WO2020022420A1 - 治療システム、キャリブレーション方法、およびプログラム - Google Patents
治療システム、キャリブレーション方法、およびプログラム Download PDFInfo
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Definitions
- the embodiment of the present invention relates to a treatment system, a calibration method, and a program.
- an imaging system such as an FPD (Flat Panel Detector) or an X-ray tube
- an imaging system such as an FPD (Flat Panel Detector) or an X-ray tube
- a phantom in which a marker whose position is known in the three-dimensional space of the treatment room is embedded is installed at a predetermined position in the treatment room, the installed phantom is imaged with radiation, and the marker position is determined from the captured image.
- the problem to be solved by the present invention is to provide a treatment system, a calibration method, and a program capable of determining a position of a subject with high accuracy and tracking an object with high accuracy. .
- the treatment system includes an imaging system including one or more radiation sources and a plurality of detection units as imaging devices, a first acquisition unit, a second acquisition unit, a first derivation unit, and a second derivation unit. And a calibration unit.
- the radiation source irradiates an object with radiation from a plurality of different directions.
- the plurality of detectors detect radiation emitted from the radiation source at different positions.
- the first acquisition unit acquires a plurality of images based on the radiation detected by each of the plurality of detection units.
- the second acquisition unit acquires position information indicating at least one of a position and a direction of a first imaging device included in the imaging system in a three-dimensional space where the imaging system is placed.
- the first deriving unit derives a position of the object in each of the plurality of images acquired by the first acquiring unit.
- the second deriving unit is configured to determine the position of the object on the image derived by the first deriving unit, and the position or orientation of the first imaging device indicated by the position information acquired by the second acquiring unit. And derives at least one of a position and an orientation in the three-dimensional space of the second imaging device included in the imaging system.
- the calibration unit performs calibration of the imaging system based on a result of the derivation by the second derivation unit.
- FIG. 1 is a diagram illustrating an example of a treatment system according to a first embodiment.
- FIG. 2 is an external view of the treatment device according to the first embodiment.
- FIG. 1 is a diagram illustrating an example of a configuration of a medical image processing apparatus according to a first embodiment.
- FIG. 3 is a diagram illustrating an example of a configuration of a calibration processing unit.
- 9 is a flowchart illustrating an example of a calibration process. The figure which shows a mode that a radiation is irradiated from two radiation sources typically.
- FIG. 4 is a diagram for explaining a method of deriving a three-dimensional position of a radiation source by a bundle adjustment method.
- 9 is a flowchart illustrating another example of the calibration process.
- FIG. 1 is a diagram illustrating an example of a treatment system 1 according to the first embodiment.
- the treatment system 1 includes a treatment device 10, a terminal device 20, and a medical image processing device 100. These devices are connected via a network NW.
- the network NW includes, for example, the Internet, a WAN (Wide Area Network), a LAN (Local Area Network), a provider terminal, a wireless communication network, a wireless base station, a dedicated line, and the like. Not all combinations of the devices shown in FIG. 1 need to be able to communicate with each other, and a part of the network NW may include a local network.
- the treatment device 10 is a device that irradiates the subject OB as a beam (hereinafter, referred to as a treatment beam B) with the first radiation from an arbitrary direction of 360 degrees around the subject OB.
- the subject OB is, for example, a patient to be treated by the treatment beam B.
- the first radiation includes, for example, particle radiation such as heavy ion beam, electron beam, proton beam, and neutron beam, and electromagnetic radiation such as X-ray and ⁇ -ray.
- the treatment apparatus 10 emits second radiation to check the position of the subject OB, and generates a tomographic image of the subject OB.
- the second radiation includes, for example, electromagnetic radiation such as X-rays.
- the first radiation is “heavy particle beam”
- the second radiation is “X-ray”.
- the terminal device 20 is used, for example, by a user who performs maintenance such as maintenance, maintenance, maintenance, inspection, and maintenance of the treatment device 10 (hereinafter, referred to as a maintenance worker U).
- the terminal device 20 may be a terminal device including an input device, a display device, a communication device, a storage device, and an arithmetic device, such as a mobile phone such as a smartphone, a tablet terminal, and various personal computers.
- the communication device of the terminal device 20 includes a network card such as an NIC (Network @ InterfaceCard), a wireless communication module, and the like.
- the medical image processing apparatus 100 tracks a target that is moved by the movement of the patient's respiration or heartbeat as the subject OB, and causes the treatment apparatus 10 to irradiate the tracked target with the treatment beam B at an appropriate timing.
- the target is, for example, an organ such as a lung or a liver. This tracking of the target is performed based on a tomographic image of the subject OB captured by X-ray or the like at a stage before the treatment stage and a fluoroscopic image of the subject OB during the treatment stage.
- the medical image processing apparatus 100 derives a displacement between the position of the subject OB at the time of the treatment stage and the position of the subject OB at the time of planning the treatment plan, and uses the information on the derived displacement as the treatment system 1. May be provided to a practitioner (eg, a physician) of radiation therapy utilizing
- FIG. 2 is an external view of the treatment apparatus 10 according to the first embodiment.
- the treatment apparatus 10 according to the first embodiment includes, for example, a bed 11, an arm 11a, a plurality of radiation sources (radiation ports) 12, two detectors 13-1 and 13-2, and an irradiation gate 14. , A sensor 15 and a treatment device-side control unit 16.
- the two detectors 13-1 and 13-2 are an example of a “detection unit”.
- the plurality of radiation sources 12, the two detectors 13-1 and 13-2, and the irradiation gate 14 are installed in a ring-shaped (torus-shaped) housing called a rotating gantry G.
- a rotating gantry G For example, if the room where the treatment device 10 is installed (hereinafter, referred to as treatment chamber) vertical direction Z f of the three-dimensional space that represent the one of the horizontal direction X f, and the other was expressed as Y f, the rotating gantry G has a rotation axis in the Yf direction and is installed so as to be able to rotate 360 degrees around the rotation axis.
