US20120235064A1 - Radiation control and minimization system and method - Google Patents

Radiation control and minimization system and method Download PDF

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Publication number
US20120235064A1
US20120235064A1 US13/311,491 US201113311491A US2012235064A1 US 20120235064 A1 US20120235064 A1 US 20120235064A1 US 201113311491 A US201113311491 A US 201113311491A US 2012235064 A1 US2012235064 A1 US 2012235064A1
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Prior art keywords
radiation
attention
operator
interest
radiation source
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US13/311,491
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English (en)
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Allon Guez
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ControlRad Systems Inc
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Intellirad Control Inc
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Priority to US13/311,491 priority Critical patent/US20120235064A1/en
Assigned to INTELLIRAD CONTROL INC. reassignment INTELLIRAD CONTROL INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GUEZ, ALLON
Priority to KR1020137024109A priority patent/KR101621603B1/ko
Priority to CN201280013646.2A priority patent/CN103547311B/zh
Priority to EP12758051.2A priority patent/EP2686061A4/de
Priority to JP2013558225A priority patent/JP6010056B2/ja
Priority to KR1020147008509A priority patent/KR101771445B1/ko
Priority to RU2013145986/14A priority patent/RU2569014C2/ru
Priority to BR112013023139-4A priority patent/BR112013023139B1/pt
Priority to PCT/US2012/029542 priority patent/WO2012125978A1/en
Priority to EP14162758.8A priority patent/EP2783633B1/de
Priority to RU2014112935/14A priority patent/RU2597553C2/ru
Priority to CN201410148885.XA priority patent/CN103932725A/zh
Publication of US20120235064A1 publication Critical patent/US20120235064A1/en
Assigned to CONTROLRAD SYSTEMS, INC. reassignment CONTROLRAD SYSTEMS, INC. CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: Intellirad Control, Inc.
Priority to IL228343A priority patent/IL228343A0/en
Priority to JP2014103277A priority patent/JP2014166577A/ja
Priority to HK14107550.1A priority patent/HK1194019A1/zh
Priority to US14/489,538 priority patent/US9517041B2/en
Assigned to CONTROLRAD SYSTEMS, INC. reassignment CONTROLRAD SYSTEMS, INC. CORRECTIVE ASSIGNMENT TO CORRECT THE ASSIGNEE'S ADDRESS PREVIOUSLY RECORDED AT REEL: 030193 FRAME: 0056. ASSIGNOR(S) HEREBY CONFIRMS THE CHANGE OF NAME. Assignors: Intellirad Control, Inc.
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    • A61B6/542—Control of apparatus or devices for radiation diagnosis involving control of exposure
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    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N2005/1074—Details of the control system, e.g. user interfaces

Definitions

  • the disclosure relates generally to radiation systems (whether for industrial, security, therapeutic use or imaging) and in particular to systems to minimize the radiation to which a patient, a person, an object or an operator is exposed.
  • Devices and system that generate various forms of radiation/ionizing energy are used for various therapeutic/treatment, diagnostic or imaging purposes.
  • various forms of radiation/ionizing energy may be used to inspect an object (such as in airports scanning systems, different security setups, manufacturing and process control) or inspect a patient (such as in a clinic or a hospital, e.g. Cath lab, where a surgeon/therapist operates an X Ray or CT system.)
  • the first component is the technical improvements of the x-ray equipment, such as investment in better filtering, collimators, acquisition equipment and image analysis.
  • the other component is the way the operator uses the radiation, which includes the length of exposure, distance from the source to the patient and proper collimation. See Miller D L, Balter S, Schueler B A, Wagner L K, Strauss K J, Vano E. “Clinical radiation management for fluoroscopically guided interventional procedures”, Radiology .
