WO2020209667A1 - Système et procédé d'assurance qualité d'isocentres tridimensionnels de dispositifs de diagnostic et de traitement utilisant un rayonnement - Google Patents

Système et procédé d'assurance qualité d'isocentres tridimensionnels de dispositifs de diagnostic et de traitement utilisant un rayonnement Download PDF

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Publication number
WO2020209667A1
WO2020209667A1 PCT/KR2020/004896 KR2020004896W WO2020209667A1 WO 2020209667 A1 WO2020209667 A1 WO 2020209667A1 KR 2020004896 W KR2020004896 W KR 2020004896W WO 2020209667 A1 WO2020209667 A1 WO 2020209667A1
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Prior art keywords
radiation
center point
center
gantry
module
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PCT/KR2020/004896
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English (en)
Korean (ko)
Inventor
한영이
조광현
천원중
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사회복지법인 삼성생명공익재단
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Publication of WO2020209667A1 publication Critical patent/WO2020209667A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis

Definitions

  • Embodiments of the present invention relate to a system and method for quality assurance of a three-dimensional isocenter of a diagnosis and treatment apparatus using radiation, and in particular, a three-dimensional center point of each of various sub-systems constituting a radiation treatment room is independently It relates to a quality assurance system and method to obtain.
  • a method of independently obtaining 3D center points of a plurality of sub-systems included in a radiation treatment apparatus, and a quality assurance system and method for whether the 3D center points match or not are required.
  • the three-dimensional center points of sub-systems included in the diagnosis and treatment apparatus using radiation are, for example, a mechanical isocenter representing the physical rotation center of the gantry, or a radiation center point representing the center to which radiation is irradiated. (radiation isocenter), and the like.
  • a user visually determines the mechanical center point by placing a physical pointer on a gantry and a treatment table.
  • a graphic paper, a laser, a goniometer, etc. may be used, which is difficult to ensure precision depending on the user's vision.
  • the quality assurance of the radiation center point can be performed using, for example, a radiation-reactive film, but the conventional method cannot measure the radiation center point existing in the three-dimensional space, and only the radiation center point in the two-dimensional space is measured. There is a problem.
  • the method of measuring the mechanical center point or the radiation center point using an imaging device attached to the radiation treatment device is affected by the alignment of the imaging device itself, and the position of the independent mechanical center point or the radiation center point itself is determined.
  • the present invention has been devised to solve various problems including the above-described problems, and the three-dimensional center points of a plurality of systems included in the radiation treatment apparatus can be accurately measured independently of the peripheral device, and the radiation center point It aims to provide a quality assurance system and method.
  • these problems are exemplary, and the scope of the present invention is not limited thereby.
  • the quality assurance method of a three-dimensional center point of a diagnosis and treatment apparatus using radiation includes a gantry that is rotatable about the rotation axis with a space spaced apart from the rotation axis, together with the gantry.
  • the first center point measurement module includes a plurality of markers
  • the determining of the first center point includes acquiring the center coordinates of the plurality of markers by a specified number according to the rotation of the gantry. Step to do; Calculating center coordinates of a circle passing through the obtained center coordinates; And determining the first center point based at least in part on the center coordinates of the circle.
  • the plurality of markers included in the first center point measurement module may be arranged so that all the plurality of markers are visible when viewed from the front of the gantry.
  • the determining of the first center point based at least in part on the center coordinates of the circle includes obtaining a plurality of center coordinates of the circle, and using the plurality of center coordinates to coordinate the first center point. It may include; calculating the;
  • the coordinates of the center of gravity are coordinates in a camera coordinate system
  • the determining of the first center point includes the coordinates of the center of gravity in the treatment room using a transformation matrix between the camera coordinate system and the treatment room coordinate system. Converting to a coordinate system, determining the first center point on the treatment room coordinate system; may include.
  • the second center point measurement module includes a first sub-module to which a pair of parallel first radiation reactive members is attached, facing each other at an upper surface and a lower surface, and a parallel second radiation response facing each other at the front and rear surfaces. It may include a second sub-module into which a pair of members is inserted.
  • the step of determining the second center point by irradiating radiation while rotating the gantry and the collimator includes placing a center of the first submodule at the center point of the laser, fixing the gantry and fixing the collimator. Irradiating radiation to the first radiation-reactive member while rotating it; And arranging the center of the second sub-module at the center point of the laser, fixing the collimator and rotating the gantry while irradiating the second radiation-reactive member with radiation.
  • the determining of the second center point may include imaging the radiation traces displayed on the first pair of radiation reactive members and the second pair of radiation reactive members using a scanner or an imaging device; And acquiring the positions of the two-dimensional centers of the radiation traces displayed on the first pair of radiation reactive members and the second pair of radiation reactive members from the imaged result.
  • the second center point measurement module includes a pin for fixing the first pair of radiation-reactive members and the second pair of radiation-reactive members to the second center point measurement module and a marker that can be recognized by a camera.
  • the step of determining the second center point may further include projecting the positions of the two-dimensional centers of the radiation trace into a three-dimensional treatment room coordinate system using the position of the pin and the position of the marker.
  • the determining of the second center point comprises: using the positions of the two-dimensional centers of the radiation trace projected to the three-dimensional treatment room coordinate system, the coordinates of the radiation center point on the three-dimensional treatment room coordinate system It may further include a step of calculating;
  • the determining of the third center point may include placing a metal sphere included in the second center point measuring module at the laser center point; And acquiring a two-dimensional projection image of the metal sphere for a plurality of cross sections while rotating the imaging device.
  • the determining of the third center point includes: calculating two-dimensional coordinates of the metal spheres with respect to the plurality of cross sections, respectively; Calculating three-dimensional coordinates of the metal sphere from the two-dimensional coordinates; And determining the three-dimensional coordinates of the metal sphere as the third center point.
  • the quality assurance system of a three-dimensional center point of a diagnostic and treatment apparatus using radiation includes a gantry that is rotatable about the rotation axis with a space spaced apart from the rotation axis; A radiation irradiation unit fixed to the gantry, rotatable together with the gantry, and irradiating radiation toward the rotation axis; A first center point measurement module that can be inserted into the radiation irradiation unit to measure a first center point indicating a center of rotation of the gantry; A camera unit for photographing the first center point measurement module inserted in the radiation irradiation unit while rotating the gantry to measure the first center point; A collimator that can be inserted into the radiation irradiation unit to measure a second center point indicating a center to which radiation is irradiated; In order to measure the second central point, a first sub-module facing each other at the top and bottom and having a pair of parallel first radiation reactive members attached thereto
  • a second center point measurement module including two sub-modules; And a control unit for controlling the rotation of the gantry and irradiation of radiation through the radiation irradiation unit, wherein the control unit fixes the gantry and rotates the collimator to measure the second central point. Radiation may be irradiated to the pair of reactive members, fixing the collimator and rotating the gantry, and irradiating the second pair of reactive members with radiation.
  • the system further includes an imaging device
  • the second central point measurement module further includes a third sub-module for determining a third central point indicating a central point of an image reconstructed by the imaging device. can do.
  • the imaging apparatus may determine the third center point by obtaining a 2D projection image of the third submodule.
  • three-dimensional center points of a plurality of systems included in a diagnosis and treatment apparatus using radiation may be measured independently of the surrounding systems. In other words, quality assurance for the three-dimensional center point of the diagnosis and treatment apparatus using radiation can be performed more precisely.
