 420 are configured to irradiate the treatment light to the three-dimensional coordinates of the calculated lesion area, and the beam stoppers 430 and 440 are configured to block the treatment light passing through the lesion area.

The first diagnostic light irradiation unit 310 and the second diagnostic light irradiation unit 320 may be installed on both sides of the first treatment light irradiation unit 410 provided on the first rotary panel 110. [ The first diagnostic light detecting unit 330 and the second diagnostic light detecting unit 340 may be installed on both sides of the beam stopper, respectively.

The first diagnostic light irradiation unit 310 and the second diagnostic light irradiation unit 320 may be configured to be movable along the circumferential direction on the frame 100 about the patient support portion 200. [ Specifically, even when the first diagnostic light irradiation unit 310 and the second diagnostic light irradiation unit 320 move in the circumferential direction of the frame 100, when the irradiation light is irradiated to the lesion portion of the patient P, The diagnostic light irradiation units 310 are disposed at appropriate distances so that the two diagnostic lights are irradiated at an acute angle.

The treatment unit 400 is also configured to be movable along the circumferential direction of the frame 100 and is provided with two treatment light irradiation units 410 and 420 to irradiate the treatment light to the lesion site. Therapeutic light generally uses radiation. In order to minimize the exposure of normal cells to radiation during radiation therapy, a method of irradiating the lesion while rotating 360 ° around the lesion site can be used .

The first beam stopper 430 and the second beam stopper 440 are provided at positions opposed to each other with the first treatment light irradiation unit 410 and the second treatment light irradiation unit 420 interposed between the patient P do. Each of the beam stoppers 430 and 440 is configured such that the treatment light irradiated from each of the treatment light irradiation units 410 and 420 is blocked by the beam stoppers 430 and 440 at the opposed positions through the patient P, As shown in Fig.

3 is a diagram showing an operation example of an acute-angled marker (M) tracking optical therapy apparatus.

The first diagnostic light irradiation unit 310 and the second diagnostic light irradiation unit 320 are provided on both sides of the first treatment light irradiation unit 410 to move together along the circumferential direction of the frame 100 .

The first treatment light irradiation unit 410 irradiates the diagnostic light to the lesion portion of the patient P at a specific angle in the circumferential direction in the diagnostic light irradiation unit 300 to calculate the three-dimensional coordinates, So that the treatment light can be irradiated to the dimensional coordinates. This minimizes the amount of therapeutic light irradiated to the normal cells due to the fine movement that may occur from the movement of the lesion site due to the heartbeat, respiration, or long-term movement of the patient (P) until the diagnostic light is irradiated and the therapeutic light is irradiated It is for this reason.

The second treatment light irradiating unit 420 is also configured to be movable in the circumferential direction of the frame 100 so that the treatment light irradiated from the first treatment light irradiating unit 410 and the lesion portion of the patient P can intersect with each other The irradiation angle position of the treatment light can be controlled.

Fig. 4 is a diagram showing a coordinate extraction mechanism of the marker M. Fig.

As shown in the figure, the three-dimensional coordinates of the lesion region can be calculated from the two images obtained from the first diagnostic light irradiation unit 300 and the second diagnostic light irradiation unit 300. In calculating the three-dimensional coordinates, it may be configured to facilitate accurate extraction of the coordinates and utilize the marker (M) pre-inserted in the lesion site of the patient (P) to shorten the extraction time.

The marker M is inserted into the lesion site of the patient P before phototherapy. The marker M may have a linear attenuation coefficient that is much higher than that of the human body so that the diagnostic light may stand out from the projected image. The material of the marker M may be a metal having a high linear damping coefficient and may be made of a metal material which does not cause side effects even if it is inserted into the human body. In particular, it is preferable that gold has a lowest physical and chemical reactivity with cells in a human body, and has a linear damping coefficient for X-ray, so that it can accurately grasp the position of the metal in the projected image.

Referring again to FIG. 4, the position of the first diagnostic light irradiation unit 310 is denoted by SL, and the position of the second diagnostic light irradiation unit 320 by SR. The diagnostic light detecting units 330 and 340 are provided at the points opposite to each other with respect to the human body (subject), so that two projected images can be obtained. The angle between the two diagnostic light irradiation units 310 and 320 is?, Which is an acute angle smaller than 90 占.

