JP5772342B2 - Radiation therapy tracking system - Google Patents

Description

  The present invention relates to a radiotherapy moving body tracking apparatus that tracks a moving body related to a treatment site by X-ray fluoroscopy in order to irradiate the treatment site with radiation.

  Conventionally, stereotactic radiotherapy of the head for the immobile head was first developed, and then the body was treated with radiation therapy assuming that the tumor at the treatment site did not move with the trunk fixed for the whole body Stereotactic radiotherapy for executives has been developed. However, when radiotherapy is performed in a state where the trunk is fixed for the whole body, physical and mental pains are imposed on the subject. Moreover, even if the trunk is fixed, the tumor at the treatment site does not always move and does not necessarily stay in place.

  Therefore, a marker is placed on the body surface of the subject, the marker placed on the body surface is tracked by utilizing the respiratory synchronization of the subject, and the treatment site is reached when it comes to a predetermined position by breathing (for example, expiratory period) In recent years, stereotactic radiotherapy has been developed in which radiation therapy is performed by irradiating the body with radiation. However, the movement of the marker placed on the body surface does not always match the movement of the tumor in the body.

  Therefore, a radiotherapy moving body tracking device has also been developed in recent years that tracks a tumor at a treatment site by embedding a marker near a tumor in the body and tracking the marker by X-ray fluoroscopy. In this moving body tracking device for radiotherapy, radiotherapy is performed by irradiating the treatment site with radiation when the marker reaches a predetermined position (see, for example, Patent Document 1).

  A conventional radiation therapy moving body tracking apparatus includes an imaging system as X-ray fluoroscopy for tracking a moving body, and the imaging system includes an X-ray tube that emits X-rays and an X-ray detector that detects the X-rays (for example, Image intensifier or flat panel X-ray detector). When performing X-ray fluoroscopy at a desired position by moving the video system, in addition to the method of laying a rail and moving the video system along the rail, the video system is placed on a circular movable base and moved There is a method to make it.

  The sequence control device that controls the movable base controls the movement of the video system based on the position setting (setup) information of the video system, and the movable base itself moves to move the video system. On the other hand, the radiation therapy moving body tracking device is divided into an operation room and a treatment room. In the operation room, a moving body tracking processing unit for processing moving body tracking is arranged, and a dedicated console is provided. Then, the moving body tracking processing unit performs processing such as pattern recognition on the X-ray image obtained by X-ray fluoroscopy using the video system and calculation of the coordinate position of the tumor. In addition to such a moving body tracking processing unit including a dedicated console, an operation console (input unit) for inputting commands, commands, and the like to the moving body tracking processing unit is disposed in the operation room. In addition to an image system and a movable pedestal, a radiotherapy apparatus (for example, linac) that irradiates a treatment site is disposed in the treatment room.

  In order to prevent the X-ray for fluoroscopy from being blocked by the gantry or bed of the radiotherapy apparatus, the position of the video system is set (setup) by moving the movable base before tracking the moving body. On the other hand, the moving object tracking processing unit has parameters that are changed depending on the position of the video system. This is three-dimensional position information (three-dimensional position calculation parameters) possessed by the X-ray tube or the X-ray detector.

  On the radiation therapy apparatus side, there are a gantry position and a bed position as position information related to the treatment. The operator (operator) moves the gantry and bed of the radiotherapy apparatus in the treatment room and performs position setting (setup) for treatment. After that, the position of the video system is set (setup) by moving the movable base so that the video system is arranged at a position that is not blocked by the gantry or bed of the radiotherapy apparatus.

Japanese Patent No. 3053389

  However, conventionally, the movable pedestal arranged in the treatment room and the radiation treatment apparatus arranged in the same treatment room are not linked. Therefore, when moving the gantry or bed of the radiotherapy device in the treatment room, the operator must set the position of the radiotherapy device in order to set the position of the video system so that it is not obstructed by the gantry or bed. (Setup) After grasping the situation, it is necessary to set the position of the movable base (X-ray fluoroscopy device) separately. In addition, when X-ray fluoroscopy is performed using an image system after setting, there is a possibility that the fluoroscopy is actually blocked by a radiotherapy device (such as a gantry or bed).

  Further, the moving body tracking processing unit arranged in the operation room and the radiotherapy apparatus arranged in the treatment room are not linked. The moving body tracking processing unit obtains the coordinates of the tumor, and when the coordinates of the tumor reach a predetermined position (for example, during the expiration period), a command for irradiating the tumor at the treatment site with radiation from the radiation source of the radiation therapy apparatus Although it is sent from the tracking processing unit to the radiotherapy device, it only sends an irradiation command (command) at the irradiation timing, and the moving body tracking processing unit cannot grasp the position setting (setup) status of the radiotherapy device.