  • FIG. 1 illustrates an example of a medical application in which a radiation source is used to inspect a patient in which unattended radiation may occur;
  • FIG. 2 illustrates an embodiment of a radiation reduction and minimization apparatus
  • FIG. 3 illustrates an example of a gaze direction monitoring device that can be used with the radiation reduction and minimization apparatus
  • FIG. 4 illustrates three examples of eye movement tracking attention monitoring devices
  • FIG. 5 illustrates a fixation zone tracking implementation of the radiation reduction and minimization apparatus
  • FIGS. 6A-6D illustrate different embodiments for controlling the radiation source when fixation zone tracking is used
  • FIG. 7 illustrates more details of the controller module for fixation zone tracking
  • FIG. 8 illustrates a brain activity monitoring implementation of the radiation reduction and minimization apparatus.
  • the disclosure is particularly applicable to a system used to inspect/treat/diagnose a patient in which the radiation is minimized and it is in this context that the disclosure will be described. It will be appreciated, however, that the system and method for reducing radiation exposure has greater utility since it can be used in any application in which it is desirable to minimize the radiation exposure of an object or a person, such as a patient or operator, that can be harmed by that exposure and those applications may include systems that inspect an object in which the operator may be exposed to unneeded radiation (such as airports scanning systems, different security setups, manufacturing and process controls, etc.) or system to inspect a patient (such as in a clinic or a hospital, e.g.
  • the radiation minimization can be used with any type of radiation including ionizing radiation sources (x-ray, gamma, alpha and beta) and non-ionizing radiation sources (electromagnetic, US).
  • the radiation minimization may also be used with 3D systems such as CT, MRI, Bi-Plane and others.
  • FIG. 1 illustrates an example of a medical application in which a radiation source is used to inspect a patient in which unattended radiation may occur.
  • a patient 20 may rest on a surface 22 of an apparatus 24 .
  • the apparatus in this example has a radiation source 26 and a detector 28 connected to each other by a C arm 30 wherein the radiation is directed at the patient 20 to image or treat a particular portion of the patient.
  • the apparatus 24 may also include a monitor 32 on which the results of the imaging/treatment of the patient are displayed.
  • the apparatus may also include a radiation activator 34 that allows an operate to activate the emission of radiation from the radiation source.
  • the patient 20 there may also be an operator 36 (sometimes a physician) and an assistant 38 who are close to the apparatus 24 .
  • the patient, operator and the assistant may also be exposed to radiation and, more particularly, exposed to unattended radiation that is minimized by the radiation reduction and minimization system that is described below.
  • the medical application shown in FIG. 1 is merely representative of the types of system that the radiation reduction and minimization system may be used for since the radiation reduction and minimization system may be used for any system in which it is desirable to be able to reduce/minimize unattended radiation, such as, but not limited to the systems identified above.
  • FIG. 2 illustrates an embodiment of a radiation reduction and minimization apparatus 40 that can be connected to a radiation generation apparatus 24 in order to reduce/minimize unattended radiation of the radiation generation apparatus 24 .
  • the apparatus 40 may be implemented as a combination of hardware elements and software elements that perform the functions and operations described below. In other implementations, the apparatus may be implemented entirely in hardware (a specially programmed hardware device or the like).
  • the apparatus 40 may comprise an attention monitoring module/unit 42 that receives inputs from one or more operator attention monitoring systems 41 , that may be implemented using a head and/or brain sensing system, an eye or eyes sensing system or a gaze sensing system that are described below, and generates an attention (e.g., gaze focus) demand signal.
  • an attention monitoring module/unit 42 that receives inputs from one or more operator attention monitoring systems 41 , that may be implemented using a head and/or brain sensing system, an eye or eyes sensing system or a gaze sensing system that are described below, and generates an attention (e.g., gaze focus
  • the attention demand signal indicates that whoever in operating the radiation generating apparatus 24 has his/her attention appropriately focused, such as directed at/towards the monitor.
  • the attention monitoring module/unit 42 and the controller unit 46 monitors all the users/operators to determine if and when the information generated by radiation is or may be used (e.g., the users/operators read the monitor information) and attention signal is generated.