Although not shown, an operation unit (not shown) may be provided to calculate the three-dimensional coordinates of the marker M. More specifically, the position of the marker M is denoted by PM, and the marker M is projected on the first diagnostic light detecting unit 330 and the second diagnostic light detecting unit 340, respectively, The positions in the image are called DL and DR. Then the L straight line of SL-PM-DL and the R straight line of SR-PM-DR can be obtained. The equations of the L straight line and the R straight line can be calculated in advance according to the mechanical arrangement of the irradiation unit and the detection unit. On the other hand, the L straight line and the R straight line form a single intersection point, and this intersection point becomes the position of P which is the position of the marker (M). The three-dimensional position P of the marker M can be calculated from the coordinates of DL and DR in the database of the straight line constructed in advance and the acquired image.

The method of recognizing the coordinates of DL and DR in the acquired image uses a method of extracting coordinates of pixels having the lowest intensity in the acquired image. Since the marker M is composed of a material having a linear damping coefficient much larger than the cells of the human body, the coordinates of the marker M can be easily extracted in the image obtained in the projection image.

  On the other hand, at the time of three-dimensional coordinate extraction, the extraction may be configured to ignore the extraction of a predetermined area input from the user. In the case of implants inserted into the human body, various kinds of implants have been developed and practiced in order to solve the problems that may arise in the case where the implants not related to phototherapy are present in the diagnostic light irradiation area. Since the material of most implants has a larger linear damping coefficient than the cells, it is recognized as similar to the marker (M), which may cause difficulty in extracting the three-dimensional coordinates of the marker (M). In order to solve such a problem, the user can configure the region where the implant is located and extract the three-dimensional coordinates by finding the pixel having the lowest intensity in the region excluding the region.

On the other hand, in order to calculate the position of the marker M, it can be calculated by performing rotational transformation using a homogeneous coordinate system matrix. When using the homogeneous coordinate system as described above, when there is an additional modification to the positional movement and rotation of the first diagnostic light irradiation unit 310 and the second diagnostic light irradiation unit 320, they can be expressed as a product of a matrix, It is possible to reduce the number of calculations and shorten the calculation time, so that it can be tracked in real time faster.

5 is a block diagram schematically showing an acute-angled marker (M) tracking optical therapy apparatus. As shown in the figure, each component constituting the acute angle marker (M) tracking optical therapy apparatus and the patient support section 200 can be controlled by the control section 500, respectively. Specifically, the patient support unit 200 may perform a sliding operation or a swiveling operation under the control of the control unit 500 to move the position of the patient P or adjust the posture thereof. In addition, the rotation operation of the first and second rotary panels 120 of the frame 100 can be controlled to adjust the positions of the diagnostic light irradiation unit 300 and the treatment unit 400, respectively. Here, the controller 500 controls the first rotary panel 110 and the second rotary panel 120 to rotate independently of each other. Therefore, only the position of the diagnostic light irradiation unit 300, the first treatment light irradiation unit 410 and the first beam stopper 430 can be adjusted by rotating only the first rotary panel 110, or only the second rotary panel 120 The diagnosis light irradiating unit 300 installed on each rotary panel rotates both the first and second rotary light sources 120 and 120 by adjusting only the positions of the second treatment light irradiation unit 420 and the second beam stopper 440, And the position of each component constituting the treatment light irradiation units 410 and 420 can be simultaneously adjusted.

The control unit 500 controls the position of the diagnostic light irradiation unit 300 and drives the first diagnostic light irradiation unit 310 and the second diagnostic light irradiation unit 320 to diagnose It is possible to control to irradiate light. At this time, the lesion region of the patient P and the angle of each diagnostic light irradiation unit 300 are controlled to be acute. Accordingly, the image information detected by the first diagnostic light detecting unit 330 and the second diagnostic light detecting unit 340 is transmitted to the processor 600, and the processor 600 obtains the two-dimensional image information from this information.

