WO2014041909A1 - Dispositif de suivi de corps mobile et système de thérapie par rayonnement - Google Patents

Dispositif de suivi de corps mobile et système de thérapie par rayonnement Download PDF

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Publication number
WO2014041909A1
WO2014041909A1 PCT/JP2013/070477 JP2013070477W WO2014041909A1 WO 2014041909 A1 WO2014041909 A1 WO 2014041909A1 JP 2013070477 W JP2013070477 W JP 2013070477W WO 2014041909 A1 WO2014041909 A1 WO 2014041909A1
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Prior art keywords
tracking
tracking target
target
main
sub
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PCT/JP2013/070477
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English (en)
Japanese (ja)
Inventor
徹 梅川
祐介 藤井
嘉彦 長峯
宮本　直樹
梅垣　菊男
妙子 松浦
雄一 平田
英明 二本木
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株式会社日立製作所
国立大学法人北海道大学
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Application filed by 株式会社日立製作所, 国立大学法人北海道大学 filed Critical 株式会社日立製作所
Publication of WO2014041909A1 publication Critical patent/WO2014041909A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/48—Diagnostic techniques
    • A61B6/486—Diagnostic techniques involving generating temporal series of image data
    • A61B6/487—Diagnostic techniques involving generating temporal series of image data involving fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source

Definitions

  • the present invention relates to a moving body tracking device for recognizing and tracking the position of a target, and a radiotherapy system including this moving body tracking measure.
  • a linac that irradiates a tumor with a therapeutic beam, a tumor marker embedded in the vicinity of the tumor, a first X-ray fluoroscopic apparatus that images the tumor marker from a first direction, and the tumor marker
  • a second X-ray fluoroscopic device that captures images from the second direction simultaneously with the first X-ray fluoroscopic device, and first and second fluoroscopic images output from the first and second X-ray fluoroscopic devices.
  • first and second image input units to be digitized, and a density normalized cross-correlation method in which a template image of a tumor marker registered in advance is applied to the image information digitized by the first and second image input units
  • First and second recognition processing units for performing template matching at a real-time level of a predetermined frame rate and obtaining first and second two-dimensional coordinates of the tumor marker
  • a central processing unit that calculates the three-dimensional coordinates of the tumor marker from the first and second two-dimensional coordinates calculated by the first and second recognition processing units, and the three-dimensional coordinates of the obtained tumor marker
  • an apparatus including an irradiation control unit that controls irradiation of the therapeutic beam of the linac (see Patent Document 1).
  • the search region is set in the X-ray image for the purpose of speeding up the recognition process and distinguishing and searching the target similar to the target, A method of searching for a target within a limited area is used.
  • the operator designates a search area including the target in the image and performs initial recognition within the designated area.
  • the region including the position recognized in the X-ray image at the next point in time is set as a search region, thereby moving the target.
  • the search area moves and recognition can be continued.
  • the search area in the image at the next time point is set based on the result of misrecognition, so the search area may deviate from the target. As a result, the search is continued in the area not including the target, and the search fails. In order to resume the moving body tracking treatment, it is necessary for the operator to stop the irradiation of the treatment radiation and the tracking of the target and manually set the search area again, resulting in a problem that the treatment time increases.
  • the target is overlapped with a boundary line of a structure projected with high contrast such as a bone. Since the boundary line that is not included in the template image overlaps the region in which the target is shown, the similarity between the target and the template image decreases. If the similarity at the target position decreases and the similarity of the surrounding area other than the target becomes relatively high, the area other than the target may be erroneously recognized as the target position.
  • the present invention enables tracking of a target by setting a search area at an appropriate position following the movement of the target even when the target is difficult to recognize due to a change in the overlapping method of the target and the structure. It is an object of the present invention to provide a moving body tracking device capable of continuing the operation and a radiation therapy system including the moving body tracking device.
  • the present invention provides an X-ray imaging apparatus that intermittently X-ray images a main tracking target and at least one sub-tracking target, and an image captured by the X-ray imaging apparatus.
  • a search area setting unit for setting the search area for the main tracking object and the search area for the sub tracking object, and from the search area set in the search area setting unit, the main tracking object and the sub tracking object
  • a tracking target recognition device having a two-dimensional position calculation unit that calculates a two-dimensional position by template matching, and the search region setting unit in the tracking target recognition device is a template matching in the two-dimensional position calculation unit, If the similarity between the main tracking target and the sub-tracking target template falls below a predetermined threshold, the next timing in the X-ray imaging apparatus In the search area in the X-ray image of the next frame to be photographed, and sets with the other of said two-dimensional position similarity exceeds a predetermined threshold value with the template.
  • the present invention it is possible to prevent a search area from being deviated due to erroneous recognition of a target and to suppress tracking interruption. Therefore, even when the way in which the target in the body overlaps with the structure is changed, the tracking of the target can be continued, and the trouble of resuming the tracking can be saved. Therefore, an increase in treatment time can be reduced in a radiation treatment system or the like.
  • FIG. 1 is a schematic diagram showing the configuration of an embodiment of the moving body tracking device of the present invention
  • FIG. 2 is a block diagram showing the functional configuration of an embodiment of the moving body tracking device of the present invention
  • FIG. 3 is a diagram showing an example of a search area setting screen in one embodiment of the moving body tracking device of the present invention.
  • a moving body tracking apparatus 100 includes X-ray imaging apparatuses 5A and 5B that X-ray images a main tracking object 3 and a sub-tracking object 4 in a subject 2 on a bed 1 from a plurality of directions, and these X-ray imaging.
  • a tracking object recognition device 6 that recognizes the positions of the main tracking object 3 and the sub-tracking object 4 in real time from images captured by the devices 5A and 5B, a recognition result output device 7, and a manual search area setting device 16 are provided.