  • the attention demand signal is fed into a controller module/unit 46 .
  • the operator attention monitoring systems 41 may alternatively include an image analysis and automated identification of a region of interest system.
  • the system can automatically identify the location of a tip of a catheter using well-known image processing techniques (for example identifying the motion of the device that is inside the body, a predetermined geometric shape of the device and/or a specially marked device) and the direction of the radiation towards this location in order to identify that the operator is alert since the catheter should be at the same location as the radiation.
  • the device being guided (such as the catheter tip) also can be “marked” with a special indicator.
  • This image analysis and automated identification of a region of interest system can be used with the other attention monitoring systems described above or can be used instead of the attention monitoring systems described above.
  • the apparatus 40 further may comprise a radiation activation module/unit 44 that receives inputs from one or more radiation activation devices 43 , such as the radiation activator 34 in FIG. 1 or any other device that indicate an intent by the operator/assistant to activate the radiation source, and generates a radiation demand signal.
  • the radiation demand signal indicates that the operator has activated the radiation activation devices (indicating intent by the operator/user to initiate radiation) indicating that radiation should be generated.
  • the radiation activation devices may implemented in a variety of ways including a pedal (as shown in FIG. 1 ), a mechanical switch; a voice command, an optical designation as well as many others that are all can be used with the radiation minimization apparatus since the radiation minimization apparatus is not limited to any particular radiation activation devices. If the radiation activated device has been activated, the radiation demand signal is also fed into the controller module/unit 46 .
  • the controller module/unit 46 based on the radiation demand signal and attention demand signal inputs, activates the radiation generating apparatus in such as way as to reduce/minimize unattended radiation.
  • the radiation demand signal and the attention demand signal must indicate that the operator's attention is appropriately focused and that the radiation activation device has been activated by the operator. Since both signals must be present in order to activate the radiation generation apparatus, unattended radiation exposure is reduced/minimized.
  • the operator's attention is not appropriately focused (based on brain activity monitor and/or detection of the optical focusing by the eye tracking device), it is likely that the operator is not paying attention so no or minimal level (to be determined by the user) radiation is generated by the radiation generation apparatus.
  • the controller module/unit 46 only enables the onset of radiation (using appropriate handshaking and control interface) when both the attention monitoring module and the radiation activation module send an ON signal.
  • the controller module/unit 46 may also control other aspects of the diagnostic/treatment system.
  • the controller module/unit 46 may control the patient table 22 based on the attention of the operator.
  • the physician when he/she decided that he/she wants to reposition the table, he/she sends command to the system to adjust table/x-ray tube position to their attention (for example based on their gaze location) and the system can automatically adjust the table.
  • the physician command can be executed by either voice or switch. The operator will have an over-ride switch to turn this option on or off.
  • the controller module/unit 46 may generate one or more radiation control parameters that are used to control the generation of the radiation by the radiation generation apparatus 24 .
  • the one or more radiation control parameters may include a location of the radiation (when it is desirable to narrowly focus the radiation on a particular location), filtering/collimating of the radiation outside the center of the attention, timing (the time that the radiation will be generated), frequency (the number of times over a predetermined amount of time that a pulsed radiation beam is generated) and intensity (for radiation generating apparatus in which the intensity of the radiation beam may be adjusted). For example, for an xray, kVP as the energy of the beam is used and mA-density for the intensity of the beam.
  • the parameters may also include the amount of collimation/filtering of the radiation to restrict the beam to the point of attention.
  • Other parameters of importance are the spatial and temporal rates of reduction from the center point with high radiation towards the periphery of the image where smaller (or no) level of radiation may be required.
  • the radiation parameters may also include an identifier of the radiation source to be used (sometimes at different times).
