WO2017007165A1 - Système de prévention de collision pour dispositif de radiothérapie stéréotaxique - Google Patents

Système de prévention de collision pour dispositif de radiothérapie stéréotaxique Download PDF

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Publication number
WO2017007165A1
WO2017007165A1 PCT/KR2016/006958 KR2016006958W WO2017007165A1 WO 2017007165 A1 WO2017007165 A1 WO 2017007165A1 KR 2016006958 W KR2016006958 W KR 2016006958W WO 2017007165 A1 WO2017007165 A1 WO 2017007165A1
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WO
WIPO (PCT)
Prior art keywords
distance
robot head
patient
collimator
stereotactic
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Application number
PCT/KR2016/006958
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English (en)
Korean (ko)
Inventor
금기창
안승권
Original Assignee
연세대학교 산학협력단
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Publication of WO2017007165A1 publication Critical patent/WO2017007165A1/fr

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    • 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

Definitions

  • the present invention relates to an anti-collision system of a stereotactic radiotherapy device, and more particularly, to use in radiosurgery or stereotactic body radiation therapy (Sterototactic Ablative Body Radiotherapy, Stereotactic Body Radiation Therapy), An anti-collision system of a stereotactic radiation therapy device having a moving robot head and a radiation generator mounted to the robot head.
  • Radiation medical equipment can be used in the field of radiation diagnostics and radiation treatment, X-ray of radiation is used as the most important means in the field of radiation diagnosis and treatment.
  • Radiodiagnosis is to confirm the presence and location of the lesion. Radiation is absorbed according to the density of the penetrating tissue when penetrating the tissue, according to this principle, the radiation transmitted through the human body shows an image of the human structure.
  • Radiation therapy can be achieved by inhibiting or destroying the growth of malignant tissues such as cancer with the use of wave-like radiation such as X-rays, gamma rays, or particle-like radiation such as electron beams or proton beams.
  • wave-like radiation such as X-rays, gamma rays, or particle-like radiation such as electron beams or proton beams.
  • the CyberKnife is a specialized equipment for tracking the movement of tumors according to the breathing in real time and is inserted into the body skeletal image (skull bone, vertebrae, etc.), inside the tumor or near the tumor without the conventional invasive fixation mechanism It is characterized by the fact that the coordinates of the golden needle or real-time imaging, or by distinguishing the density difference between the tumor and normal tissue by the image, to detect and track the location of the tumor to irradiate the exact location of the tumor.
  • the robot arm of the CyberKnife moves as much as the coordinates calculated according to a computer algorithm that controls the actual position of the target to move and the radiation operation can be accurately performed within the 0.95 mm error range.
  • US Patent No. 8655429 a registered patent of Accuray, discloses a robotic arm for a radiation treatment system, which couples to a linear accelerator (LINAC) and a linear accelerator. It includes a ringed robotic arm and describes the movement of the robotic arm in three-dimensional space.
  • LINAC linear accelerator
  • CyberKnife allows the robot with six rotational axes to move freely, and the radiation treatment is possible, and the radiation can be irradiated at a total of 11,728 positions, so that the treatment plan can be irradiated with minimal radiation to normal tissues around the tumor.
  • the patient's movement can be corrected by taking an X-ray photograph during the treatment, and the mechanical accuracy of the robot is 0.95 mm or less.
  • PDP Safety Zone and Proximity Detection Program
  • the fixed safety zone in the safety zone is defined by the center of the device and is determined by the anatomical position (head or body) selected in the treatment plan.
  • the Dynamic Safety Zone of the Safety Zone is used to ensure that the treatment robot does not collide with the couch or the patient, and is an area including the patient, the couch and the headrest.
  • the dynamic safety zone can be set according to the patient's body size.
  • the PDP is activated when the robot moves and monitors the robot's position to minimize the possibility of collisions with patients or components inside the room. Before starting treatment, however, the patient and all devices should be checked to ensure that they are within the patient safety area defined by the PDP model.
  • an interlock is generated in a fixed safety zone, which is primarily set according to the treatment area of the patient, and also in a dynamic safety zone, which is set according to the size of the patient. do.
  • the assistive devices are used to separate the patient's body from the couch.
  • the treatment equipment is not a system that recognizes the distance from the patient and causes the operation to stop. Treatment equipment poses the risk of collision with the actual patient. With this feature, current anti-collision systems are not suitable for protecting patients.
  • An object of the present invention is to measure the distance between the robot head and the patient in real time according to the movement of the robot head, anticipate the collision between the robot head and the patient anti-collision of the stereotactic radiation treatment apparatus that can prevent this in advance To provide a system.
  • the object of the present invention is a collision prevention system of a radiation treatment apparatus, which is used for radiation surgery or stereotactic radiation treatment, and includes a robot head moving around a patient's body and a radiation generator mounted to the robot head.
  • a distance detection sensor installed on the side to sense a distance to the patient to generate access distance information;
  • a control unit for controlling the movement of the robot head so that the robot head does not collide with the patient according to the access distance information received from the distance detecting sensor. do.
  • At least two distance detecting sensors may be provided to be spaced apart from each other at the front end of the robot head to which radiation is irradiated.
  • the distance sensor is provided with four symmetrical to each other around the collimator (collimator), all may be used together or partly used depending on the movement of the robot head.
  • the storage unit for storing the setting distance information which is information on two or more different distances; And a display unit displaying the voice or video when the distance according to the access distance information is equal to or shorter than the distance according to the set distance information.