  The present invention has been made in view of such circumstances, and a moving body tracking apparatus for radiotherapy in which the moving body tracking processing means or the movement control means can grasp position information regarding the gantry, bed, etc. of the radiation irradiating means. The purpose is to provide.

In order to achieve such an object, the present invention has the following configuration.
That is, the radiotherapy moving body tracking apparatus according to the present invention is a radiotherapy moving body tracking apparatus for tracking a moving body related to the treatment site by X-ray fluoroscopy in order for the radiation irradiation means to irradiate the treatment site with radiation. Video comprising moving body tracking processing means for processing moving body tracking, an X-ray tube for irradiating X-rays for performing X-ray fluoroscopy, and X-ray detection means for detecting X-rays for performing X-ray fluoroscopy system and the a movement control means for controlling the movement of the imaging system, is characterized in that communicatively constituting said movement control means and said irradiation means.

[Operation and Effect] According to the moving body tracking apparatus for radiotherapy according to the present invention, the radiation irradiating means for irradiating the treatment site and the movement control means for controlling the movement of the video system are configured to be communicable. Both the radiation irradiation means and the movement control means can share information. As a result , both the radiation irradiating means and the movement control means can grasp the status of each other's information, and the movement control means can grasp the positional information related to the gantry, bed, etc. possessed by the radiation irradiating means. Thereby, the burden on the operator can be reduced.

  In the above-described example of the invention, the radiation irradiation unit and the moving object tracking processing unit are configured to be communicable, and the moving object tracking processing unit and the movement control unit are configured to be able to communicate with each other. Is configured to be communicable. Both the radiation irradiation means and the movement control means can grasp each other's information status via the moving object tracking processing means, and both the radiation irradiation means and the moving object tracking processing means, both the moving object tracking processing means and the movement control means. Can also grasp each other's information.

In these inventions described above, it is preferable that the radiation irradiating means and the moving object tracking processing means are configured to be communicable so that the moving object tracking processing means receives position information regarding the gantry, bed, etc. of the radiation irradiating means. Since the moving body tracking processing means can receive position information on the gantry, bed, etc. of the radiation irradiating means and the moving body tracking processing means can grasp the information, the moving object tracking does not require the operator to judge the information by himself / herself. It can be performed.
Further, instead of the moving body tracking means, the movement control means may grasp the information. That is, in the present application, since the radiation irradiating means and the movement control means are configured to be communicable, the movement control means may receive position information regarding the gantry, bed, etc. of the radiation irradiating means. Since the movement control means receives the information and the movement control means can grasp the information, the movement of the video system can be controlled based on the information.

  In these inventions described above, it is preferable to include an optimum position determining means for determining an optimum position related to the video system in accordance with position information related to the gantry or bed of the radiation irradiating means. Since the optimum position for the video system is automatically determined according to the position information about the gantry and bed of the radiation irradiation means, the operator does not need to set the position of the video system himself, and X-ray fluoroscopy with the video system is accurate. Can be done.

  In the case where the optimum position determining means is provided, it is more preferable to determine as follows. That is, a storage means for storing the relationship between the position of the image system and the position of the radiation irradiation means that the radiation irradiation means is not obstructed is provided, and the optimum position determination means is the position of the image system stored in the storage means and the radiation irradiation. By referring to the relationship with the position of the means, the optimum position for the video system is automatically determined based on the position information about the gantry, bed, etc. of the radiation irradiating means, so that the operator himself (not to block the radiation irradiating means) It is not necessary to set the position of the image system, and X-ray fluoroscopy can be accurately performed at a position where the radiation irradiating means does not block.

In an example provided with the optimum position judging means, each piece of information is transmitted from the radiation irradiating means to the movement control means via the moving body tracking processing means. That is, as described above, the radiation irradiation unit and the moving object tracking processing unit are configured to be communicable, and the moving object tracking processing unit and the movement control unit are configured to be communicable, so that the radiation irradiation unit and the movement control unit are Is configured to be communicable. Then, the moving body tracking processing means receives the position information regarding the gantry and bed of the radiation irradiating means, and the optimum position determining means determines the optimum position regarding the video system according to the received position information regarding the gantry and bed of the radiation irradiating means. to decide. Further, the optimal position related to the video system determined by the optimal position determination unit is transmitted to the movement control unit, and the video system is moved based on the position information. In this way, since each piece of information is transmitted from the radiation irradiation means to the movement control means via the moving body tracking processing means, the operator does not have to set the position of the video system himself, and X-ray fluoroscopy by the video system can be performed accurately. It can be carried out.
Further, the movement control unit may receive the information instead of the moving body tracking unit, and the movement control unit may move the video system based on the optimum position. That is, in the present application, since the radiation irradiating means and the movement control means are configured to be communicable, the movement control means receives positional information regarding the gantry or bed of the radiation irradiating means, and the received gantry or The optimum position judging means judges the optimum position relating to the video system according to the position information relating to the bed or the like. Further, the movement control means may move the video system based on the optimal position related to the video system determined by the optimal position determination means. In particular, when the radiation irradiating means and the movement control means are configured to be directly communicable without using the moving object tracking means, the moving object tracking processing means is omitted, and the radiation irradiating means and the movement control means are directly communicated. Therefore, the movement control means can receive the positional information on the gantry, bed, etc. of the radiation irradiating means without going through the moving body tracking processing means.