- the rotating gantry G is an example of an “imaging system”, and each of the plurality of radiation sources 12 and the two detectors 13-1 and 13-2 installed in the rotating gantry G is an example of an “imaging device”. is there.
- the irradiation gate 14 is an example of a “particle beam source”.
- the subject OB is fixed to the bed 11.
- the arm portion 11a has one end fixed to the treatment room floor or the like, the other end fixed to the couch 11, and the bed 11 separated from the treatment room floor or the like from the outside to the inside of the rotating gantry G or from the inside. Move outward.
- the plurality of radiation sources 12 are arranged at predetermined intervals in the circumferential direction of the rotating gantry G, for example.
- Each radiation source 12 irradiates, for example, X-rays on the inner peripheral side of the rotating gantry G.
- a radiation generator (not shown) for generating X-rays may be installed outside the treatment room.
- the detectors 13-1 and 13-2 detect, for example, X-rays emitted by the radiation source 12.
- the detectors 13-1 and 13-2 include rectangular detectors such as a flat panel detector (FPD; Flat Panel Detector), an image intensifier, and a color image intensifier.
- the detectors 13-1 and 13-2 for example, convert an analog signal based on the detected X-ray into a digital signal, and output the digital signal to the medical image processing apparatus 100 as a fluoroscopic image TI.
- the fluoroscopic image TI is a two-dimensional image and is one tomographic image of the subject OB.
- the number of detectors installed in the rotating gantry G is not limited to two, but may be three or more.
- the irradiation gate 14 is arranged at a certain position in the circumferential direction of the rotating gantry G.
- the irradiation gate 14 irradiates the treatment beam B to the inner peripheral side of the rotating gantry G.
- FIG. 1 shows that one irradiation gate 14 is installed in the rotating gantry G, it is not limited to this.
- a plurality of irradiation gates may be installed in the rotating gantry G.
- a radiation generator (not shown) for generating the treatment beam B may be installed outside the treatment room.
- the sensor 15 is a sensor that detects, as a phase, the movement of the affected part due to respiration of the patient.
- the sensor 15 is a pressure sensor.
- the sensor 15 may be attached to the patient's body.
- the sensor 15 outputs to the medical image processing apparatus 100 information indicating the detected respiratory phase of the patient as a waveform.
- the treatment apparatus-side control unit 16 includes, for example, a program in which a hardware processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) is stored in a storage device (not shown) such as a ROM (Read Only Memory). Software).
- the treatment device-side control unit 16 may be realized by hardware (circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or software. And hardware may cooperate.
- the treatment device-side control unit 16 operates the plurality of radiation sources 12, the detectors 13-1 and 13-2, and the irradiation gate 14 under the control of the medical image processing device 100.
- the treatment apparatus-side control section 16 rotates the rotating gantry G under the control of the medical image processing apparatus 100.
- FIG. 3 is a diagram illustrating an example of a configuration of the medical image processing apparatus 100 according to the first embodiment.
- the medical image processing device 100 according to the first embodiment includes, for example, a communication unit 102, an input unit 104, a display unit 106, a medical image processing device-side control unit 110, and a storage unit 130.
- the communication unit 102 includes a communication interface such as an NIC, for example.
- the communication unit 102 communicates with the treatment device 10 and the terminal device 20 via the network NW and receives various information.
- the communication unit 102 outputs the received information to the medical image processing device side control unit 110.
- the communication unit 102 may transmit information to the treatment device 10 or the terminal device 20 connected via the network NW under the control of the medical image processing device-side control unit 110.
- the communication unit 102 is an example of an “output unit”.
- the input unit 104 receives an input operation from a user such as a doctor or a nurse, for example, and outputs a signal based on the received input operation to the medical image processing apparatus side control unit 110.
- the input unit 104 is realized by a mouse, a keyboard, a trackball, a switch, a button, a joystick, a touch panel, and the like.
- the input unit 104 may be realized by, for example, a user interface that receives a voice input such as a microphone.
- a display unit 106 described later may be formed integrally with the input unit 104.
- the display unit 106 displays various information.
- the display unit 106 displays an image generated by the medical image processing apparatus-side control unit 110, or displays a GUI (Graphical User Interface) for receiving an input operation from the operator.
- the display unit 106 is an LCD (Liquid Crystal Display), an organic EL (Electroluminescence) display, or the like.
- the display unit 106 is another example of the “output unit”.
- the medical image processing apparatus-side control unit 110 includes, for example, a first acquisition unit 112, a second acquisition unit 114, an image processing unit 116, a treatment beam irradiation control unit 118, an information output control unit 120, a calibration process And a unit 122.
- the treatment device-side control unit 16 and the treatment beam irradiation control unit 118 are examples of an “irradiation control unit”.
- a hardware processor such as a CPU or a GPU executes a program (software) stored in the storage unit 130.
- Some or all of these components may be realized by hardware (circuitry) such as an LSI, an ASIC, or an FPGA, or may be realized by cooperation of software and hardware.
- the above-described program may be stored in the storage unit 130 in advance, or may be stored in a removable storage medium such as a DVD or CD-ROM, and the storage medium may be mounted on a drive device of the medical image processing apparatus 100. Thus, the program may be installed in the storage unit 130 from a storage medium.
- the storage unit 130 is realized by a storage device such as a ROM, a flash memory, a random access memory (RAM), a hard disk drive (HDD), a solid state drive (SSD), and a register. Flash memories, HDDs, SSDs, and the like are non-transitory storage media. These non-transitory storage media may be realized by another storage device connected via a network NW such as a NAS (Network Attached Storage) or an external storage server device.
- NW Network Attached Storage
- the storage unit 130 stores, for example, four-dimensional tomographic image data 132, treatment plan data 134, and the like. These will be described later.