  • the distance sensor may be installed to be movable in the robot head.
  • the distance sensor may be made to move toward the moving direction of the robot head.
  • the anti-collision system of the stereotactic radiation treatment apparatus the collimator (collimator) (collimator housing) is received so that the front surface is exposed; And a rotating body formed in a ring or quadrangular shape so as to be rotatably coupled to the front of the collimator housing about the collimator, and the distance sensor may be formed on the rotating body.
  • the robot approaching the patient by installing a distance sensor on the robot head moving around the patient and by detecting the distance to the patient by the distance sensor to control the movement of the robot head by the controller, the robot approaching the patient
  • the distance between the head and the patient can be checked in real time, and an anti-collision system can be provided that can effectively prevent the robot head from touching or impacting the patient.
  • FIG. 1 is a perspective view showing an anti-collision system of a stereotactic radiation therapy apparatus according to an embodiment of the present invention
  • FIG. 2 is a view schematically showing a relationship between a robot head having a distance sensor and another configuration in an anti-collision system of the stereotactic radiation treatment apparatus shown in FIG. 1;
  • FIG. 3 is a view showing a method of using the anti-collision system of the stereotactic radiation therapy apparatus according to the present invention
  • FIG. 4 is a view illustrating a robot head portion in which a distance sensor is installed in an anti-collision system of a stereotactic radiation therapy apparatus according to another embodiment of the present invention
  • FIG. 5 is a view showing a robot head portion in which the distance sensor is installed in the collision avoidance system of the stereotactic radiation therapy apparatus according to another embodiment of the present invention.
  • control unit 30 storage unit
  • FIG. 1 is a perspective view showing a collision avoidance system 1 of a stereotactic radiation therapy apparatus according to an embodiment of the present invention
  • Figure 2 is a collision avoidance system 1 of a stereotactic radiation therapy apparatus shown in FIG.
  • FIG. 3 is a view schematically showing a relationship between the robot head 100 in which the distance sensor 10 is installed and another configuration
  • FIG. 3 illustrates a method of using the collision avoidance system 1 of the stereotactic radiation treatment apparatus according to the present invention. It is a figure which shows.
  • the anti-collision system 1 of the stereotactic radiation treatment apparatus is a device used for radiosurgery or stereotactic radiation treatment, and may be formed in the form of a cyberknife. Accordingly, the anti-collision system 1 of the stereotactic radiation treatment apparatus according to the present invention includes a robot arm 100a and a robot head 100, and have a plurality of joints for smooth movement of the robot head 100. It consists of, the end of the robot head 100 is provided with a radiation generating device.
  • One side of the robot head 100 is provided with a couch 200 made to lie down the patient (2).
  • the robot head 100 may move according to a treatment plan around the body of the patient 2, and radiation treatment is performed by a radiation generator provided in the robot head 100 to irradiate radiation.
  • a collimator (collimator) is installed on the front of the robot head 100 for the irradiation of radiation, this collimator 110 is shown in a separated form from the robot head 100 in Figure 2, retaining nut 120 ) May be fixed to the robot head 100 while coupling the collimator to the collimator housing 130.
  • Anti-collision system 1 of the stereotactic radiation treatment apparatus is to effectively prevent the collision between the robot head 100 and the patient (2), including a distance sensor 10 and the control unit 20
  • the storage unit 30 and the display unit 40 may be further included.
  • the distance sensor 10 is installed on the outer surface of the robot head 100 to detect the distance to the patient (2). That is, the distance sensor 10 is a means for measuring the relative distance between the point where the distance sensor 10 is installed and the patient 2, it may be made of a conventional device that can detect the distance, for example It may be made of an ultrasonic sensor.
  • the distance sensor 10 generates access distance information, and the access distance information is information about a distance between the distance sensor 10 and the patient 2.
  • the distance sensor 10 may be provided in two or more, and may be formed in the form of being spaced apart from each other at the front end (direction in which the radiation is irradiated) of the robot head 100 is irradiated with radiation.
  • a collimator 110 is provided at the front end of the robot head 100, and also the collimator 110. ) Is provided with a collimator housing 130.
  • the distance sensor 10 is preferably formed on the front surface of the collimator housing 130, when provided with two spaced apart from each other as possible Located opposite to each other, if provided with four is preferably arranged at intervals of 90 ° around the collimator 110, respectively.
  • the distance detecting sensor 10 When the distance detecting sensor 10 is provided in plural numbers, all the distance detecting sensors 10 may be used at the same time, but only some of the distance detecting sensors 10 may be selectively used. For example, when the robot head 100 moves to any one side, the distance sensor 10 located in the front of the moving direction may operate and the other distance sensor 10 may not operate.
  • the control unit 20 may include a central processing unit (CPU), may be provided inside the robot head 100, or may be provided separately from the robot head 100, and receive from the distance sensor 10. According to the approach distance information, the robot head 100 is made to control the movement of the robot head 100 so as not to hit the patient (2).
  • CPU central processing unit
  • the robot head 100 stops moving or reduces the moving speed so that the robot head 100 and the patient get closer. To prevent the collision of (2).
  • the storage unit 30 is formed in a storage medium for storing electronic information, and may be provided inside the robot head 100 or separated from the robot head 100, but provided adjacent to the control unit 20. It is desirable to be.
  • the storage unit 30 stores the set distance information, the set distance information is information on the distance, and a plurality of distance information may be included therein.
  • the set distance information may include a first distance Z1, a second distance Z2, and a third distance Z3.
  • the first distance Z1, the second distance Z2, and the third distance. (Z3) may be composed of 20 cm, 10 cm and 5 cm, respectively.