  • center points of a plurality of sub-systems constituting a diagnosis and treatment apparatus using radiation may be independently represented on a coordinate system of a 3D treatment room. Therefore, it is possible to define coordinates such as a mechanical center point and a radiation center point on an actual 3D treatment room coordinate system.
  • Accurate quality assurance for the radiation focal point can reduce the margin in planning treatment of tumor tissue and minimize the amount of unplanned radiation delivered to normal tissue.
  • FIG. 1 schematically shows an environment of a quality assurance system 10 of a three-dimensional center point of a radiation treatment apparatus according to an embodiment of the present invention.
  • FIG 2 schematically shows the functional blocks of the quality assurance system 10 according to an embodiment of the present invention.
  • FIG. 3 schematically shows a method of obtaining 3D center points and quality assurance of a radiation treatment apparatus according to an embodiment of the present invention.
  • FIG. 4 schematically shows a method of obtaining a first center point of a radiation treatment apparatus according to an embodiment of the present invention.
  • FIG 5 is a perspective view of a first center point measuring module 400 according to an embodiment of the present invention.
  • FIG. 6 shows locations of a plurality of markers M attached to the first center point measurement module 400 according to an embodiment of the present invention and center coordinates CM of the plurality of markers.
  • FIG. 7 shows an example of a screen in which the first center point measuring module 400 is photographed while rotating the gantry 110 in an embodiment of the present invention.
  • FIG 8 shows the center coordinates CC of a plurality of circles, obtained using the first center point measuring module 400 according to an embodiment of the present invention.
  • FIG. 9 is a perspective view of a second central point measuring module 200 according to an embodiment of the present invention.
  • FIG. 10 is an exploded perspective view of the first sub-module 210 of the second center point measuring module 200 shown in FIG. 9.
  • FIG. 11 is an exploded perspective view of the second sub-module 220 of the second central point measuring module 200 shown in FIG. 9.
  • FIG. 12A and 12B are perspective and central cross-sectional views of the third sub-module 230 of the second central point measuring module 200 shown in FIG. 9.
  • FIG. 13 schematically shows a method of obtaining a second center point of a radiation treatment apparatus according to an embodiment of the present invention.
  • FIG. 14 shows an example of a second center point measurement module 200 that appears in the process of measuring a second center point according to FIG. 13.
  • FIG. 16 illustrates an example of a screen in which positions of 2D radiation centers are obtained from an imaging result of a radiation trace according to an embodiment of the present invention.
  • 17 shows an example of a screen in which 2D centers of radiation are projected on a coordinate system of a 3D treatment room according to an embodiment of the present invention.
  • FIG. 18 shows an example of a screen in which a second center point (RI) on a coordinate system of a 3D treatment room is calculated according to an embodiment of the present invention.
  • FIG. 19 schematically shows a method of acquiring a third center point of a radiation treatment apparatus according to an embodiment of the present invention.
  • FIG. 20 illustrates a screen for verifying quality assurance for a first center point (MI), a second center point (RI), and a third center point (II) on a 3D treatment room coordinate system according to an embodiment of the present invention.
  • the x-axis, y-axis, and z-axis used in the present specification are not limited to three axes on a Cartesian coordinate system, and may be interpreted in a broad sense including them.
  • the x-axis, y-axis, and z-axis may be orthogonal to each other, but may refer to different directions that are not orthogonal to each other.
  • the radiation treatment apparatus described in the present specification includes a diagnosis and treatment apparatus using radiation.
  • FIG. 1 schematically shows an environment of a quality assurance system 10 of a three-dimensional center point of a radiation treatment apparatus according to an embodiment of the present invention.
  • 2 schematically shows the functional blocks of the quality assurance system 10 according to an embodiment of the present invention.
  • a quality assurance system 10 of a three-dimensional center point of a radiation treatment apparatus includes a radiation treatment apparatus 100 including a gantry 110 and a radiation irradiation unit 120, and a part of the radiation irradiation unit 120 It may include a collimator 130, a camera unit 140, a bed unit 150, and a laser unit 160 that can be inserted into the region.
  • the quality assurance system 10 of the three-dimensional center point of the radiation treatment apparatus 100 includes a control unit 180, a first center point measurement module 400, a second center point measurement module 200, and a scanner ( 170), an imaging device 190, a marker coordinate conversion unit 340, a two-dimensional radiation center obtaining unit 370, a two-dimensional image center obtaining unit 290, and a three-dimensional coordinate calculation unit 390.
  • a control unit 180 controls the quality assurance system 10 of the three-dimensional center point of the radiation treatment apparatus 100
  • a first center point measurement module 400 controls the quality assurance system 10 of the three-dimensional center point of the radiation treatment apparatus 100
  • a second center point measurement module 200 includes a scanner ( 170), an imaging device 190, a marker coordinate conversion unit 340, a two-dimensional radiation center obtaining unit 370, a two-dimensional image center obtaining unit 290, and a three-dimensional coordinate calculation unit 390.
  • the three-dimensional center point of the radiation treatment apparatus may represent a center point of a plurality of sub-systems included in the radiation treatment apparatus.
  • the three-dimensional center point of the radiation treatment apparatus may include a first center point, a second center point, a third center point, and/or a laser center point.
  • the first center point may refer to a mechanical isocenter representing the physical center of rotation of the gantry 110.
  • the second central point may refer to a radiation isocenter indicating a center to which radiation is irradiated through the radiation irradiation unit 120. That is, the second central point may mean a point at which radiations irradiated from various angles through the radiation irradiation unit 120 are collected.
  • the third central point may refer to a central point of an image captured by the imaging apparatus 190 and reconstructed.
  • the laser center point may refer to a point visually displayed in the treatment room space by the laser unit 160 to indicate a reference point at which the patient's affected area is to be positioned.
  • a Cartesian coordinate system using the laser center point as an origin (0, 0, 0) may represent a treatment room coordinate system representing an actual three-dimensional treatment room space.
  • the laser center point visually represents the center (origin) of the treatment room coordinate system.
  • the quality assurance of the radiation treatment apparatus is to match the first center point, the second center point, the third center point, and the laser center point (e.g., a position within a specified distance (eg, 1 mm)). To tell).
  • the first center point and the second center point are defined as one point in the 3D space, but may not appear as one point in an actual situation. Therefore, it is necessary to determine (or calculate) the first central point and the second central point to be close to the ideal point. Accordingly, quality assurance of a radiation treatment apparatus according to various embodiments of the present disclosure includes determining (or measuring, calculating) a first center point and a second center point as one point.
  • the first central point may be measured using the first central point measuring module 400
  • the second central point and the third central point may be measured using the second central point measuring module 200. have.
  • the positions of the first center point, the second center point, and the third center point in the treatment room coordinate system with the laser center point as (0, 0, 0) are determined or Can be obtained.
  • the coordinates of the first center point, the second center point, and the third center point with respect to the laser center point represent the coordinates of the mechanical center point, the radiation center point, and the center point of the imaging device 190 in an independent three-dimensional treatment room space itself.
  • a gantry 110 is a device capable of rotating around a patient during radiation treatment.
  • the gantry 110 may be formed to have a cylindrical opening in the center as illustrated in FIG. 1, but is not limited thereto and may be implemented in various shapes capable of rotating around a patient.