  • the main tracking target 3 is a target (a patient's tumor or the like) in the subject 2 itself, and the sub-tracking target 4 is an alternative marker installed in the vicinity of the main tracking target 3.
  • the X-ray imaging apparatus 5A detects an X-ray tube 8A that irradiates the subject 2 with X-rays from the first direction, and a two-dimensional dose distribution of the X-rays that are irradiated from the X-ray tube 8A and transmitted through the subject 2 X-ray detector 9A and a signal processing circuit (not shown).
  • the X-ray detector 9A has a plurality of detection elements (in detail, for example, a semiconductor element that converts radiation into electric charges) arranged two-dimensionally, and outputs an analog signal from these detection elements.
  • a signal processing circuit processes the analog signal from the X-ray detector 9 ⁇ / b> A to generate X-ray fluoroscopic image data, and transmits it to the tracking target recognition device 6.
  • the X-ray imaging apparatus 5A performs imaging at a frequency (for example, about 30 Hz) sufficient to capture the movements of the main tracking target 3 and the sub-tracking target 4.
  • the X-ray imaging apparatus 5B includes an X-ray tube 8B that irradiates the subject 2 with X-rays from a second direction (a direction orthogonal to the first direction), and the subject 2 irradiated with the X-ray tube 8B.
  • An X-ray detector 9B that detects a two-dimensional dose distribution of transmitted X-rays and a signal processing circuit (not shown) are provided.
  • the X-ray detector 9B has a plurality of detection elements arranged two-dimensionally and outputs an analog signal from these detection elements.
  • a signal processing circuit processes the analog signal from the X-ray detector 9 ⁇ / b> B to generate X-ray fluoroscopic image data, and transmits it to the tracking target recognition device 6.
  • the radiographing of the X-ray imaging apparatus 5B is performed in synchronization with the imaging of the X-ray imaging apparatus 5A.
  • the tracking target recognition device 6 includes a communication unit 10, a storage unit 11, a display unit 12, a two-dimensional position calculation unit 13, a three-dimensional position calculation unit 14, a search region setting unit 15, a matching And a result determination unit 17.
  • the communication unit 10 performs communication by inputting and outputting signals with the X-ray imaging apparatuses 5A and 5B, the recognition result output apparatus 7, the manual search area setting apparatus 16, and the like.
  • the storage unit 11 stores the captured images received from the X-ray imaging apparatuses 5A and 5B, the position information of the search area to be described later, the calculation results, and the like.
  • the projection image of the main tracking target 3 in the imaging direction of the X-ray imaging apparatus 5A as the first main tracking target template image prepared in advance and the imaging direction of the X-ray imaging apparatus 5B as the second main tracking target template image are prepared.
  • a projection image of the sub-tracking target 4 in the imaging direction of the X-ray imaging apparatus 5A as a first sub-tracking target template image prepared in advance and an X-ray as a second sub-tracking target template image are prepared.
  • the projection image of the sub-tracking target 4 in the photographing direction of the photographing device 5B is stored.
  • the display unit 12 displays the captured images of the X-ray imaging apparatuses 5A and 5B, the three-dimensional position of the main tracking target 3 calculated by the three-dimensional position calculation unit 14 described later, and the matching determined by the matching result determination unit 17 described later.
  • the judgment result etc. is displayed. Thereby, the operator can confirm the position of the main tracking target 3 in real time.
  • the two-dimensional position calculation unit 13 stores the two-dimensional position of the main tracking target 3 viewed from the imaging direction of the X-ray imaging apparatus 5A in the X-ray imaging image previously captured by the X-ray imaging apparatus 5A and the storage unit 11. The calculation is performed by performing template matching with the first main tracking target template image. In addition, the two-dimensional position of the main tracking target 3 viewed from the imaging direction of the X-ray imaging apparatus 5B, the X-ray imaging image previously captured by the X-ray imaging apparatus 5B, and the second main tracking target stored in the storage unit 11 are used. Calculation is performed by performing template matching with the template image.
  • the two-dimensional position calculation unit 13 stores the two-dimensional position of the sub-tracking target 4 viewed from the imaging direction of the X-ray imaging apparatus 5A in the X-ray imaging image and the storage unit 11 previously acquired by the X-ray imaging apparatus 5A.
  • the calculation is performed by performing template matching with the stored first sub-tracking target template image, and the two-dimensional position of the sub-tracking target 4 viewed from the imaging direction of the X-ray imaging apparatus 5B is first converted into the X-ray imaging apparatus 5B.
  • Calculation is performed by performing template matching between the X-ray image captured by the above and the second sub-tracking target template image stored in the storage unit 11.
  • the two-dimensional position calculation unit 13 uses the two-dimensional position calculation results of the main tracking target 3 and the sub-tracking target 4 to calculate the previously prepared templates and X-ray images. Calculate the similarity.
  • This similarity is an index defined such that the higher the similarity is, the higher the degree of coincidence with the template is. For example, a normalized correlation coefficient is used.
  • the similarity calculated in the template matching when the two-dimensional position of the main tracking target 3 and the sub-tracking target 4 is calculated by the two-dimensional position calculation unit 13 is less than a predetermined threshold value.
  • This threshold is a value that is appropriately set according to how similar the captured X-ray image and the prepared template image should be. For example, a normalized correlation coefficient is used as the similarity. In this case, 0.8 is used, but the present invention is not limited to this.
  • the threshold value can be set and input separately by an operator.
  • the three-dimensional position calculation unit 14 calculates the three-dimensional position of the main tracking target 3 based on the two-dimensional position of the main tracking target 3 calculated by the two-dimensional position calculation unit 13.
  • the search area setting unit 15 is based on the calculation result of the two-dimensional position calculation unit 13 (two-dimensional positions of the main tracking target 3 and the sub-tracking target 4) and the matching result determination result determined by the matching result inversion unit 17.