The control unit 500 may include an operation unit (not shown) equipped with an algorithm capable of obtaining three-dimensional coordinates of the marker M from the acquired image information. The calculation unit (not shown) may be configured to construct a three-dimensional image using a plurality of images in different directions, and three-dimensional coordinates of the marker M may be calculated from the acquired image information. The control unit 500 controls the first treatment light irradiation unit 410 and the second treatment light irradiation unit 410 so that the treatment light can be irradiated to the corresponding position using the three-dimensional coordinates of the marker M extracted from the operation unit (not shown) Lt; RTI ID = 0.0 > 420 < / RTI >

Further, the control unit 500 may control the treatment operation of the treatment unit 400 according to the set treatment pattern. That is, the first treatment light irradiation unit 410 and the second treatment light irradiation unit 420 of the treatment unit 400 are driven under the control of the control unit 500 to selectively irradiate the treatment light. At this time, the control unit 500 can independently control the first treatment light irradiation unit 410 and the second treatment light irradiation unit 420, and can control whether the treatment light is irradiated or not and whether the treatment light is irradiated from the treatment light irradiation units 410 and 420 It is possible to control the output of the treatment light and the irradiation time. Therefore, each of the treatment light irradiation units 410 and 420 can irradiate treatment light corresponding to a dosage set to the affected part of the patient P at a predetermined position.

At this time, the pattern to be controlled by each of the treatment light irradiation units 410 and 420 may be set by the processor 600 based on the image of the affected area acquired by the diagnosis unit, and may be an image derived from the processor 600, The user may be determined based on the content input from the outside on the basis of the information already diagnosed. Then, the control unit 500 can control the treatment operation of the treatment light irradiation unit 410.420 based on this pattern.

6 is a flowchart showing an acute-angled marker (M) tracking light therapy method according to the present invention. As shown in the drawings, the present invention can be configured in a time-wise order, including a diagnostic light irradiation step S100, an image acquisition step S200, a coordinate calculation step S300, and a treatment light irradiation step S400 .

The diagnostic light irradiation step (S100) is a step of irradiating the lesion region with two diagnostic light beams at an acute angle to the lesion site of the patient (P).

In the image acquiring step (S200), two images examining the lesion site are obtained. The obtained images are formed into a pair of two, and a plurality of pairs can be acquired.

The marker coordinate calculation step S300 is configured to calculate the three-dimensional coordinates of the marker M by extracting and calculating the coordinates of the marker M inserted in the lesion site in each image. A detailed description thereof has been given above with reference to FIG.

The treatment unit control step S400 is configured to control the position and angle of the treatment light irradiation unit so that the treatment light is irradiated on the three-dimensional coordinates of the calculated marker M. [

This step can be repeatedly performed from the diagnostic light irradiation step to the treatment light irradiation step so that the treatment part can be repeatedly irradiated while being rotated in the circumferential direction about the patient P as a central axis.

On the other hand, as described above, the marker M may be inserted into a lesion site before performing the phototherapy method. These lesion sites can be typically tumors.

As described above, in the present invention, the first diagnostic light irradiation unit 310 and the second diagnostic light irradiation unit 320 irradiate the diagnostic light at an acute angle to grasp the coordinates of the marker M at every moment of the patient P. Since the marker M is inserted into the lesion site in advance, the position of the marker M can be grasped and three-dimensional coordinates can be calculated and irradiated with the therapeutic light, so that the therapeutic light can be irradiated to the lesion site. On the other hand, since the time required for the one-time diagnostic light irradiation and the treatment light irradiation takes most time to acquire the three-dimensional coordinates of the marker M, It is possible to minimize an error in the position where the treatment light is irradiated by minimizing the time difference in the irradiation. This has the effect of minimizing the radiation exposure to the normal cells of the patient (P).