- the four-dimensional tomographic image data 132 is, for example, data in which three n-dimensional tomographic images (CT images), which are three-dimensional volume data, are arranged in time series.
- CT images n-dimensional tomographic images
- the three-dimensional tomographic image is captured, for example, at the stage of treatment planning.
- the period obtained by multiplying the time interval between the n images and the time-series images is set so as to cover, for example, a period in which the respiratory phase changes by one cycle.
- At least one of the n three-dimensional tomographic images includes, within the image region, a region indicating the outline of a tumor, which is an affected part, or a region indicating the outline of an organ not desired to be irradiated with the treatment beam B. It is set by input operation such as.
- the same region as the contour region set by the doctor or the like by an input operation is automatically set by deformable registration.
- Deformable registration refers to time-series three-dimensional volume data, which is obtained by adding position information (such as an outline of an organ in the above case) specified at a certain time to three-dimensional volume data at another time. This is the process of expanding to.
- Treatment plan data 134 is data indicating a treatment plan drafted (planned) at the stage of treatment planning.
- the treatment plan refers to, for example, for each patient who is the subject OB, the irradiation direction of the treatment beam B and the irradiation direction of the treatment beam B from which position the patient is at when the patient is located. This is a plan in which the intensity of the treatment beam B and the like are determined.
- Such a treatment plan may be planned based on a treatment method such as a gated irradiation method or a tracking irradiation method.
- the first acquisition unit 112 acquires a fluoroscopic image TI from the detectors 13-1 and 13-2 via the communication unit 102, for example. For example, at the time of treatment, since the fluoroscopic images TI are generated in real time by the detectors 13-1 and 13-2, the first acquisition unit 112 obtains fluoroscopic images TI that are continuous in time series.
- the second acquisition unit 114 acquires position information indicating the position or orientation of one or more imaging devices (the position or orientation in the three-dimensional space of the treatment room) among the plurality of imaging devices installed in the rotating gantry G. .
- the three-dimensional position or orientation of the imaging device is measured by a laser tracker.
- the position of the laser tracker is determined as a relative position with respect to a target (for example, the rotation axis of the rotating gantry G) as the origin in the three-dimensional space of the treatment room.
- an imaging device whose position or direction is measured by a laser tracker will be described as detectors 13-1 and 13-2.
- the imaging device whose position or direction is measured by the laser tracker may be the radiation source 12.
- medical personnel such as doctors and nurses use laser light at three or more locations on the detection surfaces of the detectors 13-1 and 13-2.
- a probe e.g., a reflection plate
- the relative positions of the plurality of probes are obtained by measuring the probe with a laser tracker.
- the medical worker derives the positions and orientations of the detectors 13-1 and 13-2 based on the relative positions of the plurality of probes.
- An imaging device whose position or direction is measured by the laser tracker is an example of a “first imaging device”.
- the second obtaining unit 114 obtains position information indicating the three-dimensional position of the imaging device from the laser tracker via the communication unit 102.
- the second obtaining unit 114 may obtain the information input to the input unit 104 as position information indicating a three-dimensional position of the imaging device.
- the position or orientation of the imaging device is not limited to that measured by the laser tracker, and may be measured using, for example, a stereo camera or a contact-type sensor.
- the image processing unit 116 determines the position of the subject OB. For example, the image processing unit 116 generates a DRR (Digitally Reconstructed Radiograph) based on a three-dimensional tomographic image of each respiratory phase included in the four-dimensional tomographic image data 132 of each subject OB stored in the storage unit 130. .
- DRR refers to a virtual image generated from three-dimensional volume data corresponding to a three-dimensional tomographic image (three-dimensional volume data) when it is assumed that radiation is emitted from a virtual radiation source. It is a typical perspective image.
- the image processing unit 116 includes the three-dimensional tomographic image of each respiratory phase included in the four-dimensional tomographic image data 132, the fluoroscopic image TI on the detector 13-1 side acquired by the first acquiring unit 112, and the detector 13 Based on the ⁇ 2 side perspective image TI, a three-dimensional tomographic image was viewed from a viewpoint from the same direction as the irradiation direction of the X-rays currently irradiating the subject OB by a method called 3D-2D registration. Generate the DRR of the time.
- the image processing unit 116 may generate a DRR that is a two-dimensional virtual tomographic image by rendering a three-dimensional tomographic image using a ray casting method.
- the image processing unit 116 integrates each element value of the three-dimensional tomographic image, and may use the integrated value as the element value of each element of the DRR, or sets the maximum value of each element value of the three-dimensional tomographic image to DRR. May be the element value of each element.
- the image processing unit 116 selects a DRR corresponding to the three-dimensional tomographic image of the expiratory phase as a template image from the DRRs corresponding to the three-dimensional tomographic image of each respiratory phase.
- the expiration phase is a tomographic image captured in a state where the patient who is the subject OB has completely exhaled.
- the image processing unit 116 compares the DRR selected as the template image with the perspective images TI sequentially acquired by the first acquiring unit 112, and performs matching of the position of the target (such as an organ).
- the image processing unit 116 matches the respiratory phase (expiratory phase) of the three-dimensional tomographic image from which the DRR is based with the current respiratory phase of the patient.
- the image processing unit 116 may further permit the irradiation of the treatment beam B when the position of the target is within a predetermined irradiation area.
- the irradiation area may be arbitrarily determined by a medical worker, for example.
- the treatment beam irradiation control unit 118 irradiates the irradiation gate 14 with the treatment beam B to the subject OB whose position is determined by the image processing unit 116. Let it.
- the treatment beam irradiation control unit 118 extracts information such as the irradiation angle of the treatment beam B and the intensity of the treatment beam B from the treatment plan indicated by the treatment plan data 134, and outputs the extracted various information to the treatment device-side control unit 16 Output to In response to this, the treatment apparatus-side control unit 16 rotates the rotating gantry G or irradiates the irradiation gate 14 with the treatment beam B.