  • the search area 230 of the main tracking target 3 and the search area 240 of the sub-tracking target 4 are set in the X-ray imaging images of the next frame imaged by the X-ray imaging apparatuses 5A and 5B.
  • the recognition result output device 7 uses the three-dimensional position of the main tracking target 3 calculated by the three-dimensional position calculation unit 14 of the tracking target recognition device 6 and the matching result determination result determined by the matching result determination unit 17 as a moving object.
  • the data is output to a device external to the tracking device 100, for example, an irradiation control device 300 described later.
  • the search region manual setting device 16 communicates with the tracking target recognition device 6 to acquire an X-ray image stored in the storage unit 11 and uses the manual recognition position region setting result input by the manual input unit 23 described later.
  • a communication unit 19 that transmits to the tracking target recognition device 6, a storage unit 20 that stores an X-ray image acquired via the communication unit 19, and a display unit 22 that displays the X-ray image stored in the storage unit 20.
  • a manual input unit 23 used when the operator manually sets a search area on the X-ray image displayed on the display unit 22.
  • This manual search area determination device 16 sets the search areas of the main tracking object 3 and the sub-tracking object 4 for each of the X-ray images of the X-ray imaging apparatuses 5A and 5B by the operator's operation in the manual input unit 23. To do. For example, the initial value of the position information of the search area used in the two-dimensional position calculation unit 13 is set, and the set initial value is output to the storage unit 11 of the tracking target recognition device 6 via the communication unit 19.
  • the recognition result output device 7 uses the three-dimensional position and matching determination result of the main tracking target 3 stored in the storage unit 11 of the tracking target recognition device 6 as an external device of the moving body tracking device 100, for example, a radiation irradiation system described later. To the irradiation control device 300 and the like.
  • the two-dimensional position calculation unit 13 of the tracking target recognition apparatus 6 reads the captured image of the X-ray imaging apparatus 5A and the first main tracking target template image from the storage unit 11, and matches these images to perform X-ray imaging.
  • the two-dimensional position of the main tracking target 3 viewed from the photographing direction of the device 5A is calculated.
  • the main tracking target viewed from the imaging direction of the X-ray imaging apparatus 5B is obtained by reading the captured image of the X-ray imaging apparatus 5B and the second main tracking target template image from the storage unit 11 and matching these images. 3 two-dimensional positions are calculated.
  • the X-ray image and the template image are moved and compared to calculate the similarity (for example, normalized correlation coefficient), and the position (matching position) with the highest similarity is the main tracking target 3.
  • the two-dimensional position of The calculated two-dimensional position and similarity of the main tracking target 3 are stored in the storage unit 11 in association with the corresponding X-ray image.
  • the X-ray imaging image, the first sub-tracking target template image, and the second sub-tracking target template image in the X-ray imaging apparatuses 5 ⁇ / b> A and 5 ⁇ / b> B are read from the storage unit 11.
  • the two-dimensional position and the similarity in each image of the sub-tracking target 4 are calculated by matching these images.
  • the three-dimensional position calculation unit 14 of the tracking target recognition apparatus 6 reads the two-dimensional position (projection position) of the main tracking target 3 viewed from the imaging direction of the X-ray imaging apparatuses 5A and 5B from the storage unit 11, and provides two two-dimensional positions.
  • the three-dimensional position (projection position) of the main tracking target 3 is calculated by back projecting the position, and is output to the storage unit 11 and the display unit 12. Specifically, a straight line passing through the projection position on the X-ray imaging apparatus 5A and the X-ray source 8A and a straight line passing through the projection position on the X-ray imaging apparatus 5B and the X-ray source 8B are obtained.
  • the matching result determination unit 17 of the tracking target recognition device 6 reads the similarity in matching between the main tracking target 3 and the sub-tracking target 4 calculated by the two-dimensional position calculation unit 14 from the storage unit 11, and sets a predetermined predetermined value. Compare with threshold. If the degree of similarity is equal to or greater than a predetermined threshold value, sufficient recognition is determined, and if the degree of similarity is lower than the threshold value, insufficient recognition is determined. The determination result is stored in the storage unit 11.
  • the matching result determination unit 17 has a predetermined state in which the degree of similarity between the similarity between the template of the main tracking target 3 and the similarity of the template of the sub-tracking target 4 falls below a predetermined threshold. When the number of frames is exceeded, it is determined that matching cannot be continued. For example, when the similarity in matching of the main tracking object 3 or the sub-tracking object 4 is in a state where at least one of the X-ray imaging apparatuses 5A and 5B continues to be below the threshold value, the tracking object recognition apparatus 6 The X-ray imaging by the X-ray imaging devices 5A and 5B is stopped and the moving body tracking is interrupted. Thereafter, a warning signal is output to the display unit 12.
  • the matching result determination unit 17 uses the X-rays in which the similarity between the template of the main tracking target 3 in the main tracking target search region 230 and the similarity of the template of the sub tracking target 4 in the sub tracking target search region 240 are the same frame. If it falls below a predetermined threshold in the captured image, it is determined that matching cannot be continued. The determination that the continuation is impossible may be, for example, when the matching between the main tracking target 3 and the sub-tracking target 4 is less than a threshold value in the same frame in the image of the X-ray imaging apparatus 5A.
  • Reference numeral 3 denotes an image obtained by the X-ray imaging apparatus 5A, and the sub-tracking target 4 may be lower than the same frame (or reverse) of the image obtained by the X-ray imaging apparatus 5B.
  • the X-ray imaging by the X-ray imaging apparatuses 5A and 5B is stopped and the moving body tracking is interrupted. Thereafter, a warning signal is output to the display unit 12.
  • the search area setting unit 15 of the tracking target recognition device 6 determines each main tracking obtained by the matching calculation when the matching result of each X-ray image of the main tracking target 3 or the sub tracking target 4 is sufficient. A region having a shape and size set in advance with the target two-dimensional position as the center is set as the search regions 230 and 240 for the next image. On the other hand, when there is an insufficient matching result among the matching results of the main tracking target 3 or the sub-tracking target 4, the search area setting unit 15 uses the matching results of other targets on the same X-ray image. Next image search areas 230 and 240 are set.