  • the controller module/unit 46 can further minimize unnecessary radiation by ensuring that only the necessary amount of radiation for the particular task is used by controlling elements of the radiation generation apparatus such as the electronic grid, filtering, collimation, etc.
  • the one or more radiation control parameters also can be used to ensure that radiation is only directed at a particular location when a particular location can be identified which reduces extraneous radiation on locations that do not need to be irradiated.
  • the unattended radiation can be blocked using an electrical grid of the radiation source or by placing a shield that blocks the radiation.
  • the radiation reduction and minimization apparatus described above may be used to remedy this situation in which an operator gaze/look monitoring system is synchronized with a radiation activation device to turn off the radiation generating apparatus if and when the designated operator is not looking at the screen to reduce the radiation exposure of the patient (in medical applications) and/or the operator and other people adjacent the radiation generating apparatus during the operation of the radiation generating apparatus.
  • the attention monitoring devices 41 may be implemented in several different ways.
  • the first implementation of the attention monitoring devices 41 may be a gaze tracking device.
  • the gaze tracking device may be a device that is already commercially available or a customized gaze tracking device and the radiation reduction and minimization apparatus may be used with various types of gaze tracking devices.
  • the gaze tracking devices may include various commercially available eye tracking systems such as those made by SensoMotoric Instruments Inc. (www.smivision.com) and system that can be found at www.sr-reasearch.com/index.html).
  • FIG. 3 Another implementation of the attention monitoring devices 41 may be gaze direction monitoring systems that determine if the operator's gaze is appropriately directed, such as at a monitor.
  • An example of a gaze direction monitoring device that can be used with the radiation reduction and minimization apparatus to remedy this situation is shown in FIG. 3 .
  • the radiation reduction and minimization apparatus has the same modules/units shown in FIG. 2 (although not all of the modules/units are shown in FIG. 3 ).
  • the gaze tracking device in FIG. 3 has a set of goggles/glasses 50 that have a set of sensors and a transmitter/emitter 52 and a set of sensors and a receiver 54 and a reflector 56 on the monitor 32 .
  • the transmitter and/or receiver may be attached to the head of the operator.
  • the transmitter sends an electromagnetic energy beam (infrared, radio frequency, laser, etc.) towards the reflector 56 and the reflected energy is received by the receiver 54 to determine if the gaze direction of the operator is towards the monitor 32 .
  • an electromagnetic energy beam infrared, radio frequency, laser, etc.
  • the energy from the transmitter is not reflected (or the reflected signal does not have a particular characteristic) so that it is determined that the operator is not gazing at the monitor.
  • the emitter-receiver combination may be used including, but not limited to: 1) an emitter and receiver at the visual target and the reflector at the head of the operator; 2) an emitter on the target and the receiver located at the head of the operator; 3) an emitter and receiver at the head of the operator; 4) an emitter at the head of the operator and the receiver on the target; 5) either emitter or receiver or both are located elsewhere in the operational site; 6) silhouette monitoring with regular light or an infrared camera; and 7) three dimensional (3D) image monitoring in which the position of the head will be recorded and the cameras are located on the monitor and can recognize the face and expression of the operator including direction the gaze.
  • 3D three dimensional
  • the radiation activation module/unit 44 has the same elements and operation as described above in FIG. 2 .
  • the controller module/unit 46 also has the same elements and operation as described above in FIG. 2 .
  • the apparatus prevents radiation exposure when the operator is not appropriately focused or looking at/towards the monitor 32 .
  • live/continuous fluoroscopy is routinely used to perform minimally invasive surgical procedures in order to facilitate the navigation inside the human body.
  • the live/continuous fluoroscopy Guided by the live/continuous fluoroscopy and using the small radiopaque (visible under x-ray) equipment (catheters, balloons, stents, coils), the operator can navigate inside the human body and deliver the treatment to the specific location.
  • the radiation source is activated by the user/operator, commonly by switch/foot pedal, which activates the radiation source (x-ray tube), which in turn generates the x-rays.
