WO2018139891A1

WO2018139891A1 - Radiation therapy evaluation system

Info

Publication number: WO2018139891A1
Application number: PCT/KR2018/001155
Authority: WO
Inventors: 한영이; 천원중
Original assignee: 성균관대학교산학협력단
Priority date: 2017-01-26
Filing date: 2018-01-26
Publication date: 2018-08-02
Also published as: KR101835123B1

Abstract

Provided is a radiation therapy evaluation system. A radiation therapy evaluation system according to an embodiment of the present invention may comprise: a measurement marker unit (600) which is inserted into tissue of an evaluation object and includes one or more measurement markers (610, 620, and 630) made of metal material; a particle ray irradiator (500) for emitting a particle ray having a Bragg peak characteristic to the tissue; at least one radiation detection camera (300) for capturing a radiation image for the measurement marker unit (600); and a computing device (400) for calculating camera-reference coordinates of a measurement marker having emitted radiation, by using the captured radiation image.

Description

Radiation therapy evaluation system

The present invention relates to a radiotherapy evaluation system, and more particularly to a radiation therapy evaluation system for calculating the absolute coordinates on the absolute coordinate system of the treatment room for the measurement marker that emits radiation.

With the development of medical devices and advances in medical care, medical devices are becoming more and more advanced in recent years. For example, in the treatment of cancer, conventionally, treatment, surgery, and radiation have been mainstream, but recently, a particle beam treatment apparatus for irradiating and treating particle beams represented by quantum rays or carbon rays has been developed. Treatment with a particle beam therapy device is characterized by non-invasive and rapid recovery of the patient after treatment.

Among them, proton therapy is one of radiation treatments, in which a proton, a small particle constituting the nucleus of a hydrogen atom, is shot at a high-speed cancer site and destroys cancer tissue. Since there are few side effects that can occur during radiation therapy, it is called 'treatment of dreams'. It is characterized by using the peculiar physical properties of protons, namely Bragg Peak. The Bragg peak is a phenomenon in which energy absorption in the body reaches its peak when protons reach cancer tissues when the human body penetrates the human body. Proton therapy can be effectively applied to the treatment of cancer patients because there is almost no energy absorption in normal tissues and there are few side effects that can occur during radiation therapy. (Figure 1)

It is important to know whether the proton treatment has released energy exactly to cancer tissues. If energy is released not only to cancerous tissues but also to surrounding normal tissues, there is a risk of side effects. Therefore, it is possible to measure the accurate release of energy only to targeted cancer tissues and use it for future proton treatment plans.

When the metal splits protons, the elements contained in the metal are isotopes to emit radiation. The location of the isotope emitting radiation can be traced to determine if the energy of the proton beam has been delivered correctly to cancer tissues.

This is also possible with positron emission tomography (PET), but this is an expensive and large sized device, and has a disadvantage in that it can be measured only where the PET is installed.

Therefore, there is a need for the development of a system that can easily track the position of the isotope emitting radiation even in the treatment room that is not equipped with expensive equipment such as PET.

Looking at the related art as follows.

Korean Patent Application Publication No. 2016-0013325 uses an acceleration sensor and a gyro sensor attached to a radioisotope to provide a system that simultaneously provides data on the direction and movement of a radiation source on a visual basis and manages optimal power management by the tracking device itself. Although disclosed, it is difficult to apply this to the coordinate system of the treatment room that is not equipped with a tracking device.

U.S. Patent No. 8249693 discloses a positioning system that includes a gamma camera with a set of inclined bore collimators, but is also difficult to apply to coordinate systems in treatment rooms that are not equipped with tracking devices.

The present invention has been made to solve the above-mentioned problems of the prior art.

In particular, the present invention aims to provide a system capable of evaluating radiotherapy by simply tracking the position of the isotope emitting radiation even in a treatment room where no positron emission tomography device such as PET is installed.