  • a projected image 210 of the main tracking target 3 and a projected image 220 of the sub-tracking target 4 are included on the X-ray image 200.
  • a main tracking target search area 230 is set for the main tracking target 3.
  • a main tracking target template image 250 is prepared for the main tracking target 3.
  • a sub-tracking target search area 240 is set for the sub-tracking target 4, and a sub-tracking target template image 260 is prepared.
  • the two-dimensional position calculation unit 13 searches the main tracking target 3 for a region similar to the main tracking target template image 250 in the main tracking target search region 230 by matching calculation. Further, for the sub-tracking target 4, a region similar to the sub-tracking target template image 260 in the sub-tracking target search region 240 is searched by a matching operation.
  • the matching result determination unit 17 determines that matching of the main tracking target 3 is insufficient.
  • the search area setting unit 15 uses the matching result of the sub-tracking target 4 instead of using the matching result of the main tracking target 3 in setting the main tracking target search area 230 on the next image. Specifically, the search area setting unit 15 sets the sub-tracking target search area 240 around the two-dimensional position of the sub-tracking target 4. At the same time, assuming that the positional relationship between the main tracking target 3 and the sub-tracking target 4 has not changed significantly, a new relationship is maintained while maintaining the positional relationship between the sub-tracking target search area 240 and the main tracking target search area 230 in the current image.
  • the position of the current main tracking target search area 230 when the current sub tracking target search area 240 is superimposed on the position of the current sub tracking target search area 240 is set as a new main tracking target search area 230, and the main tracking is performed.
  • the tracking of the object 3 and the sub-tracking object 4 is continued.
  • the search area setting unit 15 further determines the positional relationship between the main tracking target search area 230 and the sub tracking target search area 240 with respect to the next image.
  • the main tracking target search area 230 is set so as to maintain the above.
  • the X-ray imaging apparatuses 5A and 5B start X-ray imaging of the main tracking target 3 and the sub-tracking target 4 in the subject 2 on the bed 1.
  • the tracking target recognition device 6 receives the captured image and displays it on the screens on the display unit 12 of the tracking target recognition device 6 and the display unit 22 of the manual search area setting device 16 (step S99).
  • the manual search region setting device 16 has manually set and input the main tracking target search region 230 in the X-ray image displayed on the display unit 22 in step S99 by the operation of the manual input unit 23 by the operator. Is detected, the setting result of the search area of the main tracking target 3 is transmitted to the tracking target recognition device 6.
  • the tracking target recognition device 6 stores the information of the main tracking target search region 230 received from the manual search region setting device 16 in the storage unit 11 (step S100).
  • the manual search region setting device 16 has manually set and input the sub-tracking target search region 240 in the X-ray image displayed on the display unit 22 in step S99 by the operation of the manual input unit 23 by the operator. Is detected, the setting result of the search area of the sub-tracking target 4 is transmitted to the tracking target recognition device 6.
  • the tracking target recognition device 6 stores the information on the sub-tracking target search region 240 received from the manual search region setting device 16 in the storage unit 11 (step S101).
  • the tracking target recognition device 6 receives new X-ray images from the X-ray imaging devices 5A and 5B via the communication unit 10 and stores them in the storage unit 11 (step S105).
  • the two-dimensional position calculation unit 13 of the tracking target recognition apparatus 6 stores the storage unit 11 for each of the main tracking target 3 and the sub-tracking target 4 in the same manner as the search area on the X-ray image stored in the storage unit 11. And the similarity between the two-dimensional positions of the main tracking object 3 and the sub-tracking object 4 and the template image of the X-ray image is calculated. Thereafter, the two-dimensional position calculation unit 13 stores the calculated main tracking target 3 and sub-tracking target 4 two-dimensional positions and the similarity with the template image in matching in the storage unit 11 (step S110).
  • the matching result determination unit 17 of the tracking target recognition device 6 reads the similarity in the matching of each of the main tracking target 3 and the sub tracking target 4 from the storage unit 11 and compares it with a predetermined threshold set in advance. If the degree is greater than or equal to the threshold, it is determined that the recognition is sufficient, and if the degree of similarity is less than the threshold, it is determined that the recognition is insufficient.
  • the matching result determination unit 17 stores the determination result in the storage unit 11 (step S120).
  • the three-dimensional position calculation unit 14 of the tracking target recognition device 6 reads the two-dimensional position calculation result of each main tracking target 3 imaged from the imaging direction of the X-ray imaging devices 5A and 5B from the storage unit 11, and The three-dimensional position of the tracking target 3 is calculated (step S130).
  • the communication unit 10 transmits the three-dimensional position of the main tracking target 3 and the result of the matching result determination to the recognition result output device 7 (step S135).
  • the search area setting unit 15 of the tracking target recognition device 6 matches the matching result between the main tracking target 3 and the sub tracking target 4 (two-dimensional positions of the main tracking target 3 and the sub tracking target 4 in step S110 and the matching in step S120). Based on the result of determination, a search area in the next X-ray image to be imaged is set (step S140).
  • the tracking target recognition device 6 determines whether or not there is an instruction to end moving object tracking by the operation of the operator (step S150). When there is an end instruction, X-ray imaging is stopped and moving body tracking is ended. If there is no instruction, the process proceeds to step S160.
  • the matching result determination unit 17 of the tracking target recognition device 6 determines whether the similarity is equal to or higher than the threshold value in the same frame captured by the same X-ray imaging devices 5A and 5B in the main tracking target 3 and the sub-tracking target 4. Then, it is determined whether the number of frames in which the similarity is continuously below the threshold value in any of the tracking target 3 and the tracking target 4 is equal to or less than the specified value (step S160). If both conditions are satisfied, the process returns to step S105 to continue tracking the moving object. At this time, in step S110, for each of the main tracking target 3 and the sub-tracking target 4, the template image is matched with the search region on the X-ray image stored in the storage unit 11 of the tracking target recognition device 6.