  • the x-rays then pass the object/patient and the detector camera receives the information.
  • the information is then presented on the monitor for the analysis by the user/operator.
  • these surgical procedures demand significant mental concentration and attention to the details.
  • the operator can be distracted by the complexity of the procedure and continues to operate x-ray equipment while not looking at the monitor. This results in “unnecessary” radiation that doesn't provide the information to the operator, significantly increasing the radiation dose that is harmful to the patient and to the operator.
  • the radiation reduction/minimization systems reduces this unnecessary radiation.
  • phase or time segments such as the saccades (physiological eyes movements which occurs several times every second and last about 80 Millisecond each, or during “Perclose” (times when the eye lids are temporarily closed) where the brain doesn't acquire/process/exploit the visual information “landing” on the retinae (saccade masking) and useful visual information is only extracted during eye fixations phases.
  • a radiation minimization apparatus is used that has an operator saccade detector (the attention monitoring device 41 in this situation) synchronized with a radiation activation device). The radiation minimization apparatus turns off the radiation source during such “wasteful” time segments (such as “saccade masking”).
  • pulse fluoroscopy One popular way to deliver the radiation is what is called “pulsed fluoroscopy” in which a pulse rate of 30 pulses per second is used. Using the radiation minimization apparatus, the pulses that are fall within the “wasteful” time segments (saccade masking and perclose) will be blocked.
  • the attention/eye tracking monitoring devices 41 detects the phase of the operator visual path and, during the “inattentive” phases of the visual cycle, this module sends of signal to the controller module to block the radiation.
  • the attention monitoring devices 41 may be implemented in several different ways. The first implementation may be gaze/eye tracking technology as described above. In another implementation, the attention monitoring devices 41 may be eyeball tracking technology (with three examples shown in FIG. 4 ). As shown in FIG. 4 , the eyeball tracking technology may be head or headband mounted version 400 , a goggle mounted version 402 or a remote version 404 in which one or more sensors 406 (such as piezoelectric, magnetic, capacitive, IR, video or laser sensors, for example) are mounted to detect the eye movement of the operator.
  • sensors 406 such as piezoelectric, magnetic, capacitive, IR, video or laser sensors, for example
  • the eyeball tracking technology may be an infrared cameras located in the radiation protection goggles, one or more capacity sensors located in the radiation protection goggles, one or more optical cameras located in the radiation protection goggles, laser emitter-receiver combination or Us sensors.
  • the radiation activation module/unit 44 has the same elements and operation as described above in FIG. 2 .
  • the controller module/unit 46 also has the same elements and operation as described above in FIG. 2 .
  • the apparatus prevents radiation exposure when the operator is not appropriately focused or looking at/towards the monitor 32 .
  • fixation zone of the operator In many online procedures involving visual monitoring, most of the time the fixation zone of the operator is engaged with procedure details (e.g., a device, tool edge, anatomic feature etc.) of dimensions/sizes which are usually a small fraction (e.g., 1 to 5%) of the full imaged area (field of view (FOV)) [16 inch].
  • procedure details e.g., a device, tool edge, anatomic feature etc.
  • FOV field of view
  • the image data surrounding this fixation zone although useful for contextual information do not require the same refresh rate (frequency of radiation) nor the intensity and resolution needed within the fixation zone. Furthermore, even if provided, the operator doesn't fully perceive nor exploits the information outside this area of the highest visual and mental concentration (the fixation zone).
  • the radiation is optimized by optimizing the radiation parameters (frequency, intensity, temporal and spatial resolutions) for each zone of the FOV on the basis of the utility of the information.
  • An optimization process in the controller module 46 computes the proper parameters for each image segment. For example, in a simplistic embodiment of the process, the fixation zone receives high radiation frequency and high intensity of radiation and all other zones (background image) receive minimal (low) radiation or even no radiation, deploying past history images and avoid refresh altogether.