Accordingly, the present invention is inserted into the tissue of the object, the measurement marker unit 600 including at least one measurement marker (610, 620, 630) made of a metal material, having a Bragg peak (bragg peak) characteristic on the tissue Measurement of emitting radiation by using a particle beam irradiator 500 for irradiating particle beams, at least one radiation sensing camera 300 for photographing a radiographic image of the measurement marker unit 600, and the photographed radiographic image A radiation therapy evaluation system is provided that includes a computing device 400 for calculating camera-reference coordinates of a marker.

In one embodiment, the radiation detection camera 300 may be a camera capable of detecting radiation, the camera includes a collimator 310 for limiting the incident direction of the radiation emitted from the measurement markers (610, 620, 630) It is desirable to.

In one embodiment, the computing device 400 includes a memory 440 in which transformation matrix information indicating a transformation relationship between an absolute coordinate system of a treatment room where the system is installed and a camera-reference coordinate system of the radiation sensing camera is stored in advance. It is desirable to.

In one embodiment, the computing device 400 preferably converts the camera-reference coordinates of the measurement marker that emitted the radiation into absolute coordinates on the absolute coordinate system using the conversion matrix information.

In one embodiment, it is preferable to further include a reference marker unit 100 including a reference display unit 170 and a plurality of isotope markers and a laser irradiator 200 for irradiating a laser to the reference display unit 170. .

According to an embodiment, the computing device 400 may be configured to obtain absolute coordinates on the absolute coordinate system for the plurality of isotope markers by using the reference display unit 170 irradiated with the laser by the laser irradiator 200 as a reference point. Camera-on a reference coordinate system for the plurality of isotopic markers, by using the radiographic image of the reference marker unit 100 obtained through the first coordinate calculation unit 410 and the radiation detection camera 300 to calculate. The second coordinate calculator 420 for calculating reference coordinates and the camera-reference coordinate system between the absolute coordinate system and the camera-reference coordinate system, using the camera coordinates and the absolute coordinates calculated for the plurality of isotope markers. It is preferable to further include a conversion matrix calculation unit 430 for calculating a conversion matrix.

In one embodiment, the conversion matrix calculation unit 430 preferably stores the calculated conversion matrix in the memory 440.

In one embodiment, the plurality of isotope markers is preferably at least three.

In another aspect, the present invention, the reference marker unit 100 including a reference display unit 170 and a plurality of isotope markers, a laser irradiator 200 for irradiating a laser to the reference display unit 170, inserted into the tissue of the object, A measurement marker unit 600 including at least one

measurement marker

610, 620, and 630 made of a metal material, a particle beam irradiator 500 irradiating a particle beam having Bragg peak characteristics to the tissue; At least one radiation sensing camera 300, the laser irradiator 200, and the at least one radiation sensing camera 300, which respectively photograph radiographic images of the reference marker unit 100 and the measurement marker unit 600. Computing device 400 for data communication, the computing device 400, the absolute coordinate system of the treatment room for the plurality of isotope markers with the reference display unit 170 to which the laser is irradiated as a reference point. Calculate absolute coordinates and calculate camera-reference coordinates on the camera-reference coordinate system for the plurality of isotopic markers using the radiographic image of the reference marker unit 100 obtained by the radiation-sensing camera 300 And calculating a transformation matrix between the absolute coordinate system and the camera-reference coordinate system by using the absolute coordinates and the camera-reference coordinates calculated for the plurality of isotope markers. By using the radiographic image of the measurement marker unit 600 obtained by calculating the camera-reference coordinates on the camera-reference coordinate system for the measurement marker that emitted the radiation, and using the calculated transformation matrix, Radiation provided by converting camera-reference coordinates for emitted measurement markers into absolute coordinates on the absolute coordinate system Provide a treatment assessment system.

According to the present invention, it is possible to simply track the position of an isotope that emits radiation even in a treatment room where no positron emission tomography device such as PET is installed.

As a result, it is possible to evaluate whether the energy is correctly delivered only to the target tissue after the particle beam treatment having the Bragg peak characteristics, which has the advantage that it can be used in the future particle beam treatment plan.