  • the gantry 110 has an empty space by a predetermined distance from the rotation axis and is rotatable around the rotation axis. For example, when the gantry 110 is formed to have a cylindrical opening in the center, the gantry 110 may rotate in the circumferential direction. The empty space is required for the patient or bed unit 150 to be disposed.
  • a radiation irradiation unit 120 protruding toward the rotation center (or rotation axis) may be coupled to the gantry 110.
  • the radiation irradiation unit 120 may be coupled to the inner surface of the opening to protrude toward the rotation center of the gantry 110.
  • the radiation irradiation unit 120 may emit or irradiate radiation.
  • the radiation irradiation unit 120 is connected to an X-ray generator, a radiation isotope source, or a linear accelerator, or receives a high-energy particle ray beam generated from an incident accelerator installed outside the radiation treatment device 100. Can be released.
  • the radiation irradiation unit 120 is installed on the gantry 110 so as to protrude toward the rotation axis of the gantry 110 and is rotatable together with the gantry 110. Accordingly, as the gantry 110 rotates, the radiation irradiation unit 120 may irradiate the radiation toward the center of the gantry 110 (ie, the rotation axis).
  • the radiation irradiation unit 120 may irradiate the irradiated object while rotating around the object to be irradiated.
  • the radiation irradiated to the irradiated object may include X-rays, gamma rays, high-energy electrons, high-energy protons, or other high-energy particle rays.
  • the irradiated object becomes a patient, and when measuring the second center point or the third center point, the irradiation object becomes the second center point measurement module 200.
  • a collimator 130 may be mounted or inserted into the radiation irradiation unit 120.
  • the collimator 130 may be inserted in the front surface where the radiation is emitted from the radiation irradiation unit 120.
  • the radiation irradiation unit 120 may further include an insertion unit (not shown) (eg, a snout).
  • the first central point measuring module 400 may be inserted into the insertion portion, and when measuring the second central point, the collimator 130 may be inserted into the insertion portion.
  • the collimator 130 is a mechanism for limiting the direction and diffusion of radiation, and may be made of, for example, a material that absorbs radiation.
  • the collimator 130 may be inserted into an insertion portion (not shown) (eg, a snout) formed at a distal end of the radiation irradiation portion 120. When the collimator 130 is inserted, the radiation may be emitted through the collimator 130.
  • the collimator 130 may be designed, assembled, or configured to irradiate radiation in an elongated rectangular shape to measure a second center point.
  • a slit may be inserted into the collimator 130.
  • the collimator 130 may be formed so that radiation passes only through a slit having a linear or elongated rectangular shape.
  • radiation when measuring a second center point representing a center to which radiation is irradiated, radiation may be irradiated through the slit.
  • the collimator 130 according to various embodiments of the present disclosure is not limited to including a slit.
  • the collimator 130 may include a multi-leaf collimator (MLC) so as to form radiation in an elongated rectangular shape.
  • MLC multi-leaf collimator
  • the collimator 130 according to various embodiments of the present invention may use various methods to form radiation in an elongated rectangular shape.
  • radiation irradiation through a slit is a multi-leaf collimator (MLC) or various other It includes irradiation through the method.
  • the bed part 150 is a support on which the patient can lie down during radiation treatment.
  • the bed part 150 may enter an empty space formed at the center of rotation of the gantry 110. Accordingly, the bed portion 150 may be disposed substantially parallel to the rotation axis of the gantry 110, but is not limited thereto.
  • the bed portion 150 may move left and right and/or up and down, and may rotate so that radiation may be irradiated to the patient's affected area.
  • the second center point measurement module 200 may be disposed on the bed part 150. However, it is not limited thereto.
  • the second center point measurement module 200 may be supported on a narrow support from which the bed portion 150 is removed.
  • the controller 180 may control rotation of the gantry 110 and irradiation of radiation through the radiation irradiation unit 120.
  • the controller 180 may be formed of hardware, software, or a combination of hardware and software.
  • the controller 180 may include one or a plurality of controllers.
  • the controller 180 referred to in the present invention may be a term that collectively refers to a controller of a plurality of devices.
  • the controller 180 may control the movement of the support of the second center point measurement module 200 so that the second center point measurement module 200 is positioned at the laser center point.
  • the controller 180 may control the movement of the support of the second center point measurement module 200.
  • the support may be, for example, the bed part 150, but is not limited thereto.
  • the support may represent a support from which the bed portion 150 is removed.
  • the controller 180 may control the rotation of the gantry 110, and accordingly, may position the radiation irradiation unit 120 at a desired angle. According to an embodiment, the controller 180 may control the rotation of the collimator 130 inserted into the radiation irradiation unit 120. For example, the controller 180 may rotate the collimator 130 inserted into the radiation irradiation unit 120 by a desired angle. According to an embodiment, the controller 180 may control the radiation irradiation unit 120 to irradiate radiation.
  • the laser unit 160 may irradiate the laser beam LB toward an empty space formed at the center of rotation of the gantry 110.
  • the laser beam LB may visually display a reference point at which the affected part of the patient is located. Accordingly, the laser beam LB may have a visible light band in order to be visually displayed inside the radiation treatment room, and may be displayed as a single dot on the irradiated object.
  • One point displayed by the laser beam LB may be referred to as a laser isocenter.
  • the laser center point may serve to visually guide a point at which an affected area to be subjected to radiation treatment is located.
  • the first center point measurement module 400 is used to measure the first center point
  • the second center point measurement module 200 is used to measure the second center point and the third center point.
  • the first center point, the second center point, and the third center point may be obtained as coordinates on a treatment room coordinate system using the laser center point as an origin, independently of each other.
  • a detailed description of the first center point measurement module 400 will be described later through FIGS. 4 to 8, and a detailed description of the second center point measurement module 200 will be described later through FIGS. 9 to 14.
  • the camera unit 140 may photograph a marker attached to the first center point measurement module 400 and the second center point measurement module 200 and track the movement of the marker.
  • the camera unit 140 may include, for example, at least three or more cameras, and each of the plurality of cameras may be disposed to face different directions.
  • the camera unit 140 may recognize the marker in various ways. For example, in addition to the camera, additional equipment is added to reflect light such as infrared light to the marker to track the marker's position, and the camera tracks the marker's position by emitting light directly from the marker. There is an active marker method.
  • an infrared (IR) marker may be attached to the first central point measuring module 400 and the second central point measuring module 200, and the marker is emitted from a separate infrared generating device (not shown). Infrared light can be reflected.
  • the camera unit 140 is an infrared camera and may recognize infrared rays reflected from the marker. The camera unit 140 may acquire the position of the marker by photographing infrared rays reflected from the marker.
  • the coordinates of the marker acquired through the camera unit 140 may be coordinates on a camera coordinate system.
  • the camera coordinate system can be distinguished from the treatment room coordinate system representing the actual three-dimensional treatment room space.
  • the marker coordinate conversion unit 340 may convert the coordinates of the marker into the treatment room coordinate system by using a conversion relationship between the camera coordinate system and the treatment room coordinate system.
  • the marker coordinate conversion unit 340 may convert the camera coordinate system into a treatment room coordinate system using a transformation matrix between the camera coordinate system and the treatment room coordinate system.
  • the coordinates of the marker tracked using the camera unit 140 may be positioned on the treatment room coordinate system with the laser center point as the origin. Through this, it is possible to track the coordinates of the marker in the treatment room coordinate system.