  • an operator fixation zone monitor is synchronized (via controller module) with a radiation activation device.
  • the fixation sensors 408 are used to determine a fixation zone 410 of the operator on the monitor 32 .
  • the fixation sensors 408 operate is the same manner as the eye tracking since the eye tracking is based on the recording of the movement and location of the pupils that gives both gaze direction, eye movement and gaze/attention location.
  • the attention monitoring module includes a fixation zone determining module 411 that determine the fixation zone of the operator.
  • the attention monitoring devices may use similar attention monitoring devices as described above.
  • the radiation activation module/unit 44 has the same elements and operation as described above in FIG. 2 .
  • the controller module/unit 46 and the radiation source 26 several different embodiments are shown in FIGS. 6A-6C .
  • the controller module 46 has a radiation optimization module 414 in each of the embodiments.
  • the radiation optimization module 414 computes in real time (using the gaze tracking signal) and delivers to the radiation source controller, the optimal radiation parameters (pulse rate, intensity (mAm), energy (Kvp) of the radiation beam and resolution needed per each image segment within the entire FOV).
  • This module may be using an optimization process which is using the archived history of fixation zones and their timing as tracked by the eyes as well as the radiated profiles and their timing as delivered for each image zone as shown in more detail in FIG. 7 .
  • the module allocates the minimal dosage necessary within each (pixel) image segment subset which is needed in order to deliver the necessary image clarity and validity (timing) to the operator.
  • the attention monitoring module 42 will initially receive the information regarding the area of maximal attention of the FOV (the gaze tracking signal) from the attention monitoring module 42 as shown in FIG. 6A-6C .
  • This area will be designated by the radiation optimization module 414 to receive significantly more radiation in terms of increased mAm and pulse rate than the rest of FOV in order to provide optimal imaging. This will result in much better temporal, contrast and spatial resolution that in term will improve the operator performance.
  • the radiation profile and radiation parameters are then transferred the radiation source 26 .
  • the radiation source 26 is designed so that the radiation source can deliver different radiation doses to the different segments of the FOV. Generally, this can be achieved using either mechanical or electronic collimators, electron beam radiation source or combination of several radiation sources.
  • the radiation source 26 may be a standard radiation source, such as an x-ray tube, with moving mechanical collimator or region of interest (ROI) filter so that the mechanical collimators (or filters) 461 as shown in FIG. 6A can be used dynamically expose the areas of maximal attention 410 and collimate the rest areas of FOV 412 .
  • two or more radiation sources 462 such as an x-ray tubes, as shown in FIG.
  • the radiation source 6A may be used in which the several radiation sources provide the radiation for the area of maximal attention and the others for the rest of FOV with corresponding collimators arrangements.
  • the radiation source may have a anode/cathode 462 as shown in FIG. 6B and a moving collimator (or ROI filter) 461 that is used to adjust the radiation directed towards the fixation zone 410 and towards the background zone 412 .
  • the radiation source may have a collimator (or ROI filter) 461 and a anode with a complex geometry 462 .
  • the radiation source are designed the way similar to the Electron beam CT (see for example U.S. Pat. No. 4,352,021) in which the electrons that originate at the cathode are directed by an external magnetic field toward different segments/parts of the anode or to the different anode targets.
  • the anode is designed as a complex array of geometrically oriented targets (for example, a matrix of the targets). The anode also can be mechanically moved in order to change the angle and thus create an additional option for moving the radiation beam.
  • the application/direction of the electron beam to the different parts of the anode result in the change in the direction of the radiation.
  • the direction of the radiation will then correlate with the area of maximal attention.
  • the radiation of the rest FOV will be provided either by different xray tube or different electron beam source in the same x ray tube.
  • the radiation source may have matrix of radiation field emitters 462 (or small conventional radiation tubes that are commercially available.)
  • the electron field emission are attractive way to extract free electrons because the electrons are emitted at room temperature and the output current is voltage controllable.