In particular, as the evaluation of the particle beam treatment is possible even in a treatment room in which no expensive equipment is installed, it is possible to replace the evaluation of the particle beam treatment that can be measured only by conventional expensive equipment, which is cost-effective and increases the convenience of the patient and the measurer. Has the advantage.

1 is a view for explaining the treatment of cancer tissue through a conventional irradiator and particle beam irradiator.

2 is a block diagram showing a radiotherapy evaluation system according to an embodiment of the present invention.

3 is a block diagram illustrating a computing device according to an exemplary embodiment of the present invention.

4 is a diagram schematically illustrating a radiotherapy evaluation system according to an embodiment of the present invention.

5 and 6 are diagrams schematically showing a relationship between a plurality of isotope markers in the reference marker unit shown in FIG. 4.

7 and 8 are views schematically showing the application of the radiation therapy evaluation system according to an embodiment of the present invention.

First, a radiation therapy evaluation system according to an embodiment of the present invention will be described with reference to FIGS. 2, 3, 7 and 8.

The radiation therapy evaluation system according to an embodiment of the present invention includes a measurement marker unit 600, a particle beam irradiator 500, a radiation sensing camera 300, and a computing device 400.

The measurement marker unit 600 is a part inserted into the tissue of the object and includes at least one

measurement marker

610, 620, 630 made of a metal material. Specifically, as shown in FIG. 7, the

measurement markers

610, 620, and 630 are inserted into the rear of the cancer tissue so as to face the particle beam irradiator 500 with the cancer tissue interposed therebetween. Since the

measurement markers

610, 620, and 630 are made of a metal material, when the particle beam beam having the Bragg peak characteristics irradiated by the particle beam emitter 500 is subtracted, it is compared with the ground state. It becomes the state which has an additional proton (isotopation). This isotope measuring marker emits radiation and its position is detected by a radiation sensing camera 300 to be described later.

The particle beam irradiator 500 is a portion for irradiating a particle beam beam having Bragg peak characteristics to the target tissue. The particle beam has a Bragg peak and is a device for releasing the energy intensively at a target position and destroying and treating the tissue with the emitted energy. However, there is a need for a system for evaluating whether the particle beam beam irradiated by the particle beam irradiator 500 accurately emits energy to the target tissue. As described above, the

measurement markers

610, 620, and 630 of the metal material are isotoped and emit radiation when the particle beam beam having the Bragg peak characteristic is split, thereby detecting the target tissue. It is only possible to know exactly whether the particle beam has arrived. For example, when radiation is detected, it means that the energy of the particle beam beam is emitted to the

measurement markers

610, 620, and 630 inserted into the back of the target tissue, and thus, it may be determined that the treatment plan needs to be modified in the future. . In addition, it is possible to calculate even the position using the transformation matrix calculated by the computing device 400, which will be described later, which affects not only the target tissue but also any surrounding normal tissue.

The radiation sensing camera 300 is a part of photographing a radiographic image of the measurement marker unit 600, and generates a 2D radiographic image. The radiation detecting camera 300 may be a gamma camera or a Compton camera capable of generating radiation and generating a 2D radiographic image. In the case of a gamma camera, a collimator 310 is provided in front of the gamma camera to limit the incident direction of radiation. The radiation detection camera 300 detects radiation emitted from the isotopic measuring

markers

610, 620, and 630 by emitting a particle beam to take a radiographic image.

The computing device 400 is a part that calculates camera-reference coordinates on the camera-reference coordinate system of the

measurement markers

610, 620, and 630 that emit radiation by using the radiation image photographed by the radiation sensing camera 300. Taking the

measurement markers

610, 620, 630 emitting radiation with the radiation sensing camera 300 displays the positions of the measurement markers, and the computing device 400 displays the cameras on the camera-reference coordinate system of the

measurement markers

610, 620, 630 emitting radiation. The reference coordinate is calculated.