- the information output control unit 120 causes the display unit 106 to display an image or causes the communication unit 102 to transmit information according to, for example, whether or not the irradiation of the treatment beam B is permitted.
- the calibration processing unit 122 performs calibration of the rotating gantry G.
- FIG. 4 is a diagram illustrating an example of the configuration of the calibration processing unit 122.
- the calibration processing unit 122 includes, for example, a first derivation unit 122a, a second derivation unit 122b, and a calibration unit 122c.
- FIG. 5 is a flowchart illustrating an example of the calibration process.
- the process of this flowchart may be repeatedly performed in the first cycle, for example.
- the first cycle is, for example, a period of about one month or several months.
- a medical worker or the like derives the positions and orientations of the detectors 13-1 and 13-2 using a laser tracker or the like (step S100).
- the second acquisition unit 114 acquires position information indicating the positions and orientations of the detectors 13-1 and 13-2 in the three-dimensional space (Step S102).
- the positions and orientations of the detectors 13-1 and 13-2 in the three-dimensional space are treated as known information.
- the medical worker or the like sets a phantom in which four or more markers are embedded inside the rotating gantry G so as to be reflected in the fluoroscopic image TI (step S104).
- the phantom is, for example, a cube-shaped acrylic case.
- the marker may be any object that attenuates X-rays, such as an iron ball or wire. At least one or more of the four or more markers are located in a different plane (two-dimensional space) in the three-dimensional space of the phantom from the plane in which each of the other three or more markers is located. Embedded in the phantom. Thereby, a space formed when each of the markers embedded in the phantom is set as a vertex becomes a three-dimensional space. It is assumed that the positions of these markers and the positional relationship between the markers are known in advance.
- a medical worker or the like may place an object attached to the treatment apparatus 10 such as the bed 11 or the arm 11a inside the rotating gantry G.
- the medical staff or the like inputs to the input unit 104 that the installation of the phantom has been completed.
- the treatment device-side control unit 16 of the treatment device 10 selects two radiation sources 12 from the plurality of radiation sources 12 and gives the selected two radiation sources 12 from a plurality of different directions. X-rays are irradiated (step S106).
- FIG. 6 is a diagram schematically showing a state in which radiation is irradiated from two radiation sources 12.
- 12-1 represents one of the two selected radiation sources 12, and 12-2 represents the other of the two selected radiation sources 12.
- a broken line r-1 represents an X-ray emitted from the radiation source 12-1, and a broken line r-2 represents an X-ray emitted from the radiation source 12-2.
- PH represents a phantom, and MK represents a marker.
- Reference numeral 14a denotes an irradiation port (heavy particle source) of the treatment beam B irradiated from the irradiation gate 14.
- the treatment apparatus-side control unit 16 rotates the rotating gantry G so that the angle around the rotation axis of the rotating gantry G becomes a certain angle ⁇ 1, and applies X to each of the radiation sources 12-1 and 12-2. Irradiate the line.
- the treatment apparatus-side control unit 16 rotates the rotating gantry G so that the angle around the rotation axis of the rotating gantry G is shifted by a predetermined angle (for example, 15 degrees) from the angle ⁇ 1 to ⁇ 2.
- a predetermined angle for example, 15 degrees
- Each of 12-1 and 12-2 is irradiated with X-rays.
- the position of the phantom PH (marker MK) imaged using X-rays remains unchanged.
- the treatment apparatus-side control section 16 repeats irradiating each of the radiation sources 12-1 and 12-2 with X-rays while rotating the rotating gantry G for each predetermined angle width, thereby performing detection.
- Each of the devices 13-1 and 13-2 generates a fluoroscopic image TI obtained by imaging the phantom PH from a plurality of directions (step S108).
- the detectors 13-1 and 13-2 emit light.
- Each of them generates 24 perspective images TI (total of 48 images including the two detector images).
- the first acquisition unit 112 acquires a plurality of perspective images TI from the detectors 13-1 and 13-2 via the communication unit 102 (step S110).
- the first deriving unit 122a derives the position of the marker MK for each of the plurality of perspective images TI acquired by the first acquiring unit 112 (Step S112).
- the first deriving unit 122a derives the position of the marker MK by performing template matching between a template image prepared in advance and a perspective image TI.
- a template image an image of the marker MK captured in advance, an image generated by simulation, or the like may be used.
- the first deriving unit 122a scans the perspective image TI with a shape filter for extracting the shape of the marker MK by raster scanning or the like, and determines the degree of coincidence with the shape filter. A large position may be derived as the position of the marker MK.
- the second derivation unit 122b determines the radiation sources 12-1 and 12
- the respective three-dimensional positions of -2 are derived (step S114).
- the imaging device whose position or direction is measured by a laser tracker or the like is the radiation source 12
- the second deriving unit 122b may derive the positions and directions of the detectors 13-1 and 13-2, which are unknown parameters.
- the imaging device from which the three-dimensional position is derived by the second deriving unit 122b is an example of a “second imaging device”.
- the second deriving unit 122b applies a technique of deriving the three-dimensional position and the parameters of the imaging system based on the feature points corresponding to each other between the multi-view images, such as bundle adjustment, to apply the radiation source 12-1 and the radiation source 12-1.
- the respective positions of 12-2 may be derived.
- a method called bundle adjustment is such that when the marker MK is re-projected on the image with the estimated imaging system parameters, the position of the re-projected marker MK matches the position of the marker detected from the image as much as possible. This is a method for adjusting all unknown parameters.
- FIG. 7 is a diagram for explaining a method of deriving the three-dimensional position of the radiation source 12 using the bundle adjustment technique.