  • the distance from the patient 2 can be divided into 20 cm, 10 cm and 5 cm, the green zone for the distance 20 cm, the blue zone for the 10 cm, and the red zone for the 5 cm.
  • the movement of the robot head 100 may be controlled according to whether the distance (distance between the distance sensor 10 and the patient 2) according to the distance information enters into this area.
  • the controller 20 controls the movement of the robot head 100 when the distance according to the approach distance information received from the distance sensor 10 is equal to or shorter than the distance according to the set distance information. Movement of the robot head 100).
  • the control unit 20, the distance according to the access distance information received from the distance sensor 10 is the distance (first distance (Z1), the second distance (Z2) or the third distance (Z3) according to each set distance information.
  • the movement of the robot head 100 may be controlled differently for each distance. For example, when the distance according to the access distance information corresponds to the first distance Z1 or the second distance Z2, the moving speed of the robot head 100 is reduced, and the distance according to the access distance information is the third distance Z3. In this case, the robot head 100 may be stopped.
  • the display unit 40 may be configured in the form of a display device and / or a voice device. When the distance according to the access distance information is equal to or shorter than the distance according to the set distance information, the display unit 40 may generate a voice (alarm sound, etc.). It can be represented by) or an image.
  • the operation of the display unit 40 may be controlled by the controller 20, and when the distance according to the approach distance information received from the distance sensor 10 is equal to or shorter than the distance according to the set distance information, Information can be displayed. For example, when the distance according to the access distance information received from the distance sensor 10 corresponds to the distance according to each set distance information, the distance may be displayed on the display or the voice may be notified of the distance.
  • the display unit 40 the distance according to the access distance information received from the distance sensor 10, the distance according to each set distance information (first distance (Z1), second distance (Z2) or third distance (Z3) In the case of)), different information may be displayed for each distance. For example, when the distance according to the access distance information is changed to the first distance Z1, the second distance Z2, and the third distance Z3, the type and interval of the alarm sound may be changed.
  • FIG 4 is a view showing a portion of the robot head 100 is installed in the collision avoidance system 1 of the stereotactic radiation therapy apparatus 1 according to another embodiment of the present invention
  • Figure 5 is a view of the present invention
  • the collision avoidance system of the stereotactic radiation therapy apparatus according to another embodiment is a view showing a portion of the robot head 100 is installed a distance sensor 10.
  • the distance sensor 10 may be installed to be movable in the robot head 100.
  • the anti-collision system 1 of the stereotactic radiation therapy apparatus may further comprise a rotating body 140, the distance sensor 10 is to be formed on such a rotating body 140 Can be.
  • the collimator housing 130 is formed in a form in which the front center of the collimator 110 is opened so that the front surface thereof is exposed.
  • the rotating body 140 is formed in a ring or quadrangle shape and is coupled to the front surface of the collimator housing 130 and rotates about the collimator 110. That is, the rotation axis S of the rotating body 140 is formed on the collimator 110.
  • Rotation of the rotating body 140 relative to the collimator housing 130 may be made by a conventional general mechanical configuration forming a rotational motion.
  • power transmission from the collimator housing 130 toward the rotating body 140 includes a series of gears (protrusion formation 141 engaged with the gear 150 along the circumferential direction on the rear surface of the rotating body 140), and the roller.
  • the generation of power can be made by a separate drive means (electric motor, etc.), or can be made connected to the drive means of the robot arm (100a).
  • the distance sensor 10 may be made to move toward the moving direction of the robot head 100.
  • the rotating body 140 may rotate on the collimator housing 130 together with the movement of the robot head 100, and the rotation of the rotating body 140 may be performed. Rotation may be performed until the distance sensor 10 is placed relatively forward in the moving direction of the robot head 100.
  • the distance detection sensor 10 may be positioned at the front portion of the robot head 100 in the moving direction, and the patient 2 and the robot head ( The collision between 100 can be prevented more effectively.
  • the collimator 110 may be formed on a collimator housing 130 having a rectangular shape, and the distance sensor 10 may be formed on the front surface of the collimator housing 130.
  • the distance sensor 10 may be installed to be movable in the robot head 100, for this purpose, the same configuration as the rotating body 140 can be coupled to the collimator housing 130.
  • the same configuration as the rotating body 140 can be coupled to the collimator housing 130.
  • the distance sensor 10 is installed on the robot head 100 moving around the patient 2 and the distance sensor The robot head 100 and the patient 2 approaching the patient 2 by controlling the movement of the robot head 100 by the controller 20 while sensing the distance from the patient 2 by the 10. It can provide a radioactive therapy apparatus that can check the distance to the in real time and effectively prevent the robot head 100 from contacting or impacting the patient (2).
  • the distance detection sensor is installed on the robot head moving around the patient and the distance detection sensor detects the distance to the patient by the controller.
  • the distance between the robot head approaching the patient and the patient can be checked in real time, effectively preventing the robot head from contacting or impacting the patient, and the distance sensor is moved in the direction of the robot head.
  • the distance sensor can be positioned at the front part of the robot head in the moving direction, and thus the related technology is exceeded due to the limitations of the existing technology.
  • Commercially available or zero to the applicable device, not just for use Because of the degree to which the potential not only be sufficient to practice the invention apparently conducted with industrial applicability.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Radiation-Therapy Devices (AREA)
  • Robotics (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