  • the camera unit 140 may track the movement of the first center point measurement module 400 or the second center point measurement module 200 in the treatment room coordinate system in real time in three dimensions.
  • the first center point and the second center point are independently used without using an imaging device subordinate to the radiation treatment apparatus 100. Can be measured. That is, the first center point and the second center point may be obtained as coordinates on a three-dimensional coordinate system representing an actual three-dimensional treatment room space.
  • the scanner 170 may image or digitize the radiation trace displayed on the radiation-reactive member F inserted into the second center point measurement module 200.
  • the scanner 170 may transmit the imaged result to the 2D radiation center acquisition unit 370.
  • the radiation trace when a scintillator is used as the radiation reaction member, the radiation trace may be visualized using an imaging device such as a camera, not the scanner 170.
  • an imaging device such as a camera
  • various methods other than the ability to visualize the radiation trace may be used.
  • the 2D radiation center acquisition unit 370 may receive, from the scanner 170, an imaging result of the radiation trace displayed on the radiation reaction member F.
  • the 2D radiation center acquisition unit 370 may acquire the positions of the 2D centers of the radiation trace displayed on the radiation reaction member F from the imaging result.
  • the positions of the two-dimensional centers of the radiation trace may be obtained as two-dimensional coordinates.
  • the two-dimensional radiation center acquisition unit 370 is used to calculate a second center point.
  • the imaging device 190 may photograph an affected part of the patient and image the photographing result. For example, when the radiation irradiation unit 120 irradiates radiation to the affected area, the imaging apparatus 190 may image a difference in the amount of radiation absorbed by the affected area.
  • the imaging apparatus 190 may acquire a 2D projection image for a portion of the second center point measurement module 200 for each angle while rotating. For example, the imaging apparatus 190 may acquire a 2D projection image for a plurality of cross sections according to rotation.
  • the 2D image center obtaining unit 290 may calculate a 2D center coordinate from the 2D projected images of the plurality of cross sections.
  • the 2D center coordinates may be used to obtain a third center point on a 3D treatment room coordinate system.
  • the third central point represents a central point of an image captured and reconstructed by the imaging apparatus 190, which is separated from the first central point, the second central point, and the laser central point.
  • FIG. 3 schematically shows a method of obtaining 3D center points and quality assurance of a radiation treatment apparatus according to an embodiment of the present invention.
  • the first center point measurement module 400 may be inserted into the insertion part of the radiation irradiation unit 120.
  • the first center point measurement module 400 is used to determine the first center point.
  • the camera unit 140 tracks a marker attached to the first center point measurement module to determine the first center point.
  • the collimator 130 including a slit may be inserted into the insertion portion of the radiation irradiation unit 120 and the second central point measuring module 200 may be disposed at the laser central point.
  • the first center point measurement module 400 may be removed from the insertion part of the radiation irradiation unit 120 and the collimator 130 may be inserted.
  • the second central point measurement module 200 is used to determine the second central point and the third central point.
  • the second center point may be determined by irradiating radiation while rotating the gantry 110 and the collimator 130.
  • the gantry 110 and the collimator 130 are rotated to generate radiation. You can investigate.
  • a projection image of at least a part of the second center point measurement module 200 (eg, the third sub-module 230) is acquired for each angle to determine the third center point.
  • the collimator 130 including the slit is removed from the insertion part of the radiation irradiation unit 120, and the second center point measuring module 200 is disposed at the laser center point, and the projection is performed using the imaging device 190. You can acquire an image.
  • the 3D coordinate calculator 390 may represent a first center point, a second center point, and a third center point on a three-dimensional treatment room coordinate system with the laser center point as an origin. That is, the 3D coordinate calculator 390 may determine the coordinates of the first center point, the second center point, and the third center point as coordinates on the treatment room coordinate system.
  • the 3D coordinate calculator 390 may determine whether the first center point, the second center point, and the third center point are located within a specified distance (eg, 1 mm or 0.5 mm) from the laser center point.
  • the 3D coordinate calculation unit 390 determines that the quality of the 3D center point of the radiation treatment apparatus 100 is guaranteed when the first center point, the second center point, and the third center point are located within the specified distance from the laser center point. can do.
  • FIG. 3 The order of the operations of FIG. 3 is not limited thereto. A detailed description of the operations of FIG. 3 will be described later in detail with reference to FIGS. 4 to 20.
  • FIG. 4 schematically shows a method of obtaining a first center point of a radiation treatment apparatus according to an embodiment of the present invention.
  • the first center point measuring module 400 may be inserted into the insertion portion of the radiation irradiation unit 120.
  • the operations of S410 to S460 may be included in S320 of FIG. 3.
  • the first center point measurement module 400 may be a hexahedron.
  • the pair of first side surfaces 411S and 412S facing each other are parallel to each other, and the second side surface facing each other ( 421S, 422S) pairs can also be parallel to each other.
  • the pair of second side surfaces 421S and 422S has a trapezoidal shape and may be congruent with each other.
  • the pair of the first side surfaces 411S and 412S may be rectangular with different heights. Due to the trapezoidal shape of the pair of the second side surfaces 421S and 422S, the upper surface 430T and the lower surface 430B of the first center point measuring module 400 may not be parallel to each other.
  • a plurality of markers M that can be recognized by the camera unit 140 may be disposed on the upper surface 430T of the first center point measurement module 400.
  • four markers (M) may be mounted.
  • the four markers M may be arranged in a trapezoidal shape.
  • the two markers M may be positioned adjacent to both ends of an edge where the top surface 430T and one first side surface 412S meet.
  • the remaining two markers M may be positioned close to the center of a corner where the top surface 430T and the other first side surface 411S meet.
  • the lower surface 430B of the first center point measurement module 400 may be inserted to contact the insertion portion. have.
  • the upper surface 430T of the first center point measurement module 400 may be inserted toward the center of the gantry 110. At this time, since the upper surface 430T and the lower surface 430B are not parallel to each other, all four markers M can be seen when viewed from the front of the gantry 110.
  • the controller 180 may photograph a plurality of markers M attached to the first center point measurement module 400 with the camera unit 140.
  • the marker coordinate conversion unit 340 may acquire the positions of the plurality of markers M on, for example, a camera coordinate system that is separate from the treatment room coordinate system. 6 shows locations of a plurality of markers M attached to the first center point measurement module 400 according to an embodiment of the present invention and center coordinates CM of the plurality of markers. Meanwhile, when the first center point measurement module 400 is photographed by the camera unit 140 while rotating the gantry 110, a plurality of markers M attached to the first center point measurement module 400 and the plurality of The center coordinates (CM) of the markers of may appear as shown in FIG. 7.
  • the marker coordinate conversion unit 340 may randomly (or randomly) select a specified number of center coordinates among the center coordinates CM of the plurality of markers M.
  • the marker coordinate conversion unit 340 may calculate the central coordinates CC of a circle passing through the selected central coordinates CM at the same time.
  • the center coordinate (CC) of the circle may be calculated as a three-dimensional coordinate on the camera coordinate system, for example.
  • the center coordinate CC of the circle corresponds to a physical rotation center determined according to one rotation of the gantry 110.
  • FIG. 8 shows the center coordinates CC of a plurality of (ie, m) circles obtained by using the first center point measurement module 400 according to an embodiment of the present invention.