- I represents any natural number from 1 to N
- t represents transposition
- ( ⁇ ) represents a vector.
- “J” represents an arbitrary natural number from 1 to M.
- the i-th marker MK is located on the j-th perspective image TI.
- x ij ( ⁇ ) ( ⁇ ) (x ij ( ⁇ ), y ij ( ⁇ )) t .
- (-) Indicates a tilde symbol.
- the second deriving unit 122b solves Expression (1) to obtain the position (two-dimensional position on the image) x ij ( ⁇ ) of the i-th marker MK projected on the j-th perspective image TI. ( ⁇ ) is derived.
- the second deriving unit 122b calculates a difference (shift) between the position x ij (() ( ⁇ ) of each marker MK to be projected and the derived position x ij ( ⁇ ) of each marker MK.
- reprojection error Various parameters that minimize the sum of the sum of squares
- the center position C j ( ⁇ ) of the detection surface of the detector 13 is ((w ⁇ 1) / 2, (h ⁇ 1) / 2) when the width of the fluoroscopic image TI is w and the height is h. It is a three-dimensional position.
- the second deriving unit 122b derives the projection matrix P j ( ⁇ ) using the above-described parameters based on Expression (2).
- the f in equation (2) from the three-dimensional position of the radiation source 12, represents the distance to the three-dimensional position of the detector 13, s u and s v, each axis of the fluoroscopic image TI (u, v) represents a pixel pitch, x c and y c are optical axes w represents the intersection position on the image when the intersection of the detection surface of the detector 13.
- the distance f can be expressed as in Equation (3)
- the intersection position (x c , y c ) can be expressed as in Equation (4).
- the second deriving unit 122b derives a reprojection error based on Expression (5).
- the parameters to be optimized are the three-dimensional position T j ( ⁇ ) of the radiation source 12, and the marker MK. Is the three-dimensional position X i ( ⁇ ).
- the second derivation unit 122b refers to optimization of two types of parameters of the three-dimensional position T j ( ⁇ ) of the radiation source 12 and the three-dimensional position X i ( ⁇ ) of the marker MK as particle swarm optimization.
- This may be performed using an optimization technique.
- Particle swarm optimization is an optimization method that imitates the behavior of a large swarm of insects.By giving information on the position and speed of the search space to particles, it updates its own position and speed while communicating between particles. This is a method of searching for the optimal position while searching.
- the position and the orientation of the detector 13 are known.
- the second deriving unit 122b assigns the parameters of the detector 13
- the center position of the detection surface (the center position of the perspective image TI) C j ( ⁇ ), the base vector R j ( ⁇ ), and the three-dimensional position X i ( ⁇ ) of the marker MK may be adopted.
- the known parameter is either the position of the detector 13 or the radiation source 12
- the position of each imaging device installed on the rotating gantry G can be estimated.
- the parameter to be known may be any one of the position and orientation of the detector 13 and the position of the radiation source 12, or may be a combination of these.
- the second deriving unit 122b sets the derived three-dimensional position T j ( ⁇ ) of the radiation source 12 (12-1, 12-2) as a reference position of the radiation source 12 to be referred to in the subsequent processing. It is stored in the storage unit 130 (step S116).
- the reference position of the radiation source 12 is, for example, a parameter that is referred to during calibration performed in a second cycle shorter than the first cycle.
- the second cycle is, for example, a period of one day or several days.
- FIG. 8 is a flowchart illustrating another example of the calibration process. The processing of this flowchart is repeatedly performed, for example, in the second cycle.
- a medical worker or the like installs a phantom in which four or more markers MK are embedded inside the rotating gantry G so as to be reflected in the fluoroscopic image TI (step S200).
- the medical staff or the like inputs to the input unit 104 that the installation of the phantom has been completed.
- the treatment device-side control unit 16 of the treatment device 10 selects two radiation sources 12 from the plurality of radiation sources 12 and gives the selected two radiation sources 12 from a plurality of different directions. X-rays are irradiated (step S202).
- the detectors 13-1 and 13-2 generate a fluoroscopic image TI obtained by imaging the phantom PH from a plurality of directions (step S204).
- the first acquisition unit 112 acquires a plurality of perspective images TI from the detectors 13-1 and 13-2 via the communication unit 102 (step S206).
- the first deriving unit 122a derives the position of the marker MK for each of the plurality of perspective images TI acquired by the first acquiring unit 112 (Step S208).
- the second derivation unit 122b determines the radiation sources 12-1 and 12 The respective three-dimensional positions of -2 are derived (step S210).
- the calibration unit 122c calculates the respective three-dimensional positions of the radiation sources 12-1 and 12-2 derived by the second derivation unit 122b and the radiation sources 12-1 and 12- stored in the storage unit 130. Then, a difference from each of the reference positions is derived, and it is determined whether or not the difference is equal to or larger than a threshold (step S212).
- the storage unit 130 stores the detectors 13-1 and 13-2 derived in the first cycle of calibration.
- the respective three-dimensional positions are stored as reference positions, and the three-dimensional directions are stored as reference directions.
- the calibration unit 122c determines whether the detectors 13-1 and 13-2 derived by the second derivation unit 122b have the same parameters.
- the difference between the respective three-dimensional position and the reference position and the difference between the respective three-dimensional direction and the reference direction of the detectors 13-1 and 13-2 derived by the second deriving unit 122b are derived. Alternatively, it may be determined whether each difference is equal to or greater than a threshold.
- the information output control unit 120 outputs an alarm indicating that maintenance is required to a medical staff or the like who uses the treatment apparatus 10 ( Step S214).
- the information output control unit 120 causes the display unit 106 to display an image as illustrated in FIG. 9 as an alarm.
- FIG. 9 is a diagram illustrating an example of a screen displayed on the display unit 106. As in the illustrated example, characters or images indicating that maintenance is required may be displayed on the screen of the display unit 106.