The computing device 400 may include a memory 440 in which transformation matrix information indicating a transformation relationship between an absolute coordinate system of a treatment room where a system according to an exemplary embodiment of the present invention is installed and a camera-reference coordinate system of the radiation sensing camera 300 is stored. It includes more.

The computing device 400 converts the camera-reference coordinates of the

measurement markers

610, 620, and 630 which emit radiation using the transformation matrix information stored in advance in the memory 440 into absolute coordinates on the absolute coordinate system of the treatment room. Through this conversion process, the camera-reference coordinates of the

measurement markers

610, 620, and 630 which emit radiation captured by the radiation sensing camera 300 are converted to the absolute coordinates of the treatment room, so that the

measurement markers

610, 620, 630 which emit radiation are the absolute coordinate system of the treatment room. If the measurement markers (610, 620, 630) emit radiation, it means that the proton beam is irradiated to the normal tissue instead of only the target tissue. It is also possible to modify the treatment plan of 500).

Next, a method of calculating a transformation matrix, which is a transformation relationship between the absolute coordinate system and the camera-reference coordinate system of the treatment room described above, will be described with reference to FIGS. 2 to 6.

The reference marker unit 100, the laser irradiator 200, the radiation sensing camera 300, and the computing device 400 are used to calculate the transformation matrix. Each configuration and role will be described later.

In order to calculate a transformation matrix that is a transformation relationship between the absolute coordinate system of the treatment room and the camera-reference coordinate system, a process of positioning the reference marker unit 100 in the treatment room is required in advance.

As shown in FIG. 4, when the reference marker unit 100 is positioned in the treatment room, a process of calculating the transformation matrix is started.

The laser irradiator 200 may display the reference point C0 of the absolute coordinate system of the treatment room using a laser. The absolute coordinate system of the treatment room is the same as the three-dimensional coordinate system of the treatment room where the object is located. As shown in FIG. 4, the laser irradiator 200 may display a reference point C0 of the absolute coordinate system of the treatment room by irradiating a cross (+) type laser.

The fiducial marker unit 100 may be located in the treatment room. 5 and 6, the reference marker unit 100 includes a first surface 110, a second surface 120 parallel to the first surface, a reference display unit 170 displaying a center of the first surface, and a reference. It may include a plurality of isotopic markers spaced apart from the display unit 170 and disposed on the first surface 110.

The fiducial marker unit 100 may include at least three isotope markers to obtain three-dimensional coordinate values using the fiducial marker unit 100. However, in order to increase the position measurement accuracy may be included more, in the present invention will be described with an example including four isotope markers (130, 140, 150, 160).

Isotopes are provided in the plurality of

isotope markers

130, 140, 150, and 160 to emit radiation. At this time, the radiation detection camera 300 detects the radiation emitted from the isotope marker to generate a radiographic image.

5 and 6 are perspective views schematically illustrating a relationship between a plurality of

isotopic markers

130, 140, 150, and 160 in the reference marker unit 100 illustrated in FIG. 4.

Referring to FIG. 5, the reference marker unit 100 includes a first surface 110 and a second surface 120 parallel to the first surface. The reference marker unit 100 may be a cube or a cube in which each corner is perpendicular to each other. The lengths w1, w2, and w3 of each corner of the reference marker unit 100 are known information, and the information may be stored in the computing device 400. The reference marker unit 100 may be made of a material in which the lengths w1, w2, and w3 of each corner do not change due to external action.

The plurality of isotopic markers may include a first marker 130, a second marker 140, a third marker 150, and a fourth marker 160 disposed on the first surface 110. For example, as illustrated in FIG. 5, the first marker 130 to the fourth marker 160 may be disposed to be adjacent to each vertex of the first surface 110. In this case, the distance between the markers, that is, the first separation distance d1 of the first marker 130 and the second marker 140 and the second separation of the second marker 140 and the fourth marker 160. The distance d2 is also known information, which may also be stored in the computing device 400.