  • the main tracking target search area 230 and the sub tracking target search area 240 set in step S140 are controlled to be used.
  • the X-ray imaging by the X-ray imaging apparatuses 5A and 5B is stopped, and the moving body tracking is ended.
  • the two-dimensional positions of the main tracking target 3 and the sub-tracking target 4 are calculated from the captured images of the X-ray imaging devices 5A and 5B by template matching. Further, when the search area is set based on the matching result, if it is determined that the matching result of either the main tracking target 3 or the sub-tracking target 4 is insufficient, the X-ray imaging apparatuses 5A and 5B are used. The search areas 230 and 240 in the X-ray image 200 of the next frame imaged at the next timing are set using the other two-dimensional position, and the main tracking object 3 and the sub-tracking object 4 in the next frame are set. Used for searching.
  • the search areas 230 and 240 in the next X-ray image are set based on the two-dimensional position of the tracking target on the side where the similarity between the main tracking target 3 and the sub-tracking target 4 is not lowered. Therefore, it is possible to reduce the possibility of misrecognition using a target other than the tracking target as a tracking target, and the search areas 230 and 240 move following the movement of the main tracking target 3 and the sub-tracking target 4, and the moving object tracking is continued. It becomes possible to do.
  • the search areas 230 and 240 in the image at the next time point are set based on the result of misrecognition, and the search areas 230 and 240 deviate from the main tracking target 3 and the sub-tracking target 4 and search It is possible to suppress the occurrence of a failure state with a high probability. Therefore, there is an effect that it is possible to prevent the treatment time from being increased without the operator having to stop the irradiation of the therapeutic radiation and the tracking of the target, or to manually set the search areas 230 and 240 again. It is done.
  • the main tracking object 3 and the sub-tracking object 4 in the subject 2 on the bed 1 are X-rayed from two different directions by the X-ray imaging apparatuses 5A and 5B, and the main tracking is performed with the respective X-ray imaging images.
  • the two-dimensional position of the target 3 is calculated, and the three-dimensional position calculation unit 14 calculates the three-dimensional position of the main tracking target 3 from these two-dimensional positions. Therefore, a moving body tracking device that recognizes the position of a target in a subject in radiotherapy in real time, especially when performing accurate irradiation on an organ that moves during treatment, such as a respiratory moving organ, keeps tracking the target
  • a moving body tracking apparatus suitable for the above is provided.
  • a state in which the similarity between the similarity between the X-ray image of the main tracking object 3 and the template and the similarity between the X-ray image of the sub-tracking object 4 and the template is lower than a predetermined threshold is determined in advance.
  • the predetermined number of frames is exceeded, there is a possibility that some inconvenience has occurred in the moving body tracking, so the X-ray imaging by the X-ray imaging apparatuses 5A and 5B is stopped and the moving body tracking is interrupted. Therefore, it is possible to more accurately suppress the tracking of something that is not the tracking target while misrecognizing the main tracking target 3 and the sub-tracking target 4, and to prevent the occurrence of a search failure condition with higher probability. be able to.
  • the search area setting unit 15 determines that the threshold is equal to or less than the specified number of frames.
  • the moving body tracking based on the setting of the main tracking target search area 230 or the sub tracking target search area 240 is resumed. For this reason, moving body tracking with higher accuracy is resumed than when moving body tracking is performed with the positional relationship between the main tracking target search area 230 and the sub-tracking target search area 240 fixed. Therefore, the risk of search failure can be further reduced.
  • moving object tracking is performed. There may be some problem. In such a case, the X-ray imaging by the X-ray imaging apparatuses 5A and 5B is stopped and the tracking of the moving object is interrupted, so that it is possible to take early countermeasures by taking measures such as resetting the search area again. It becomes possible, and it can contribute to resuming normal moving body tracking.
  • the matching result of the main tracking target 3 is insufficient
  • the matching result of the sub-tracking target 4 may be insufficient.
  • the sub-tracking target search area 240 is set based on the position of the main tracking target search area 230 while maintaining the positional relationship between the sub-tracking target search area 240 and the main tracking target search area 230. The tracking of the main tracking object 3 and the secondary tracking object 4 is continued.
  • the main tracking target 3 is the target itself and the secondary tracking target 4 is the closest to the target among the alternative markers and characteristic bones mainly installed near the target has been described.
  • the main tracking target 3 and the secondary tracking target 4 are not limited to this.
  • the alternative marker having the smallest change in the relative positional relationship with the target that is, the alternative marker that is normally installed closest to the main tracking target 3
  • the alternative marker closest to the target next to the alternative marker set as the main tracking target 3 is selected as the sub-tracking target 4.
  • This alternative marker is preferably made of a material that is harmless to the human body, such as Au, Pt, and Ir, and is opaque to X-rays.
  • the shape of the alternative marker is a spherical shape having a diameter of 1 to 2 mm, and the effect of being recorded in a spherical shape on the fluoroscopic image, regardless of how it is placed in the body or from which direction is seen. is there. Further, by reducing the diameter as long as it can be seen through, the disturbance of therapeutic radiation can be minimized.
  • the search area setting unit 15 determines whether the sub-tracking target search area 240 of the sub-tracking target 4 that is closest to the main tracking target 3 and has sufficient matching. It is desirable to set the main tracking target search area 230 so as to maintain the positional relationship.
  • the two-dimensional position calculation unit 13 can prepare the sub-tracking target template image for each and perform matching processing.