  • Recently the researchers from the UNC optimized the morphology of carbon nanotubes (CNT) films that optimize the electrons current for the xray generators (See U.S. Pat. No. 7,085,351 b2).
  • the non uniform radiation can be activated (or the changing of the radiation parameters) using different combination of the radiation field emitters.
  • the x-rays that are generated using CNT are high frequency and high intensity and more programmable.
  • the xray source can be designed as a square matrix of the multiple field emission xray tubes or conventional radiation tubes.
  • the each xray tube is separately programmable and can deliver the xray beam of desired intensity to the specific area.
  • one of the xray tubes will deliver the maximum radiation dose to the maximum attention area 410 and the others deliver lower radiation dose to the rest of the field of view 412 .
  • the matrix of radiation such as x-ray, tubes also can be extended to resemble a partial CT scanner.
  • the continuous CT type of scanning of the whole body subjects the patient to a large amount of radiation.
  • the CT type of scanning of the whole body can be performed in the specific fixation zones 410 and the images are intermittently generated so that the radiation exposure is reduced.
  • Brain monitoring technology 800 may be used which when deployed will allow for setting off an alert signal whenever the operator switches his/her attention/focus from the current task. In this situation, the operator attention focusing/brain state monitor 800 and the fixation zone monitor 42 are synchronized as shown in FIG. 8 .
  • the mental attention monitoring module 800 may be a module, such as the electrodes and the brain state monitor shown in FIG. 8 , so that mental attention can be monitored using the ECG electrodes (see for example, U.S. paten application Ser. No. 11/145,612 that lists Bruce Katz and Allon Guez as inventors that is titled “Brain State Recordation System”, the entirety of which is incorporated herein by reference. In this situation, the radiation activation module and controller module have the same elements and operation as described herein.

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US13/311,491 US20120235064A1 (en) 2011-03-16 2011-12-05 Radiation control and minimization system and method
CN201410148885.XA CN103932725A (zh) 2011-03-16 2012-03-16 放射设备和放射最小化的方法
PCT/US2012/029542 WO2012125978A1 (en) 2011-03-16 2012-03-16 Radiation control and minimization system and method
RU2014112935/14A RU2597553C2 (ru) 2011-03-16 2012-03-16 Система и способ управления излучением и его минимизации
EP12758051.2A EP2686061A4 (de) 2011-03-16 2012-03-16 System und verfahren zur strahlungssteuerung und -minimierung
JP2013558225A JP6010056B2 (ja) 2011-03-16 2012-03-16 放射線制御及び最小化システム及び方法
KR1020147008509A KR101771445B1 (ko) 2011-03-16 2012-03-16 방사선 제어 및 최소화 시스템 및 그 방법
RU2013145986/14A RU2569014C2 (ru) 2011-03-16 2012-03-16 Система и способ управления излучением и его минимизации
BR112013023139-4A BR112013023139B1 (pt) 2011-03-16 2012-03-16 Sistema de orientação de radiação de circuito fechado, método para controle de circuito fechado de radiação
KR1020137024109A KR101621603B1 (ko) 2011-03-16 2012-03-16 방사선 제어 및 최소화 시스템 및 그 방법
EP14162758.8A EP2783633B1 (de) 2011-03-16 2012-03-16 System und Verfahren zur Strahlungssteuerung und -minimierung
CN201280013646.2A CN103547311B (zh) 2011-03-16 2012-03-16 放射控制和最小化的系统和方法
IL228343A IL228343A0 (en) 2011-03-16 2013-09-11 System and method for controlling and minimizing radiation
JP2014103277A JP2014166577A (ja) 2011-03-16 2014-05-19 放射線装置及び放射線最小化方法
HK14107550.1A HK1194019A1 (zh) 2011-03-16 2014-07-24 放射控制和最小化的系統和方法
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US8754388B2 (en) 2014-06-17
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