- the information output control unit 120 may output a mail or a push notification requesting maintenance to the terminal device 20 via the communication unit 102 as an alarm.
- the calibration unit 122c performs calibration based on the difference from the reference position (or the reference direction) (Step S216).
- the calibration unit 122c may perform the conversion of the DRR geometrically such as the affine transformation based on the difference from the reference position (or the reference direction) as a correction amount, based on the correction amount.
- the calibration unit 122c uses the difference from the reference position (or reference direction) as a correction amount, and performs, instead of or in addition to the affine transformation of the DRR based on the correction amount, affine transformation of the perspective image TI as calibration. May go.
- the calibration unit 122c may use the difference from the reference position (or the reference direction) as the correction amount as the calibration, and correct the parameter referred to when the DRR is generated based on the correction amount.
- These parameters include, for example, the position and orientation of each imaging device installed in the rotating gantry G. More specifically, the parameters include the position and / or orientation of detectors 13-1 and 13-2 and the position of radiation source 12.
- the calibration unit 122c may control the adjustment mechanism to adjust the position and orientation of each imaging device. By such calibration, a highly accurate DRR can be generated.
- the treatment device 10 is a treatment device employing the rotating gantry G, but is not limited to this.
- the treatment apparatus 10 may be a treatment apparatus in which the position of an imaging device such as the radiation source 12 is fixed (fixed port type).
- the calibration processing unit 122 may perform calibration based on the fluoroscopic image TI captured from the direction in which the reprojection error decreases. .
- one or more radiation sources 12 that irradiate a certain object with radiation from a plurality of different directions, and the radiation radiated by the radiation source 12 are placed at different positions.
- a rotating gantry G including a plurality of detectors 13 to be detected as imaging devices, a first acquisition unit 112 for acquiring a plurality of fluoroscopic images TI based on radiation detected by each of the plurality of detectors 13, and a radiation source
- a second deriving unit 122b that derives, based on the three-dimensional position of the radiation source 12 or the three-dimensional position and the three-dimensional orientation of the detector 13, the three-dimensional position of the imaging device whose position information has not been acquired, A calibration unit 122c for calibrating the rotating gantry G based on the result of the derivation by the second derivation unit 122b, when the three-dimensional position of the marker MK is not known, or Even when the position contains an error, the imaging system of the treatment apparatus 10 can be calibrated with high accuracy. As a result, at the time of treatment, the position of the subject can be determined with high accuracy, and the object can be tracked with high accuracy.
- the patient is positioned by comparing the image of the patient acquired during the treatment planning with the image of the patient captured during the irradiation of radiation, and for the affected part moved by breathing, the affected part is tracked from the X-ray fluoroscopic image TI after positioning. Then, radiation is applied.
- the imaging system needs to be calibrated in order to position the patient and track the affected part with high accuracy.
- the position of the subject cannot be determined with high accuracy, or the target object cannot be determined. It may not be possible to track with high accuracy.
- an L-shaped pedestal may be installed at a position away from the position where the radiation sources 12 are spread.
- the L-shaped pedestal is installed on the floor such that one of the L-shaped ends is grounded to the floor and the other is suspended in the air.
- the phantom PH is placed on the end of the L-shaped gantry that floats in the air.
- a minute distortion may be generated by the moment of force such that the end that floats in the air flexes vertically downward. In such a case, the error in the position of the phantom PH tends to be larger than the originally assumed error.
- the dimensional error of the arm portion 11a connected from the floor to the bed is integrated, and the position of the phantom PH is integrated.
- the error tends to be larger than the originally assumed error.
- an error easily occurs in the position of the phantom PH. If an error occurs in the position of the phantom PH, the three-dimensional position and the three-dimensional direction of the detector 13 and the three-dimensional position of the radiation source 12 also include an error, so that the accuracy of calibration is likely to decrease.
- the position of the marker MK is not known by measuring the three-dimensional position of one of the imaging devices provided in the rotating gantry G in advance using a laser tracker or the like. In both cases, the three-dimensional position of the unknown imaging device can be derived. As a result, the imaging system of the treatment apparatus 10 can be calibrated with high accuracy, the position of the subject can be determined with high accuracy, and the object can be tracked with high accuracy.
- the above-described medical image processing apparatus 100 includes a processor such as a CPU and a GPU, and a storage device such as a ROM, a RAM, an HDD, and a flash memory.
- a rotating gantry G including, as imaging devices, one or more radiation sources 12 for irradiating radiation from the directions, and a plurality of detectors 13 for detecting the radiation radiated by the radiation sources 12 at different positions, and a plurality of detections.
- Acquisition unit 112 for acquiring a plurality of fluoroscopic images TI based on radiation detected by each of the detectors 13, a second acquisition unit 114 for acquiring position information of the radiation source 12 or the detector 13, and a first acquisition unit First deriving unit 122 that derives the position of marker MK in phantom PH in each of the plurality of perspective images TI acquired by unit 112
- the three-dimensional position of the radiation source 12 or the three-dimensional position of the detector 13 indicated by the position of the marker MK on the fluoroscopic image TI derived by the first deriving unit 122a and the position information acquired by the second acquiring unit 114
- a second deriving unit 122b for deriving the three-dimensional position of the imaging device for which the position information has not been acquired based on the position and the three-dimensional orientation, and a rotating gantry based on the derivation result by the second deriving unit 122b. It may be realized by a general-purpose device that stores a program for functioning as the calibration unit
- the second embodiment is different from the first embodiment in that a fluoroscopic image TI as a position derivation target is selected at the time of calibration based on a treatment plan of a patient.
- differences from the first embodiment will be mainly described, and description of points common to the first embodiment will be omitted.
- the same parts as those in the first embodiment are denoted by the same reference numerals and described.
- FIG. 10 is a diagram showing an example of the treatment plan data 134.