  • a predetermined threshold value used in the matching result determination unit 17 can be set separately for each of the main tracking target 3 and the sub-tracking target 4. It is also possible to set a threshold value for determination separately for each image of the X-ray imaging apparatuses 5A and 5B.
  • FIG. 5 is a schematic diagram showing a configuration of an embodiment of a radiation therapy system including an embodiment of the moving body tracking apparatus of the present invention.
  • FIG. 6 is a radiation therapy including an embodiment of the moving body tracking apparatus of the present invention. It is a flowchart showing the control processing content of one Embodiment of a system.
  • the radiotherapy system generally includes a moving body tracking device 100, an irradiation device 310, and an irradiation control device 300.
  • the configuration of the moving body tracking apparatus 100 is substantially the same as that of the embodiment of the moving body tracking apparatus described above, and details thereof are omitted.
  • the irradiation device 310 is a device that generates X-rays for treatment and emits them to the subject 2 on the bed 1.
  • the irradiation control device 300 inputs the three-dimensional position of the main tracking target 3 calculated by the three-dimensional position calculation unit 14 in the tracking target recognition device 6 of the moving object tracking device 100, and from the three-dimensional position of the main tracking target 3.
  • the irradiation apparatus 310 is controlled so as to emit a predetermined dose of therapeutic X-rays under conditions suitable for irradiating the obtained target three-dimensional position.
  • the recognition result output device 7 of the moving body tracking device 100 and the irradiation control device 300 that controls the irradiation of the therapeutic X-ray are connected. Moreover, the irradiation control apparatus 300 and the irradiation apparatus 310 are connected.
  • the operation of the moving object tracking device 100 is substantially the same as the operation of the moving object tracking device of the present invention described above, and the details are omitted.
  • the irradiation control device 300 receives the matching result determination result from the three-dimensional position of the main tracking target 3 calculated by the three-dimensional position calculation unit 14 in the tracking target recognition device 6 and the matching result determination unit 17 from the moving object tracking device 100. Receive.
  • the irradiation control device 300 performs interception irradiation on the main tracking target 3 based on the matching result determination result received from the moving body tracking device 100 and the three-dimensional position information of the main tracking target 3 (depending on the position of the main tracking target 3 and the treatment plan).
  • a control signal to perform irradiation irradiation performed at a timing when the radiation irradiation position matches within a predetermined allowable range
  • tracking irradiation irradiation that changes the X-ray irradiation position according to the position of the main tracking target 3.
  • the irradiation device 310 emits a predetermined dose of X-rays with a predetermined energy to the target based on a control signal from the irradiation control device 300.
  • the irradiation control device 300 performs matching in which the similarity with the template of the main tracking target 3 is lower than a predetermined threshold in the template matching in the two-dimensional position calculation unit 13 in the result of the matching result determination received from the moving body tracking device 100.
  • the control signal is output to the irradiation device 310 so as to stop the extraction of the therapeutic X-ray because the three-dimensional position of the target is not accurately calculated.
  • a warning signal is output to the display unit 12 in the tracking target recognition device 6 of the moving object tracking device 100 and displayed on the display unit 12.
  • treatment X-rays are irradiated only when the similarity in both directions is equal to or greater than a threshold value, and treatment is performed when the degree of similarity falls below one direction. X-ray irradiation is interrupted.
  • the irradiation control apparatus 300 determines that the similarity between the main tracking target 3 and the sub-tracking target 4 is less than a predetermined threshold in the same frame in the matching result determination received from the moving body tracking apparatus 100. If this is recognized, a signal is output to the irradiation apparatus 310 so as to stop the emission of the therapeutic X-ray because the moving body tracking cannot be performed with high accuracy. For the operator, a warning signal is output to the display unit 12 in the tracking target recognition device 6 of the moving object tracking device 100 and displayed on the display unit 12.
  • the irradiation control apparatus 300 turns off the treatment beam and does not cause the irradiation apparatus 310 to emit therapeutic X-rays.
  • the irradiation control apparatus 300 operates so that the irradiation apparatus 310 and the moving object tracking apparatus 100 are in a recognition result standby state (step S500).
  • the moving body tracking device 100 is moved to the main tracking target 3 in the subject 2 on the bed 1 by the X-ray imaging devices 5A and 5B.
  • X-ray imaging of the sub-tracking target 4 is started, and the captured image is displayed on the screen of the display unit 22 of the manual search area setting device 16 (step S510).
  • the manual input unit 23 of the manual search region setting device 16 is displayed on the X-ray image of the main tracking object 3 and the sub-tracking target 4 displayed on the screen of the display unit 22 of the manual search region setting device 16 by the operator. If the main tracking target search area 230 and the sub tracking target search area 240 are recognized using the moving object tracking device 100, the moving body tracking device 100 stores the main tracking target search region 230 and the sub tracking target search region 230 in the storage unit 11 of the tracking target recognition device 6. The tracking target search area 240 is stored (step S520).
  • the irradiation control device 300 receives the determination result of the three-dimensional position of the main tracking target 3 and the matching result from the recognition result output device 7, and these A control signal is output so as to irradiate the irradiation apparatus 310 with a predetermined dose of therapeutic X-rays having a predetermined energy based on the information.
  • the irradiation apparatus 310 starts emitting therapeutic X-rays (step S530).
  • the moving body tracking device 100 captures X-ray images of the main tracking object 3 and the sub-tracking object 4 by the X-ray imaging devices 5A and 5B. Thereafter, the moving body tracking device 100 uses the two-dimensional position calculation unit 13 of the tracking target recognition device 6 to perform the main tracking target on the X-ray image specified in the previous step S520 or step S556 described later in the search region setting unit 15. Based on the search area 230 and the sub-tracking object search area 240, the main tracking object 3 and the sub-tracking object 4 are recognized, matched with the template image, and the two-dimensional position and the similarity are calculated (step S540).
  • the moving object tracking device 100 calculates the three-dimensional position of the main tracking target 3 in the three-dimensional position calculation unit 14 in the tracking target recognition device 6 (step S550).