  • the central coordinates (CC) of multiple (i.e. m) circles should ideally appear at one point, but due to various factors such as gravity, elastic deformation, misalignment, and mechanical factors, May not appear.
  • the marker coordinate conversion unit 340 may calculate the center of gravity CC1 of the center coordinates CC of m circles.
  • the marker coordinate conversion unit 340 may convert the coordinates of the center of gravity CC1 on the camera coordinate system into the treatment room coordinate system using a conversion relationship (eg, a transformation matrix) between the camera coordinate system and the treatment room coordinate system.
  • the treatment room coordinate system represents an actual three-dimensional treatment room space with the laser center point as the origin.
  • the marker coordinate conversion unit 340 may convert the center of gravity CC1 into a treatment room coordinate system, and the 3D coordinate calculator 390 may determine the coordinates converted from the center of gravity CC1 as a first center point.
  • FIG. 9 is a perspective view of a second central point measuring module 200 according to an embodiment of the present invention.
  • the second center point measurement module 200 may include a first submodule 210, a second submodule 220, and a third submodule 230.
  • 10 is an exploded perspective view of the first sub-module 210 of the second center point measurement module 200 shown in FIG. 9, and
  • FIG. 11 is a second sub-module of the second center point measurement module 200 shown in FIG. 9 220 is an exploded perspective view, and
  • FIGS. 12A and 12B are perspective and central cross-sectional views of the third sub-module 230 of the second central point measuring module 200 shown in FIG. 9.
  • the vertical direction toward the top of the gantry 110 is parallel to the (ideal) axis of rotation of the gantry 110 based on the laser center point, which is the origin of the treatment room coordinate system, and the gantry 110 ) Will be referred to as the y-axis direction, and the horizontal direction according to the right-hand rule of the y-axis and z-axis as the x-axis direction.
  • this reference is only an example.
  • the first sub-module 210, the second sub-module 220, and the third sub-module 230 are illustrated as a cube, but are not limited thereto.
  • the first, second, and third submodules 210, 220, and 230 may include three pairs of parallel planes in which two facing surfaces are parallel.
  • the first, second, and third submodules 210, 220, and 230 may be a rectangular parallelepiped. However, it is not limited thereto.
  • the first, second, and third sub-modules 210, 220, and 230 may be fixed so that their relative positions do not change.
  • the first, second, and third sub-modules 210, 220, and 230 may be attached to each other or fixedly coupled to each other.
  • the second center point measurement module 200 may further include a base 201 for fixing the first, second, and third submodules 210, 220, and 230.
  • the first submodule 210 may include a body 210B, a cover 210C, a pin P, and a pair of a first radiation reactive member F1
  • the second submodule 220 may include a body It may include a pair (220B), a cover (220C), a pin (P), and a second radiation reactive member (F2).
  • two radiation reactive members F1 and F2 facing each other may be disposed in parallel.
  • the first submodule 210 may include two radiation reactive members F1 parallel to the xy plane, and the second submodule 220 may include two radiation reactive members F2 parallel to the xz plane. It may include.
  • the third submodule 230 may not include a radiation reactive member.
  • the radiation-reactive members F1 and F2 may react to radiation, and traces may be left by the radiation. Accordingly, the radiation-reactive members F1 and F2 may leave traces along the path of the radiation irradiated from the radiation irradiation unit 120.
  • the radiation reaction members F1 and F2 may be developed or imaged (or digitized) using the scanner 170. For example, as a result of the digitization, a value indicating a location and coordinates corresponding to the path of the radiation may be obtained.
  • the radiation reactive members F1 and F2 may include, for example, a radiochromic film.
  • the first submodule 210 may include a body 210B and two covers 210C respectively disposed above and below the body 210B.
  • the two covers 210C may be provided to fix the two first radiation reactive members F1 above and below the body 210B, respectively.
  • the second sub-module 220 may include a body 220B and two covers 220C disposed before and after the body 220B, respectively.
  • the two covers 220C may be provided to fix the two second radiation reactive members F2 before and after the body 220C, respectively.
  • the cover 210C may be disposed on two surfaces parallel to the xy plane (ie, an upper surface and a lower surface) in the first sub-module 210.
  • the cover 210C may be provided to insert and fix the pair of the first radiation-reactive members F1 parallel to the xy plane (for example, on the upper and lower surfaces).
  • the cover 210C is detachable from the body 210B of the first submodule 210 in order to insert the radiation reactive member.
  • the two radiation reactive members F1 may be disposed between the two covers 210C and the body 210B, respectively.
  • the radiation reaction member F1 may be fixed with a pin P so that it does not move between the cover 210C and the body 210B.
  • the pin P may be provided or inserted in a predetermined position in the cover 210Cs.
  • the pins P may include a plurality (eg, two or more) of pins.
  • the radiation-reactive member F1 has a square shape, and the pin P may be positioned adjacent to the vertex of the square.
  • the four pins may be positioned in a rectangular shape.
  • holes may be formed at positions corresponding to the positions of the pins P as many as the number of pins P.
  • the hole may be used to identify the relative position information of the radiation trace appearing on the radiation-reactive member F1, as described later in FIGS. 15 to 17.
  • the first submodule 210 may further include a marker M (see FIG. 14 ).
  • a screw on which the marker M is attached may be fixed to a predetermined position ML of the cover 210C of the first submodule 210.
  • the marker M is recognized by the camera unit 140 and is used to indicate the position of the center of the radiation trace appearing on the radiation-reactive member F1 or the radiation-responsive member F1 on the coordinate system of the three-dimensional treatment room.
  • the marker M may be disposed on a surface on which the radiation reactive member F1 is disposed.
  • the marker M is located adjacent to the pin P, but may be coupled to a predetermined position.
  • the marker M may be coupled to the cover 210C.
  • the positions of the marker M and the pin P are determined in advance, and their relative positions do not change. That is, the marker M and the pin P may be regarded as rigid bodies.
  • the cover 220C may be disposed on two surfaces parallel to the xz plane (ie, front and rear) in the second sub-module 220.
  • the cover 220C may be provided to insert and fix the pair of second radiation-reactive members F2 parallel to the xz plane (for example, on the front and rear surfaces).
  • the two radiation-reactive members F2 may be disposed between the two covers 220C and the body 220B, respectively.
  • the radiation-reactive member F2 may be fixed with a pin P so as not to move between the cover 220C and the body 220B. Since the description of the cover 220C, the body 220B, and the pin P is overlapped with that described in the first submodule 210, it will be omitted.
  • the second submodule 220 may further include a marker M (see FIG. 14 ). For example, at a predetermined position ML of the cover 220C of the second sub-module 220, a screw on which the marker M is attached may be fixed.
  • the marker M is recognized by the camera unit 140 and is used to indicate the position of the center of the radiation trace appearing on the radiation-reactive member F2 or the radiation-reactive member F2 on the coordinate system of the three-dimensional treatment room.
  • the third sub-module 230 may be arranged such that the center of the third sub-module 230 coincides with the laser center point when measuring the second center point and the third center point.
  • a crosshair 239 may be displayed on the surface of the third submodule 230.
  • the third sub-module 230 has a shape of a cube, and a crosshair 239 for indicating the center of the third sub-module 230 may be displayed on each surface of the cube.
  • the third sub-module 230 may further include a metal sphere 231 at the center. 12B is a cross-sectional view of the third sub-module 230 cut away.
  • the center of the third sub-module 230 may appear as in the cross-sectional view of FIG. 12B.