- the treatment plan data 134 is information in which a treatment plan such as a treatment date and time and an irradiation angle ⁇ of the treatment beam B irradiated at the time of treatment are associated with each patient.
- the first deriving unit 122a in the second embodiment selects a perspective image TI from which the position of the marker MK is to be derived, from among the plurality of perspective images TI acquired by the first acquiring unit 112, and selects the selected perspective image. In the image TI, the position of the marker MK is derived.
- the first deriving unit 122a determines that the treatment is scheduled after the calibration from a plurality of patients scheduled to be treated in the treatment plan. Selected patient. For example, when the treatment plan is illustrated in FIG. 10 and the execution timing of the calibration in the second cycle is “early morning on June 1, 2020”, the first derivation unit 122a determines that the treatment is performed on that day. Select scheduled patients A, B, C.
- the first deriving unit 122a selects the fluoroscopic image TI from which the position of the marker MK is to be derived based on the irradiation angle ⁇ of the treatment beam B associated with each of the selected patients A, B, and C.
- FIG. 11 and FIG. 12 are diagrams for explaining a method of selecting a fluoroscopic image TI based on a treatment plan.
- the first deriving unit 122a selects the fluoroscopic image TI generated based on the X-rays emitted by each of the radiation sources 12-1 and 12-2 when the rotating gantry G is rotated to the angle ⁇ . I do.
- the first deriving unit 122a arranges the phantom PH including the marker MK inside the rotating gantry G as shown in FIG.
- the marker MK was imaged by the X-rays irradiated by each of the radiation sources 12-1 and 12-2. Select the perspective image TI. Thereby, calibration can be omitted for the irradiation direction of the treatment beam B not used in the treatment on the day.
- a fluoroscopic image TI to be a position derivation target is selected at the time of calibration, as compared with the case of performing calibration in all directions of 360 degrees.
- the time required for calibration can be reduced.
- one or more radiation sources 12 that irradiate a certain object with radiation from a plurality of different directions, and the radiation radiated by the radiation source 12 are placed at different positions.
- a rotating gantry G including a plurality of detectors 13 to be detected as imaging devices, a first acquisition unit 112 for acquiring a plurality of fluoroscopic images TI based on radiation detected by each of the plurality of detectors 13, and a radiation source
- a first derivation for deriving the position of the marker MK in the phantom PH in each of the second acquisition unit 114 that acquires the position information of the detector 12 or the detector 13 and the plurality of perspective images TI acquired by the first acquisition unit 112 Unit 122a, the position of the marker MK on the perspective image TI derived by the first derivation unit 122a, and the position acquired by the second acquisition unit 114.
- a second deriving unit that derives, based on the three-dimensional position of the radiation source 12 indicated by the information or the three-dimensional position and the three-dimensional orientation of the detector 13, the three-dimensional position of the imaging device for which the position information has not been acquired, or the like; 122b and a calibrating unit 122c for calibrating the rotating gantry G based on the result of derivation by the second deriving unit 122b, so that the three-dimensional position of the marker MK is not known, or the known marker MK Even if an error is included in the three-dimensional position, the imaging system of the treatment apparatus 10 can be calibrated with high accuracy. As a result, at the time of treatment, the position of the subject can be determined with high accuracy, and the object can be tracked with high accuracy.