  • the moving body tracking device 100 uses the recognition result output device 7 to the irradiation control device 300 to determine the search result and similarity of each search region determined in step S540 and the main tracking target calculated in step S550. 3 is output (step S555).
  • the moving body tracking device 100 uses the search region setting unit 15 to search for the next radiographed image based on the calculation and determination results of the main tracking target 3 and the sub-tracking target 4 in step S540.
  • An area is set and stored in the storage unit 11 (step S556).
  • the irradiation control apparatus 300 determines whether the similarity of the main tracking target 3 is equal to or higher than a threshold in the X-ray imaging images from two directions by the X-ray imaging apparatuses 5A and 5B calculated in step S540. It is determined using the determination result of the similarity sent from (step S560). If the similarity is greater than or equal to the threshold in both directions, the process proceeds to step S570. If even one of them falls below the threshold value, the process proceeds to step S590, the irradiation control apparatus 300 turns off the treatment beam (step S590), and the process proceeds to step S610.
  • the irradiation control device 300 determines whether or not the three-dimensional position of the main tracking target 3 is within the irradiation range among the information calculated in step S550 (step S570). When the main tracking target 3 exists within the range specified in advance, the process proceeds to step S580, and after the irradiation control device 300 turns on the treatment beam (step S580), the irradiation device 310 emits treatment X-rays (step S580). Step S600). When the main tracking target 3 does not exist within the designated range, the process proceeds to step S590, the irradiation control apparatus 300 turns off the treatment beam (step S590), and the process proceeds to step S610.
  • the irradiation control apparatus 300 determines whether or not there is an end instruction (a special instruction from the operator or an instruction to end moving object tracking upon completion of irradiation due to the radiation therapy system completing irradiation of a specified dose). (Step S610). When there is an end instruction, the X-ray imaging and treatment beam irradiation are stopped, and the radiation treatment is ended. On the other hand, if there is no end instruction, the process returns to step S540 to continue radiation therapy.
  • an end instruction a special instruction from the operator or an instruction to end moving object tracking upon completion of irradiation due to the radiation therapy system completing irradiation of a specified dose.
  • the matching result of either the main tracking object 3 or the sub-tracking object 4 is not detected by the moving object tracking device 100, as in the case of the one embodiment of the moving object tracking device described above.
  • the search areas 230 and 240 in the X-ray image 200 of the next frame imaged at the next timing in the X-ray imaging devices 5A and 5B are set using the other two-dimensional position. . Therefore, similarly to the embodiment of the moving object tracking device described above, erroneous recognition of a target other than the tracking target as the tracking target is suppressed, and the search is performed following the movement of the main tracking target 3 and the sub tracking target 4.
  • the areas 230 and 240 move, and the moving body tracking can be continued accurately. Therefore, the position of the moving target can be accurately grasped, and high-precision therapeutic X-ray irradiation can be performed on the target. In addition, there is no need for the operator to stop the treatment X-ray irradiation and target tracking or to manually set the search areas 230 and 240 again, thereby preventing an increase in treatment time. Also play.
  • control is performed so that the treatment X-ray irradiation is interrupted without being continued.
  • the moving object tracking device 100 causes the similarity between the main tracking object 3 and the sub-tracking object 4 to fall below a predetermined threshold
  • the X-ray imaging by the X-ray imaging apparatuses 5A and 5B is stopped and the treatment is performed. Because it is controlled to stop the emission of X-rays, it is possible to suppress the problem of irradiating therapeutic X-rays to unexpected places and to concentrate the therapeutic X-rays only on the target. It is.
  • the irradiation control apparatus 300 can control the irradiation apparatus 300 so as to interrupt the irradiation of the therapeutic X-ray.
  • FIG. 7 is a schematic diagram showing the configuration of another embodiment of a radiation therapy system including an embodiment of the moving body tracking device of the present invention.
  • the radiotherapy system generally includes a moving body tracking device 100, a particle beam extraction system 400, and an irradiation control device 300.
  • the configuration of the moving body tracking apparatus 100 is substantially the same as that of the embodiment of the moving body tracking apparatus, and details thereof are omitted.
  • the particle beam extraction system 400 includes a particle beam accelerator 410, a particle beam transport system 420, and a particle beam irradiation nozzle 430.
  • the particle beam emission system 400 generates a particle beam for treatment (a charged particle beam such as protons or carbon ions) and emits it to the subject 2 on the bed 1.
  • the irradiation control device 300 inputs the three-dimensional position of the main tracking target 3 calculated by the three-dimensional position calculation unit 14 in the tracking target recognition device 6 of the moving object tracking device 100, and from the three-dimensional position of the main tracking target 3.
  • the particle beam accelerator 410, the particle beam transport system 420, and the particle beam irradiation nozzle 430 in the particle beam extraction system 400 are emitted so as to emit a therapeutic particle beam having a condition suitable for irradiation to the three-dimensional position where the obtained target exists. Control.
  • the recognition result output device 7 of the moving body tracking device 100 and the irradiation control device 300 that controls irradiation of the therapeutic particle beam are connected. Further, the irradiation controller 300, the particle beam accelerator 410, the particle beam transport system 420, and the particle beam irradiation nozzle 430 are connected to each other.
  • the operation of the moving object tracking device 100 is substantially the same as the operation of the moving object tracking device of the present invention described above, and the details are omitted.
  • the irradiation control device 300 intercepts the main tracking target 3 (radiation based on the position of the main tracking target 3 and the treatment plan).
  • the control signal is used so that the irradiation position coincides with the irradiation position within a predetermined allowable range) or the tracking signal (the particle beam irradiation position is changed in accordance with the position of the main tracking target 3).