  • the metal sphere 231 may be used to measure a central point, that is, a third central point of an imaging device 190 additionally installed in the radiation treatment apparatus 100.
  • the first, second, and third sub-modules 210, 220, and 230 may all have a shape of a cube having the same length of one side. According to an embodiment, the first and second sub-modules 210 and 220 with respect to the third sub-module 230 may be fixed to each other in a vertical direction.
  • the first sub-module 210 when the second center point measurement module 200 is positioned at the laser center point in order to measure the second center point, the first sub-module 210 is- The contact may be made to overlap a surface in the y-axis direction, and the second sub-module 220 may be in contact with a surface of the third sub-module 230 in the -x-axis direction.
  • all of the first, second, and third sub-modules 210, 220, and 230 may have a cube shape having the same length (L) of one side.
  • L length of one side of the cube.
  • the thickness of the body 220B and the thickness TH1 are added in the first submodule 210, it may correspond to the length L of one side of the cube. have.
  • the thickness of the body 220B and the thickness TH2 of the two lids 220C are added in the second submodule 220, it will correspond to the length L of one side of the cube I can.
  • a distance between the center of the first sub-module 210 and the center of the third sub-module 230 may be the same as the length L of one side.
  • the distance between the center of the second sub-module 220 and the center of the third sub-module 230 is also the same as the length L of one side.
  • the length L of one side may be, for example, 10 cm.
  • the two lids 210C of the first submodule 210 may have the same thickness TH1.
  • the thickness TH1 may be, for example, 1 cm. Therefore, the pair of the first radiation-reactive members F1 included in the first sub-module 210 is disposed to be spaced apart from the center of the first sub-module 210 by the same distance (eg, 4 cm) in the ⁇ z-axis direction. I can.
  • the two lids 220C of the second submodule 220 may have the same thickness TH2.
  • the thickness TH2 may be, for example, 1 cm.
  • the pair of the second radiation-reactive members F2 included in the second sub-module 220 is to be disposed spaced apart from the center of the second sub-module 220 by the same distance (for example, 4 cm) in the ⁇ y-axis direction. I can.
  • the thickness TH1 of the two lids 210C of the first submodule 210 and the thickness TH2 of the two lids 220C of the second submodule 220 are It can be the same.
  • the controller 180 may control the movement of the support of the second center point measurement module 200 so that the second center point measurement module 200 is positioned at the laser center point.
  • the control unit 180 may match the center of the first sub-module 210, the second sub-module 220, or the third sub-module 230 to the laser center point, the second center point measuring module ( 200) can control the movement of the support.
  • the controller 180 may control the rotation of the gantry 110, and accordingly, may position the radiation irradiation unit 120 at a desired angle. According to an embodiment, the controller 180 may control the rotation of the collimator 130 inserted into the radiation irradiation unit 120. For example, the controller 180 may rotate the collimator 130 inserted into the radiation irradiation unit 120 by a desired angle. According to an embodiment, the controller 180 may control the radiation irradiation unit 120 to irradiate radiation.
  • FIG. 13 schematically shows a method of obtaining a second center point of a radiation treatment apparatus according to an embodiment of the present invention. At least some of the operations illustrated in FIG. 13 may be performed by the controller 180. 14 shows an example of a second center point measurement module 200 that appears in the process of measuring a second center point according to FIG. 13.
  • a collimator 130 including a slit may be inserted into the radiation irradiation unit 120.
  • the collimator 130 may be inserted into a distal end of the radiation irradiation unit 120, for example, a snout.
  • S610 may correspond to S330 of FIG. 3.
  • S620 to S650 may correspond to S340 for determining the second central point in FIG. 3.
  • the second center point measurement module 200 may be disposed at the laser center point indicated by the laser beam.
  • the controller 180 positions the second center point measurement module 200 so that the center of the third sub-module 230 is positioned at the laser center point in the second center point measurement module 200. I can make it.
  • a state in which the center of the third sub-module 230 and the center point of the laser coincide may be an initial setting state of the center point measurement module 200.
  • the center of the third sub-module 230 may be matched to the center point of the laser by using the crosshairs displayed on the surface of the third sub-module 230.
  • the center of the pair of the first radiation-reactive members F1 included in the first sub-module 210 is placed at the laser center point, the gantry 110 is fixed and the collimator 130 is rotated, while the collimator 130 The radiation may be irradiated to the pair of the first radiation reactive members F1 through the slit included in the.
  • the center of the pair of the first radiation reactive members F1 may represent the center of the first sub-module 210.
  • the controller 180 moves the second center point measuring module 200 to the y-axis in the initial setting state. It can be moved by a distance from the center of the third sub-module 230 to the center of the first sub-module 210 in the direction.
  • the second center point measuring module 200 is y
  • the center of the first sub-module 210 may be disposed at the center point of the laser.
  • the pair of the first radiation-reactive members F1 is located at a distance from the center point of the laser by the same distance in the z direction and the -z direction, respectively. can do.
  • the controller 180 rotates the gantry 110 in a state in which the center of the first sub-module 210 is disposed at the center point of the laser, so that the radiation irradiation unit 120 performs the second center point measurement module 200. It is possible to fix the gantry 110 so as to be located above the ). That is, the gantry 110 may be fixed so that the radiation irradiation unit 120 is positioned on the z-axis. In this case, the radiation irradiation unit 120 protruding from the gantry 110 may face the -z axis direction. The radiation irradiation unit 120 may aim at the first sub-module 210 from the vertical top of the first sub-module 210.
  • the controller 180 irradiates the radiation while rotating the collimator 130 while the gantry 110 is fixed so that the radiation irradiation unit 120 faces the -z axis direction as described above. can do.
  • the controller 180 may control the radiation irradiation unit 120 to irradiate the radiation while rotating the collimator 130 at specified angular intervals.
  • the specified angle may be 45 degrees, for example.
  • the radiation irradiation unit 120 may irradiate radiation in a state in which the collimator 130 is 0 degrees, 45 degrees, 90 degrees, and 135 degrees.
  • the rotation angle of the collimator 130 to which radiation is irradiated is not limited thereto.
  • the collimator 130 is 0°, 45°, 90°, and 135°.
  • a trace of radiation T1 may appear in a star shape on the pair of the first radiation reactive members F1.
  • the trace T1 may represent a distribution of radiation dose.
  • the first, second, and third sub-modules 210, 220, and 230 are all cube-shaped with the same length of one side, and the pair of the first radiation reactive member F1 and the second radiation reactive member F2 Due to the positional relationship, a trace of radiation may not appear in the second pair of radiation-reactive members F2 according to the rotation of the collimator 130 (S630).
  • the center of the pair of second radiation-reactive members F2 included in the second sub-module 220 is placed at the laser center point, the collimator 130 is fixed and the gantry 110 is rotated, while the collimator 130 Through the slit included in, it is possible to irradiate the second radiation reactive member (F2) pair with radiation.
  • the center of the pair of second radiation reactive members F2 may represent the center of the second sub-module 220.
  • the controller 180 moves the second center point measuring module 200 on the x-axis in the above-described initial setting state. It may be moved by a distance from the center of the third sub-module 230 to the center of the second sub-module 220 in the direction.
  • the second center point measuring module 200 is x
  • the center of the second sub-module 220 may be disposed at the center point of the laser.