In addition, since the first diagnostic light irradiation unit 310 and the second diagnostic light irradiation unit 320 can be arranged at an acute angle, there is an effect that the inter-part interference is reduced and the degree of freedom of design increases when designing the treatment apparatus.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, . Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: frame
110: first rotating panel 120: second rotating panel
200: patient support 210: bed
220: Supporter
300: diagnostic light irradiation unit
310: first diagnostic light irradiation unit 320: second diagnostic light irradiation unit
330: first diagnostic optical detector 340: second diagnostic optical detector
400: Treatment Department
410: first treatment light irradiation unit 420: second treatment light irradiation unit
430: first beam stopper 440: second beam stopper
M: Marker
P: patient
500:
600: Processor

Claims (14)

A first diagnostic light irradiating unit configured to irradiate a lesion portion of the patient with a first diagnostic light and a first diagnostic light detecting unit configured to project the first diagnostic light through the lesion region, An investigation unit;
A second diagnostic light irradiating unit configured to irradiate the lesion with a second diagnostic light at an acute angle with the irradiation angle of the first diagnostic light and a second diagnostic light irradiating unit configured to irradiate the second diagnostic light, A second diagnostic light irradiation unit including a detection unit; And
And an arithmetic unit configured to extract a position of a marker inserted in a lesion site from an image obtained from the first diagnostic light detecting unit and the second diagnostic light detecting unit and to calculate three-dimensional coordinates of the marker, Device. The method according to claim 1,
The operation unit
Dimensional coordinate of the marker using the coordinate information of the pixel having the lowest intensity value in the acquired first image and the acquired second image.
The method according to claim 1,
The operation unit
Dimensional coordinate of the marker using the homogeneous coordinate system matrix from the coordinates of the extracted marker. The method according to claim 1,
The operation unit
Wherein the marker is configured to extract a position of the marker inserted in the tumor of the patient and to calculate the three-dimensional coordinates of the marker. The method according to claim 1,
The marker
Wherein the acute angle marker position tracking device 6. The method of claim 5,
The marker
Wherein the angled marker markers are configured to include gold. frame;
A patient support configured to be movable inwardly of the frame, the patient support being positioned;
A first diagnostic light irradiating unit movable along a circumferential direction of the frame and configured to irradiate a lesion portion of the patient with a first diagnostic light beam and a first diagnostic light irradiating unit configured to project the first diagnostic light beam passing through the lesion region, A first diagnostic light irradiating unit including a diagnostic light detecting unit;
A second diagnostic light irradiating unit movable along the circumferential direction of the frame and configured to irradiate a second diagnostic light to the lesion region at an acute angle with an irradiation angle of the first diagnostic light, A second diagnostic light irradiating part including a second diagnostic light detecting part configured such that the diagnostic light is projected;
A treatment portion configured to move along the circumferential direction of the frame and irradiate the treatment light to the patient; And
Extracting a position of a marker inserted in the lesion site from the image obtained from the first diagnostic light detecting unit and the second diagnostic light detecting unit, calculating three-dimensional coordinates of the marker, And a control unit configured to control the treatment unit so that the treatment light can be irradiated to the lesion site. 8. The method of claim 7,
Characterized in that the treatment section comprises two or more treatment light irradiation units. 8. The method of claim 7,
The control unit
Dimensional coordinate of the marker using the coordinate information of the pixel having the lowest intensity value in the acquired first image and the acquired second image, . 8. The method of claim 7,
Wherein,
Dimensional coordinate of the marker using the homogeneous coordinate system matrix from the extracted coordinates of the marker. 8. The method of claim 7,
The control unit
Wherein the marker is configured to extract a position of the marker inserted in the tumor of the patient and to calculate the three-dimensional coordinates of the marker. 8. The method of claim 7,
The marker
Wherein the light source is composed of a metal. 13. The method of claim 12,
The marker
Wherein the at least one light source is configured to include gold. A diagnostic light irradiation step of irradiating two diagnostic lights to the lesion site with acute angle of the lesion site and the angle of the patient;
An image acquiring step of acquiring two images of the lesion site;
A coordinate calculation step of extracting and calculating coordinates of a marker inserted in the lesion site in each of the images to calculate three-dimensional coordinates of the marker; And
And controlling a position and an angle of the treatment light irradiation unit so that the treatment light is irradiated on the three-dimensional coordinates of the calculated marker.

Images