  • the irradiation control device 300 receives the three-dimensional position of the main tracking target 3 calculated by the three-dimensional position calculation unit 14 in the tracking target recognition device 6 from the moving object tracking device 100 and the matching result determination unit 17. The result of matching result determination is received.
  • the irradiation control apparatus 300 accelerates charged particles for irradiating the target three-dimensional position calculated from the three-dimensional position of the main tracking target 3 by the particle beam accelerator 410.
  • the accelerated charged particles are controlled to be transported to the particle beam irradiation nozzle 430 by the particle beam transport system 420.
  • the irradiation control device 300 controls the charged particles that are transported to be deflected / scattered and irradiated to the subject 2 so that an appropriate dose distribution is formed in the subject 2 in the particle beam irradiation nozzle 430.
  • the irradiation control device 300 determines that the similarity with the template of the main tracking target 3 is less than a predetermined threshold in the same frame. If it is recognized that the three-dimensional position of the target is not accurately calculated, the particle beam accelerator 410, the particle beam transport system 420, and the particle beam irradiation nozzle 430 are stopped so as to stop the extraction of the therapeutic particle beam. In response, a signal is output. For the operator, a warning signal is output to the display unit 12 in the tracking target recognition device 6 of the moving object tracking device 100 and displayed on the display unit 12.
  • the irradiation control device 300 determines that the moving object tracking device 100 has the similarity between the template of the main tracking target 3 and the sub-tracking target 4 below a predetermined threshold in the template matching in the second dimension position calculation unit 13. If the target position is not accurately calculated, a signal is sent to the particle beam accelerator 410, the particle beam transport system 420, and the particle beam irradiation nozzle 430 to stop the emission of the therapeutic particle beam. Output. Further, a warning signal is displayed on the display unit 12 for the operator.
  • the radiotherapy system of the present invention as in the case of one embodiment of the radiotherapy system, it is possible to perform high-accuracy therapeutic particle beam irradiation on the target, and the operator can perform irradiation of the therapeutic particle beam and There is an effect that it is not necessary to stop the tracking of the target or manually set the search areas 230 and 240 again, and the treatment time does not increase.
  • the irradiation with the therapeutic particle beam is interrupted when the degree of similarity with the template of the main tracking target 3 falls below a predetermined threshold, and thus the main tracking target 3 is interrupted.
  • wire can be suppressed.
  • the X-ray imaging apparatuses 5A and 5B are used when the similarity between the main tracking object 3 and the sub-tracking object 4 is below a predetermined threshold in the same frame.
  • At least one or more X-ray imaging apparatuses may be provided, or three, four, or more X-ray imaging apparatuses may be provided.
  • the search area does not misrecognize the area where the tracking target does not exist as the area where the tracking target exists, and follows the movement of the tracking target. Moves, and moving object tracking can be continued. Therefore, it is suppressed that the search area in the image at the next time point is set based on the misrecognized result, the search area deviates from the main tracking target 3 and the sub-tracking target 4, and the search fails. The effect that generation
  • Sub-tracking target projection image 230 ... main tracking target search area, 240 ... sub-tracking target search area, 250 ... main tracking target template image, 260 ... Sub-tracking target template image, 280 ... Internal structure projection image, 300 ... irradiation control device, 310 ... therapeutic X-ray irradiation device, 400 ... Particle beam extraction system, 410 ... Particle beam accelerator, 420 ... Particle beam transport system, 430 ... Particle beam irradiation nozzle.

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Abstract

Selon la présente invention, les positions bidimensionnelles d'un objet de suivi principal (3) et d'un objet de suivi secondaire (4) sont calculées par une correspondance de modèle à partir d'images prises par des dispositifs d'imagerie par rayons X (5A, 5B). Dans une unité de réglage de région de recherche (15) pour réglage de régions de recherche sur la base des résultats de correspondance, lorsque les résultats de correspondance de soit l'objet de suivi principal (3), soit de l'objet de suivi secondaire (4) sont déterminés comme étant non satisfaisants, des régions de recherche (230, 240) dans l'image capturée par rayons X (200) de la trame suivante prise en tant que point temporel suivant dans les dispositifs d'imagerie par rayons X (5A, 5B) sont réglées à l'aide de l'autre position bidimensionnelle et sont utilisées pour recherche de l'objet de suivi principal (3) et de l'objet de suivi secondaire (4) dans la trame suivante. La présente invention porte ainsi sur un dispositif de suivi de corps mobile, qui est capable de continuer à suivre la cible même lorsqu'une identification de la cible devient difficile en raison de changements dans la manière dans laquelle la cible et les structures se chevauchent par réglage des régions de réglage au niveau de positions appropriées qui suivent le déplacement de la cible.
PCT/JP2013/070477 2012-09-11 2013-07-29 Dispositif de suivi de corps mobile et système de thérapie par rayonnement WO2014041909A1 (fr)

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JP2016221100A (ja) * 2015-06-02 2016-12-28 株式会社東芝 医用画像処理装置、および治療システム
CN108883303A (zh) * 2016-03-30 2018-11-23 株式会社日立制作所 粒子束剂量评价系统、计划装置、粒子束照射系统以及剂量评价方法
CN108883303B (zh) * 2016-03-30 2021-04-30 株式会社日立制作所 粒子束剂量评价系统、计划装置及粒子束照射系统
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JP2019524418A (ja) * 2016-08-29 2019-09-05 アキュレイ インコーポレイテッド 回転撮像及び追跡システムにおけるオンライン角度選択
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CN112190838A (zh) * 2019-07-08 2021-01-08 株式会社日立制作所 运动体跟踪装置和放射线治疗系统以及运动体的跟踪方法
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CN114129916A (zh) * 2021-12-03 2022-03-04 上海伽玛星科技发展有限公司 头部放疗射线立体定向投射装置
CN114129916B (zh) * 2021-12-03 2022-09-16 上海伽玛星科技发展有限公司 头部放疗射线立体定向投射装置

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