  • the pair of the second radiation-reactive members F2 is located at a distance from the center point of the laser by the same distance in the y direction and the -y direction, respectively. can do.
  • the collimator 130 is rotated while the center of the second sub-module 220 is disposed at the laser center point, so that the slit of the collimator 130 is y-axis (that is, the rotation axis of the gantry 110).
  • the collimator 130 may be fixed to be parallel with.
  • the control unit 180 in a state in which the collimator 130 is fixed such that the slit of the collimator 130 is parallel to the y-axis (that is, the rotation axis of the gantry 110), the gantry ( While rotating 110), radiation can be irradiated.
  • the controller 180 may control the gantry 110 to irradiate radiation by rotating the gantry 110 at a specified angular interval.
  • the specified angle may be 45 degrees, for example.
  • radiation may be irradiated in a state in which the gantry 110 is 0 degrees, 45 degrees, 90 degrees, or 135 degrees.
  • a rotation angle of 0 degrees of the gantry 110 may represent, for example, a state in which the radiation irradiation unit 120 is positioned on the z-axis and points in the -z-axis direction.
  • the definition of the rotation angle of the gantry 110 is not limited thereto.
  • the rotation angle of the gantry 110 to which radiation is irradiated is not limited thereto.
  • traces of radiation may appear as stars.
  • the trace T2 may represent a distribution of radiation dose.
  • the first, second, and third sub-modules 210, 220, and 230 are all cube-shaped with the same length of one side, and the pair of the first radiation reactive member F1 and the second radiation reactive member F2 Due to the positional relationship, traces of radiation may not appear in the pair of the first radiation reactive members F1 according to the rotation S640 of the gantry 110.
  • the order of operations included in S630 and S640 may be changed.
  • the order of S630 and S640 may be changed.
  • the second center point may be calculated from positional information corresponding to the traces of radiation displayed on the first pair of radiation reactive members F1 and the second pair of radiation reactive members F2. Detailed operations for S650 will be described later in FIGS. 15 to 18. S650 is performed by the scanner 170, the two-dimensional radiation center acquisition unit 370, the camera unit 140, the marker coordinate conversion unit 340, and the three-dimensional coordinate calculation unit 390 shown in FIG. Can be.
  • FIG. 15 schematically shows a process of calculating a second central point according to an embodiment of the present invention. The operations illustrated in FIG. 15 may be included in S650 of FIG. 13.
  • the pair of first radiation-reactive members F1 includes a first radiation-reactive member F11 on an upper surface (a surface in the z-axis direction) and a first radiation-reactive member F12 on a lower surface (a surface in the -z-axis direction).
  • a radiation trace T11 may appear on the first radiation reactive member F11 on the upper surface
  • a radiation trace T12 may appear on the first radiation reactive member F12 on the lower surface.
  • the pair of second radiation-reactive members (F2) includes a second radiation-reactive member (F21) on the front surface (a surface in the -y-axis direction) and a second radiation-reactive member (F22) on the rear surface (a surface in the y-axis direction), ,
  • a radiation trace T21 may appear on the first radiation reactive member F21 on the front side
  • a radiation trace T22 may appear on the second radiation reaction member F22 on the rear surface.
  • the scanner 170 displays the radiation traces T11, T12, T21, and T22 shown on the first pair of radiation reactive members F1 and the second pair of radiation reactive members F2, and imaged ( Or digitize).
  • the imaging may represent imaging on a 2D plane.
  • the scanner 170 may transmit the imaged result to the 2D radiation center acquisition unit 370.
  • the two-dimensional radiation center acquisition unit 370 receives, from the scanner 170, an imaging result of the radiation traces (T11, T12, T21, T22) appearing on the first and second radiation reactive members F1 and F2. can do. From the imaging result, the 2D radiation center acquisition unit 370 includes 2 of the radiation traces T11, T12, T21, and T22 appearing on the first pair of radiation reactive members F1 and the second pair of radiation reactive members F2. The positions of the dimensional centers can be obtained.
  • the two-dimensional radiation center acquisition unit 370 may include a first two-dimensional radiation center (C11, T12) from radiation traces (T11, T12) appearing on each of the two first radiation reaction members (F11, F12). You can calculate the position of C12).
  • Each of the first two-dimensional radiation centers C11 and C12 represents the center of the star-shaped radiation traces T11 and T12.
  • the first two-dimensional radiation centers C11 and C12 represent centers according to the rotation of the collimator 130.
  • the two-dimensional radiation center acquisition unit 370 determines the position of the second two-dimensional radiation centers C21 and C22 from the radiation traces T21 and T22 appearing on each of the two second radiation response members F21 and F22. Can be calculated.
  • the second two-dimensional radiation centers C21 and C22 represent centers according to the rotation of the gantry 110.
  • the imaging result 1000 of the radiation traces T11, T12, T21, and T22 may include a pin P trace.
  • the pin (P) trace is later used to indicate the positions of the two-dimensional radiation centers C11, C12, C21, and C22 on the three-dimensional treatment room coordinate system.
  • the two-dimensional radiation center acquisition unit 370 from the imaging result 1000, the pin (P) shown in the pair of the first radiation reactive member (F11, F12) and the second radiation reactive member (F21, F22) Can identify the location of.
  • the pin (P) moves as a rigid body with the marker (M)
  • the location of the pin (P) may also be indicated on the 3D treatment room coordinate system. Accordingly, the 2D radiation centers C11, C12, C21, C22 can be represented on the 3D treatment room coordinate system based on the position of the pin P on the 3D treatment room coordinate system.
  • the two-dimensional radiation center acquisition unit 370 calculates the positions of the two-dimensional radiation centers C11, C12, C21, and C22 obtained from the imaging result 1000 and the positions of the plurality of pins P, 3D coordinates. It can be transmitted to the unit 390.
  • the positions of the two-dimensional radiation centers C11, C12, C21, and C22 and the positions of the plurality of pins P may be coordinates in two dimensions.
  • the two-dimensional radiation center acquisition unit 370 determines the relative positions of the two-dimensional radiation centers C11, C12, C21, and C22 based on the positions of the plurality of pins P in three-dimensional coordinates. It may be transmitted to the calculation unit 390.
  • the three-dimensional coordinate calculation unit 390 from the two-dimensional radiation center acquisition unit 370, based on the position of the plurality of pins (P), relative to the two-dimensional radiation centers (C11, C12, C21, C22) You can receive information about the location.
  • the camera unit 140 can recognize the position of the marker M on the second center point measurement module 200, and the camera unit 140 is the marker M obtained on the camera coordinate system.
  • the location of may be transmitted to the marker coordinate conversion unit 340.
  • the marker coordinate conversion unit 340 may convert the position of the marker M into the treatment room coordinate system using a transformation matrix between the camera coordinate system and the treatment room coordinate system.
  • the transformation matrix may be stored.
  • the marker coordinate conversion unit 340 may acquire the coordinates of the marker M in the 3D treatment room coordinate system using the transformation matrix.
  • the marker coordinate conversion unit 340 may transmit the coordinates of the marker M in the coordinate system of the 3D treatment room to the 3D coordinate calculator 390.
  • the 3D coordinate calculation unit 390 includes the positions of the plurality of pins P received from the 2D radiation center acquisition unit 370 and the coordinates of the marker M received from the marker coordinate conversion unit 340 Using, the positions of the 2D radiation centers C11, C12, C21, C22 can be represented (or projected) on the coordinate system of the 3D treatment room. That is, the 3D coordinate calculator 390 may calculate the coordinates of the 2D radiation centers C11, C12, C21, C22 on the 3D treatment room coordinate system.