The reference marker unit 100 may include a reference display unit 170 that displays the center of the first surface 110. The reference display unit 170 may have a cross (+) shape, and the reference display unit 170 may be a midpoint of lines passing vertically through the center of each corner.

Meanwhile, referring to FIGS. 3 and 5, the first coordinate calculator 410 may include the separation distances d1 and d2 between the plurality of isotope markers and the length w1 of each corner of the reference marker unit 100. w2 and w3, specifically, the first distance w3 between the first surface 110 and the second surface 120 may be stored in advance. The first coordinate calculator 410 is configured to store the first marker 130 to the fourth marker 160 using the separation distances d1 and d2 and the first distance w3 between the plurality of isotopic markers stored in advance. The coordinate values on the absolute coordinate system of the treatment room can be calculated. At this time, the coordinate value is preferably a three-dimensional coordinate value.

In detail, the first coordinate calculator 410 may contact the first marker 130, the second marker 140, the third marker 150, and the fourth marker 160 based on the reference point C0 of the absolute coordinate system. The first-first coordinate value 130A, the first-second coordinate value 140A, the first-three coordinate value 140C, and the first-fourth coordinate value 140D may be calculated, respectively. In addition, the first coordinate calculator 410 may be formed at a position where the first marker 130, the second marker 140, the third marker 150, and the fourth marker 160 correspond to each other on the second surface 120. The first to fifth coordinate values 130B, the first to sixth coordinate values 140B, the first to seventh coordinate values 150B, and the first to eighth coordinate values 160B may be calculated.

In other words, the first coordinate calculator 410 may calculate eight coordinate values on the absolute coordinate system of the treatment room using the information of the reference marker unit 100.

The radiation sensing camera 300 may generate a radiographic image by photographing a plurality of isotope markers of the reference marker unit 100. The second coordinate calculator 420, which will be described later, using the radiation images generated by the plurality of radiation sensing cameras 300, calculates camera-based coordinate values of the plurality of

isotope markers

130, 140, 150, and 160 in the camera-based coordinate system. can do. In order to obtain a three-dimensional coordinate value in the camera-reference coordinate system, at least two radiation detection cameras 300 are required, and the radiation detection camera 300 includes a collimator for vertically incidence of radiation emitted by a plurality of isotope markers ( 310, it is possible to obtain an accurate three-dimensional coordinate value.

The second coordinate calculator 420 may calculate camera-reference coordinate values on the camera-reference coordinate system of each of the plurality of

isotopic markers

130, 140, 150, and 160 using the radiation image generated by the radiation detection camera 300. The second coordinate calculation unit 420 uses the first marker 130, the second marker 140, the third marker 150, and the fourth marker 160 to include the isotope. The camera-reference coordinate value on the three-dimensional camera-reference coordinate system is calculated.

The second coordinate calculation unit 420 uses the radiographic image generated by the radiation sensing camera 300 to form a 2-1 coordinate value, a 2-2 coordinate value, a 2-3 coordinate value, and The second to fourth coordinate values can be calculated. At this time, the second coordinate calculation unit 420, like the first coordinate calculation unit 410, the separation distance (d1, d2) of the plurality of isotope markers (130, 140, 150, 160) and at least the first surface 110 and the second The lengths w1, w2, and w3 of each corner of the reference marker unit 100 including the first distance w3 between the surfaces 120 may be stored in advance. As a result, the second coordinate calculator 420 may correspond to the first marker 130, the second marker 140, the third marker 150, and the fourth marker 160 on the second surface 120. The 2-5th coordinate value, the 2-6th coordinate value, the 2-7th coordinate value, and the 2-8th coordinate value can be calculated. In other words, the second coordinate calculator 420 may calculate eight coordinate values on the camera-based coordinate system.