Abstract
Description
図1は、第1の実施形態における治療システム1の一例を示す図である。例えば、治療システム1は、治療装置10と、端末装置20と、医用画像処理装置100とを備える。これらの装置は、ネットワークNWを介して接続される。ネットワークNWは、例えば、インターネット、WAN(Wide Area Network)、LAN(Local Area Network)、プロバイダ端末、無線通信網、無線基地局、専用回線などを含む。図1に示す各装置の全ての組み合わせが相互に通信可能である必要はなく、ネットワークNWの一部には、ローカルなネットワークが含まれてもよい。
以下、第2の実施形態について説明する。第2の実施形態では、患者の治療計画に基づいて、キャリブレーション時に位置の導出対象とする透視画像TIを選別する点で上述した第1の実施形態と相違する。以下、第1の実施形態との相違点を中心に説明し、第1の実施形態と共通する点については説明を省略する。第2の実施形態の説明において、第1の実施形態と同じ部分については同一符号を付して説明する。
Claims (13)
- ある物体に対して、互いに異なる複数の方向から放射線を照射する一以上の放射線源と、前記放射線源により照射された放射線を、互いに異なる位置で検出する複数の検出部とのそれぞれを撮像機器として含む撮像系と、
前記複数の検出部の其々により検出された放射線に基づく複数の画像を取得する第1取得部と、
前記撮像系が置かれた三次元空間における、前記撮像系に含まれる第1撮像機器の位置または向きの少なくとも一方を示す位置情報を取得する第2取得部と、
前記第1取得部により取得された前記複数の画像のそれぞれにおいて、前記物体の位置を導出する第1導出部と、
前記第1導出部により導出された前記画像上での前記物体の位置と、前記第2取得部により取得された前記位置情報が示す前記第1撮像機器の位置または向きとに基づいて、前記撮像系に含まれる第2撮像機器の前記三次元空間における位置または向きの少なくとも一方を導出する第2導出部と、
前記第2導出部による導出結果に基づいて、前記撮像系のキャリブレーションを行う較正部と、
を備える治療システム。 - 前記撮像系は、回転ガントリーに設置され、
前記回転ガントリーを回動させ、前記物体に対する前記放射線源の位置を変えながら、前記放射線源に前記放射線を照射させる照射制御部を更に備える、
請求項1に記載の治療システム。 - 前記物体は、4つ以上のマーカを含み、
前記4つ以上のマーカのうち少なくとも1つ以上のマーカは、前記物体の中の前記三次元空間において、他の3つ以上のマーカの其々が存在する第1平面と異なる第2平面に存在する、
請求項1または2に記載の治療システム。 - 前記第2導出部は、更に、前記第1導出部により導出された前記画像上での前記物体の位置と、前記第2取得部により取得された前記位置情報が示す前記第1撮像機器の位置または向きとに基づいて、前記物体の前記三次元空間における位置を導出する、
請求項1から3のうちいずれか1項に記載の治療システム。 - 前記放射線源により照射される放射線と異なる粒子線を、被検体に照射する粒子線源を更に備え、
前記第1導出部は、
前記被検体ごとに、前記粒子線源により照射させる前記粒子線の照射方向が対応付けられた治療計画に基づいて、前記第1取得部により取得された前記複数の画像の中から、前記物体の位置の導出対象とする画像を選択し、
前記選択した画像において、前記物体の位置を導出する、
請求項1から4のうちいずれか1項に記載の治療システム。 - 前記第1導出部は、
前記治療計画において前記粒子線を照射することが予定された複数の被検体の中から、前記撮像系のキャリブレーションの後に、前記粒子線を照射することが予定された前記被検体を選択し、
前記第1取得部により取得された前記複数の画像の中から、前記選択した被検体に対応付けられた前記粒子線の照射方向と同じ方向から照射された前記放射線に基づく画像を、前記物体の位置の導出対象とする画像として選択する、
請求項5に記載の治療システム。 - 前記検出部により検出された放射線に基づく画像を前記放射線の照射方向に並べた三次元の画像に基づいて、ある視点から見たときの仮想的な二次元画像を生成する画像処理部を更に備え、
前記較正部は、前記第2導出部による導出結果に基づいて、前記画像処理部により生成された前記二次元画像を幾何学的に変換することを、前記キャリブレーションとして行う、
請求項1から6のうちいずれか1項に記載の治療システム。 - 前記較正部は、前記第2導出部による導出結果に基づいて、前記第1取得部により取得された前記画像を幾何学的に変換することを、前記キャリブレーションとして行う、
請求項1から6のうちいずれか1項に記載の治療システム。 - 前記検出部により検出された放射線に基づく画像を前記放射線の照射方向に並べた三次元の画像に基づいて、ある視点から見たときの仮想的な二次元画像を生成する画像処理部を更に備え、
前記較正部は、前記第2導出部による導出結果に基づいて、前記画像処理部により前記二次元画像が生成される際に参照されるパラメータを補正することを、前記キャリブレーションとして行う、
請求項1から6のうちいずれか1項に記載の治療システム。 - 情報を出力する出力部と、
前記第2導出部により導出された前記第2撮像機器の前記三次元空間における位置と基準位置との第1差分、または前記第2導出部により導出された前記第2撮像機器の前記三次元空間における向きと基準向きとの第2差分が閾値以上の場合、前記出力部を制御して、前記撮像系のメンテナンスを行うユーザの端末装置に、前記撮像系の位置または向きの調整を依頼する情報を出力する出力制御部と、を更に備える、
請求項1から6のうちいずれか1項に記載の治療システム。 - 前記第2導出部は、前記第2撮像機器の前記三次元空間における位置または向きの少なくとも一方を導出することを、第1周期と、前記第1周期よりも短い第2周期とのそれぞれで繰り返し、
前記基準位置は、前記第2導出部により前記第1周期で導出された前記第2撮像機器の前記三次元空間における位置であり、
前記基準向きは、前記第2導出部により前記第1周期で導出された前記第2撮像機器の前記三次元空間における向きであり、
前記第1差分は、前記第2導出部により前記第2周期で導出された前記第2撮像機器の前記三次元空間における位置と前記基準位置との差分であり、
前記第2差分は、前記第2導出部により前記第2周期で導出された前記第2撮像機器の前記三次元空間における向きと前記基準向きとの差分である、
請求項10に記載の治療システム。 - ある物体に対して、互いに異なる複数の方向から放射線を照射する一以上の放射線源と、前記放射線源により照射された放射線を、互いに異なる位置で検出する複数の検出部とのそれぞれを撮像機器として含む撮像系を制御するコンピュータが、
前記複数の検出部の其々により検出された放射線に基づく複数の画像を取得し、
前記撮像系が置かれた三次元空間における、前記撮像系に含まれる第1撮像機器の位置または向きの少なくとも一方を示す位置情報を取得し、
前記取得した前記複数の画像のそれぞれにおいて、前記物体の位置を導出し、
前記導出した前記画像上での前記物体の位置と、前記取得した前記位置情報が示す前記第1撮像機器の位置または向きとに基づいて、前記撮像系に含まれる第2撮像機器の前記三次元空間における位置または向きの少なくとも一方を導出し、
前記導出した第2撮像機器の前記三次元空間における位置または向きに基づいて、前記撮像系のキャリブレーションを行う、
キャリブレーション方法。 - ある物体に対して、互いに異なる複数の方向から放射線を照射する一以上の放射線源と、前記放射線源により照射された放射線を、互いに異なる位置で検出する複数の検出部とのそれぞれを撮像機器として含む撮像系を制御するコンピュータに、
前記複数の検出部の其々により検出された放射線に基づく複数の画像を取得する処理と、
前記撮像系が置かれた三次元空間における、前記撮像系に含まれる第1撮像機器の位置または向きの少なくとも一方を示す位置情報を取得する処理と、
前記取得した前記複数の画像のそれぞれにおいて、前記物体の位置を導出する処理と、
前記導出した前記画像上での前記物体の位置と、前記取得した前記位置情報が示す前記第1撮像機器の位置または向きとに基づいて、前記撮像系に含まれる第2撮像機器の前記三次元空間における位置または向きの少なくとも一方を導出する処理と、
前記導出した第2撮像機器の前記三次元空間における位置または向きに基づいて、前記撮像系のキャリブレーションを行う処理と、
を実行させるためのプログラム。
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