  • FIG. 17 illustrates an example of a screen in which two-dimensional radiation centers C11, C12, C21, and C22 are projected on a coordinate system of a three-dimensional treatment room according to an embodiment of the present invention.
  • the graph shown in Fig. 17 shows an actual three-dimensional treatment room coordinate system with the laser center point as the origin.
  • the 3D coordinate calculation unit 390 Since the pin (P) moves as a rigid body with the marker (M), when acquiring the position of the marker (M) in the 3D treatment room coordinate system, the 3D coordinate calculation unit 390 is The position of P) can also be calculated. Accordingly, the 3D coordinate calculator 390 may obtain the positions of the 2D radiation centers C11, C12, C21, and C22 based on the position of the pin P in the 3D treatment room coordinate system. That is, the 3D coordinate calculator 390 may calculate the coordinates of the 2D radiation centers C11, C12, C21, and C22 in the 3D treatment room coordinate system.
  • the 3D coordinate calculation unit 390 uses the coordinates of the 2D radiation centers C11, C12, C21, C22 in the 3D treatment room coordinate system, and uses the first coordinates according to the rotation of the collimator 130.
  • the center line L1 and the second center line L2 according to the rotation of the gantry 110 may be obtained.
  • FIG. 18 shows an example of a screen in which a second center point (RI) on a coordinate system of a 3D treatment room is calculated according to an embodiment of the present invention.
  • the first center line L1 according to the rotation of the collimator 130 may be parallel to the line connecting the first two-dimensional radiation centers C11 and C12, and the rotation of the gantry 110
  • the corresponding second center line L2 may be parallel to a line connecting the second 2D radiation centers C21 and C22.
  • the first, second, and third submodules 210, 220, and 230 may be a cube having one side length L.
  • the first center line L1 according to the rotation of the collimator 130 is a line in which a line connecting the first two-dimensional radiation centers C11 and C12 is moved in parallel by L in the y-axis direction.
  • the second center line L2 according to the rotation of the gantry 110 may be a line in which a line connecting the second 2D radiation centers C21 and C22 is moved in parallel by L in the x-axis direction.
  • the first center line L1 is irradiated with radiation while rotating the collimator 130.
  • the collimator 130 is fixed so that the slit of the collimator 130 is parallel to the y-axis and irradiated with radiation while rotating the gantry 110, the second center line L2 becomes the center of the radiation.
  • the 3D coordinate calculator 390 may calculate or obtain a linear equation of the first center line L1 and the second center line L2 in the 3D treatment room coordinate system.
  • the 3D coordinate calculator 390 may determine an intersection point of the first center line L1 and the second center line L2 as the second center point RI.
  • the second central point RI may mean a point defined in the 3D space by centerlines of beams irradiated from various angles in the 3D space.
  • the second central point RI may mean a point defined by intersections of radiations radiated while rotating the gantry 110 and the collimator 130.
  • FIG. 19 schematically shows a method of acquiring a third center point of a radiation treatment apparatus according to an embodiment of the present invention.
  • the operations of FIG. 19 may be performed in a state in which the collimator 130 is removed from the insertion part of the radiation irradiation unit 120.
  • the controller 180 may arrange the third sub-module 230 of the second central point measuring module 200 at the laser central point. Using the crosshairs 239 displayed on the surface of the third sub-module 230, the center of the third sub-module 230 may be aligned with the center point of the laser.
  • S1020 to S1050 may be included in S350 of FIG. 3.
  • the projection image of the third submodule 230 may be acquired for each angle.
  • the imaging apparatus 190 includes 2 of the third submodule 230 with respect to a first cross section parallel to the xy plane, a second cross section parallel to the yz plane, and a third cross section parallel to the zx plane.
  • a dimensional projection image can be obtained.
  • the imaging apparatus 190 may transmit the acquired projection images of the third submodule 230 on the three sections to the 2D image center acquisition unit 290.
  • the 2D image center acquisition unit 290 may calculate 2D coordinates of the metal sphere 231 included in the third submodule 230 with respect to the first, second, and third cross sections.
  • the 2D image center acquisition unit 290 may transmit the calculated three 2D coordinates to the 3D coordinate calculator 390.
  • the 3D coordinate calculator 390 may calculate 3D coordinates of the metal sphere 231 from the calculated 3 2D coordinates. In S1040, the 3D coordinate calculator 390 may determine the 3D coordinate of the metal sphere 231 as a third center point.
  • a 2D projection image can be acquired for each angle.
  • the imaging apparatus 190 may acquire a 2D projection image for a plurality of cross sections according to rotation.
  • the third central point represents a central point of an image captured and reconstructed by the imaging apparatus 190, which is separated from the first central point, the second central point, and the laser central point.
  • FIG. 20 illustrates a screen for verifying quality assurance for a first center point (MI), a second center point (RI), and a third center point (II) on a 3D treatment room coordinate system according to an embodiment of the present invention.
  • the coordinate system shown in FIG. 20 may be a three-dimensional treatment room coordinate system with a laser center point as an origin.
  • the 3D coordinate calculator 390 may determine whether the first central point MI, the second central point RI, and the third central point II are located within a specified distance from the laser central point.
  • the specified distance may be, for example, 1 mm or 0.5 mm.
  • the 3D coordinate calculation unit 390 It can be judged that the quality of the dimensional center point is guaranteed.

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Abstract

La présente invention concerne un procédé d'assurance qualité d'isocentres tridimensionnels de dispositifs de diagnostic et de traitement utilisant un rayonnement. Le procédé comprend les étapes consistant à: insérer, dans un dispositif comprenant un portique ayant un espace espacé d'un axe de rotation et pouvant tourner autour de l'axe de rotation, dans une unité d'irradiation de rayonnement pouvant tourner avec le portique, un premier module de mesure d'isocentre pour mesurer un premier isocentre représentant un centre de rotation du portique; déterminer le premier isocentre en photographiant le premier module de mesure d'isocentre avec une unité de caméra tout en faisant tourner le portique; agencer un second module de mesure d'isocentre pour mesurer un second isocentre représentant un centre auquel un rayonnement est irradié au niveau d'un isocentre laser indiqué par un faisceau laser au centre du portique; insérer un collimateur dans l'unité d'irradiation de rayonnement; déterminer le second isocentre par irradiation d'un rayonnement tout en faisant tourner le portique et le collimateur; obtenir une image de projection bidimensionnelle d'au moins une partie du second module de mesure d'isocentre à l'aide d'un dispositif d'imagerie, et à déterminer un troisième isocentre représentant un isocentre d'une image reconstruite par le dispositif d'imagerie; et à déterminer si le premier isocentre, le deuxième isocentre, le troisième isocentre et l'isocentre laser sont situés à une distance spécifiée.
PCT/KR2020/004896 2019-04-11 2020-04-10 Système et procédé d'assurance qualité d'isocentres tridimensionnels de dispositifs de diagnostic et de traitement utilisant un rayonnement WO2020209667A1 (fr)

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KR1020190042743A KR102219338B1 (ko) 2019-04-11 2019-04-11 방사선을 이용한 진단 및 치료 장치의 3차원 중심점의 품질 보증 시스템 및 방법

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