The transformation matrix calculator 430 may derive the transformation relationship between the absolute coordinate system and the camera-based coordinate system using the absolute coordinate values of the absolute coordinate

systems

130, 140, 150, and 160 of the plurality of isotope markers 130 and the camera-based coordinate values of the camera-based coordinate system. Can be. In detail, the transformation matrix calculator 430 generates a first matrix of 1-1 coordinate values to 1-8 coordinate values. In this case, R, which is the first matrix representing the absolute coordinate system, may be expressed as [X1, Y1, Z1, 1] T. In addition, the transformation matrix calculator 430 generates a second matrix of the 2-1st to 2-8th coordinate values. V, the second matrix representing the camera-reference coordinate system, may be expressed as [X2, Y2, Z2, 1] T. Since the first matrix and the second matrix each include eight coordinate values, the first matrix and the second matrix may be expressed as in Equation 1. In addition, an operation relationship between the first matrix and the second matrix may be defined as in Equation 2.

[Equation 1]

V = [V1 V2 V3 V4 V5 V6 V7 V8]

R = [R1 R2 R3 R4 R5 R6 R7 R8]

[Equation 2]

R = TV

This association can be used to derive the transformation relationship. In other words, the transformation matrix calculation unit 430 calculates an inverse of one of the first matrix and the second matrix, and then calculates the inverse of the remaining one of the first and second matrices and converts the matrix as shown in Equation 3 below. Can be derived.

[Equation 3]

T = RV ^-1

Meanwhile, the size of the first matrix and the second matrix may be 4 × 8, and the transform matrix T may be 4 × 4.

The reference marker unit 100 may include at least three isotopic markers to obtain three-dimensional coordinate values of the isotopic markers. That is, at least three markers are required to calculate the transformation matrix, wherein the size of the first matrix and the second matrix is 4 × 3, and the transform matrix T may be 4 × 4. However, three or more isotopic markers may be included in order to increase the position measurement accuracy. However, when the information of the pre-stored reference marker unit 100 is used, only the three isotopic markers may be used for the first matrix of 4X8 and The second matrix and the 4X4 transform matrix T are also operable.

The conversion matrix calculator 430 may store the calculated conversion matrix in the memory 440 of the computing device 400 and later convert the converted conversion matrix to an absolute coordinate value in an absolute coordinate system of a treatment room of a measurement marker that emits radiation.

Thereafter, the camera-based coordinate value of the camera-based coordinate system may be converted into the absolute coordinate value of the absolute coordinate system of the treatment room by the calculator 450.

Embodiments according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, such a computer program may be recorded on a computer readable medium. At this time, the media may be magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and Hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Furthermore, the medium may include an intangible medium that is implemented in a form that can be transmitted on a network. For example, the medium may be a medium that may be implemented in the form of software or an application to be transmitted and distributed through a network.

On the other hand, the computer program is specifically designed and configured for the present invention, but may be known and available to those skilled in the computer software field. Examples of computer programs may include not only machine code generated by a compiler, but also high-level language code executable by a computer using an interpreter or the like.

Particular implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects with the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings by way of example shows a functional connection and / or physical or circuit connections, in the actual device replaceable or additional various functional connections, physical It may be represented as a connection, or circuit connections. In addition, unless specifically mentioned, such as "essential", "important" may not be a necessary component for the application of the present invention.

Therefore, the spirit of the present invention should not be limited to the embodiments described above, and all the scope equivalent to or equivalent to the claims as well as the following claims are included in the scope of the spirit of the present invention. I will say.

Explanation of the sign

100: reference marker unit

200: laser irradiator

300: radiation detection camera

310: collimator

400: computing device

410: first coordinate calculation unit

420: second coordinate calculation unit

430: transformation matrix calculator

440: memory

450: calculator

500: particle beam irradiator

600: measuring marker unit

610, 620, 630: measuring marker

1000: Radiation Therapy Evaluation System

According to the present invention, it is possible to simply track the position of an isotope that emits radiation even in a treatment room in which a positron tomography device such as PET is not installed. As a result, the particle beam treatment having Bragg Peak characteristics is possible. Afterwards, it is possible to assess the exact delivery of energy only to the targeted tissues, which can then be used for future particle beam treatment plans.