L'invention concerne un système de prévention de collision pour un dispositif de radiothérapie stéréotaxique. Le système de prévention de collision pour un dispositif de radiothérapie stéréotaxique selon la présente invention, le dispositif de radiothérapie étant utilisé pour une radiochirurgie ou radiothérapie stéréotaxique et ayant une tête de robot se déplaçant autour du corps d'un patient et un dispositif de génération de rayonnement monté sur la tête de robot, comprend : un capteur de détection de distance qui est installé sur la surface latérale extérieure de la tête de robot et détecte une distance jusqu'à un patient de façon à générer des informations de distance d'approche; et une unité de commande pour commander un mouvement de la tête de robot de façon à empêcher la tête de robot d'entrer en collision avec le patient, en fonction des informations de distance d'approche reçues en provenance du capteur de détection de distance. Selon la présente invention, un capteur de détection de distance est installé dans une tête de robot se déplaçant autour d'un patient, et un mouvement de la tête de robot est commandé par une unité de commande tandis qu'une distance jusqu'au patient est détectée par le capteur de détection de distance. En conséquence, la présente invention peut fournir un système de prévention de collision qui peut vérifier en temps réel la distance entre un patient et la tête de robot s'approchant du patient, et peut empêcher efficacement la tête de robot d'entrer en contact avec le patient ou d'appliquer un impact sur ce dernier.
PCT/KR2016/006958 2015-07-08 2016-06-29 Système de prévention de collision pour dispositif de radiothérapie stéréotaxique WO2017007165A1 (fr)