Claims

A measurement marker unit 600 inserted into the tissue of the object and including at least one measurement marker 610, 620, 630 made of a metal material;

A particle beam irradiator 500 for irradiating particle beams having Bragg peak characteristics to the tissue;

At least one radiation sensing camera (300) for capturing a radiographic image of the measurement marker unit (600); And

Computing device 400 for calculating the camera-reference coordinates of the measurement marker that emitted the radiation by using the photographed radiographic image, including;

Radiation therapy evaluation system.
The method of claim 1,

The radiation detection camera 300 is a camera capable of detecting radiation,

The camera comprises a collimator 310 for limiting the direction of incidence of radiation emitted from the measurement markers 610, 620, 630,

Radiation therapy evaluation system.
The method of claim 1,

The computing device 400 and the absolute coordinate system of the treatment room where the system is installed

And a memory 440 in which transformation matrix information indicating a transformation relationship between the camera-reference coordinate system of the radiation sensing camera is stored in advance.

Radiation therapy evaluation system.
The method of claim 3,

The computing device 400 converts and provides a camera-reference coordinate of the measurement marker that emits the radiation into absolute coordinates on the absolute coordinate system by using the transformation matrix information.

Radiation therapy evaluation system.
The method of claim 4, wherein

A reference marker unit 100 including a reference display unit 170 and a plurality of isotope markers; And

Further comprising a laser irradiator 200 for irradiating a laser on the reference display unit 170,

Radiation therapy evaluation system.
The method of claim 5,

The computing device 400,

A first coordinate calculator 410 for calculating absolute coordinates on the absolute coordinate system for the plurality of isotope markers by using the reference display unit 170 irradiated with the laser by the laser irradiator 200 as a reference point;

A second coordinate calculator for calculating camera-reference coordinates on a camera-reference coordinate system for the plurality of isotopic markers by using a radiographic image of the reference marker unit 100 obtained through the radiation-sensing camera 300 ( 420); And

A transformation matrix calculator 430 for calculating the transformation matrix between the absolute coordinate system and the camera-reference coordinate system using the absolute coordinates and the camera-reference coordinates calculated for the plurality of isotope markers; Including more,

Radiation therapy evaluation system.
The method of claim 6,

The transformation matrix calculation unit 430,

Storing the calculated transformation matrix in the memory 440,

Radiation therapy evaluation system.
The method of claim 5,

The plurality of isotope markers is at least three,

Radiation therapy evaluation system.
A reference marker unit 100 including a reference display unit 170 and a plurality of isotope markers;

A laser irradiator 200 irradiating a laser to the reference display unit 170;

A measurement marker unit 600 inserted into the tissue of the object and including at least one measurement marker 610, 620, 630 made of a metal material;

A particle beam irradiator 500 for irradiating a particle beam having a Bragg peak characteristic to the tissue;

At least one radiation sensing camera (300) for capturing radiographic images of the reference marker unit (100) and the measurement marker unit (600), respectively; And

And a computing device 400 in data communication with the laser irradiator 200 and the at least one radiation sensing camera 300.

The computing device 400,

Calculating absolute coordinates on the absolute coordinate system of the treatment room for the plurality of isotope markers using the reference display unit 170 to which the laser is irradiated as a reference point,

Calculating the camera-reference coordinates on the camera-reference coordinate system for the plurality of isotopic markers using the radiographic image of the reference marker unit 100 obtained by the radiation-sensing camera 300,

Calculating a transformation matrix between the absolute coordinate system and the camera-reference coordinate system using the absolute coordinates and the camera-reference coordinates calculated for the plurality of isotope markers,

Using the radiographic image of the measurement marker unit 600 obtained by the radiation detection camera 300, to calculate the camera-reference coordinate on the camera-reference coordinate system for the measurement marker that emitted the radiation,

By using the calculated transformation matrix, converting the camera-reference coordinates for the measurement markers that emit the radiation into absolute coordinates on the absolute coordinate system,

Radiation therapy evaluation system.