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KR1020150097445A KR101656488B1 (ko) 2015-07-08 2015-07-08 정위적 방사선 치료장치의 충돌방지 시스템
KR10-2015-0097445 2015-07-08

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
WO2019045163A1 (fr) * 2017-08-30 2019-03-07 경희대학교산학협력단 Dispositif de planification de traitement et procédé de radiothérapie basé sur un bras robotique
CN109908498A (zh) * 2019-04-17 2019-06-21 江苏省人民医院（南京医科大学第一附属医院） 一种医用加速器用雷达防碰撞环
WO2024093888A1 (fr) * 2022-10-31 2024-05-10 中硼(厦门)医疗器械有限公司 Appareil de support et système d'irradiation le comprenant

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KR101872226B1 (ko) * 2016-11-07 2018-06-28 사회복지법인 삼성생명공익재단 교정 유닛, 방사선 치료장치 및 방사선 치료장치의 교정 방법
KR102598014B1 (ko) * 2021-11-18 2023-11-02 계명대학교 산학협력단 방사선치료용 선형가속기에서 방사선 조사야 확인을 위한 광조사 시스템

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US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
KR20080086143A (ko) * 2007-03-22 2008-09-25 한양대학교 산학협력단 위치추적 기능을 사용한 수술용 조명로봇시스템과 이를 구비한 수술실 및 위치추적 기능을 사용한 조명로봇 위치이동방법
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
WO2019045163A1 (fr) * 2017-08-30 2019-03-07 경희대학교산학협력단 Dispositif de planification de traitement et procédé de radiothérapie basé sur un bras robotique
CN109908498A (zh) * 2019-04-17 2019-06-21 江苏省人民医院（南京医科大学第一附属医院） 一种医用加速器用雷达防碰撞环
WO2024093888A1 (fr) * 2022-10-31 2024-05-10 中硼(厦门)医疗器械有限公司 Appareil de support et système d'irradiation le comprenant

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