  In these inventions described above, an example of the movement control means is a movable base that supports the video system and is movable. In this example, since the radiation irradiating means and the movable pedestal are configured to be communicable, both the radiation irradiating means and the movable pedestal can share information. As a result, both the radiation irradiating means and the movable pedestal can grasp the status of each other's information, and the movable pedestal can grasp positional information regarding the gantry, the bed, etc. of the radiation irradiating means.

According to the radiotherapy moving body tracking apparatus according to the present invention, the radiation irradiation means for irradiating the treatment site and the movement control means for controlling the movement of the video system are configured to be communicable, so that the radiation irradiation means and Both movement control means can share information and grasp the status of each other's information, and the movement control means can grasp position information about the gantry and bed etc. possessed by the radiation irradiation means, and the video system is optimal Can be placed at any position.

It is the schematic of the moving body tracking device for radiotherapy which concerns on Example 1, 2, (a) is a top view, (b) is a front view, (c) is a right view. 1 is a block diagram of a moving body tracking device for radiation therapy according to a first embodiment. It is a block diagram of the moving body tracking device for radiotherapy which concerns on Example 2. FIG. It is a block diagram of the moving body tracking device for radiation therapy concerning the modification of Example 1. It is a block diagram of the moving body tracking device for radiotherapy which concerns on the modification of Example 2. FIG.

Embodiment 1 of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic diagram of a radiation therapy moving body tracking apparatus according to the first and second embodiments, and FIG. 2 is a block diagram of the radiation therapy moving body tracking apparatus according to the first embodiment.

  As shown in FIG. 1, the radiotherapy moving object tracking apparatus includes an image system 2 (see the plan view of FIG. 1A) and is used in combination with the radiotherapy apparatus 1. The radiation therapy apparatus 1 is a linear accelerator type called a linac or linac, or a particle beam apparatus type such as a proton beam or a carbon beam, and a radiation source 11 that irradiates a treatment site with radiation such as an X-ray or a particle beam. A gantry 12 having the radiation source 11 therein and rotatable in the direction shown in FIG. 1B around the y-axis center shown in FIG. 1C, and the floor or wall surface supporting the gantry 12 And a bed 14 on which a subject to be treated (not shown) is placed. The bed 14 includes a lifting platform 14A that can be moved up and down in the vertical direction, and a top plate 14B that can slide in the horizontal direction with respect to the lifting platform 14A and on which the subject is placed. The radiation therapy apparatus 1 corresponds to the radiation irradiating means in the present invention, and the image system 2 corresponds to the image system in the present invention.

  As shown in the plan view of FIG. 1A, the video system 2 includes an X-ray tube 21 that emits X-rays to perform X-ray fluoroscopy, and an X-ray that detects X-rays to perform X-ray fluoroscopy. And a detector 22. As shown in FIG. 1, the X-ray tube 21 irradiates X-rays toward the tumor center corresponding to the treatment isocenter, and the X-ray detector 22 detects X-rays passing from the isocenter. The X-ray detector 22 is not particularly limited as long as it is a commonly used detector, as exemplified by an image intensifier, a flat panel X-ray detector, and the like. The X-ray tube 21 corresponds to the X-ray tube in the present invention, and the X-ray detector 22 corresponds to the X-ray detection means in the present invention.

  In FIG. 1, two sets of video systems 2 (see the plan view of FIG. 1A) are provided. Specifically, two X-ray tubes 21 and two X-ray detectors 22 are provided. The number of sets of the video system 2 is not particularly limited.

  In addition, the radiation therapy moving body tracking device includes a movable base 31 having a circular shape (see the plan view of FIG. 1A) disposed on the floor surface. The X-ray tube 21 is moved on the movable base 31. The radiation therapy moving body tracking apparatus includes a movable base 41 having a circular shape (see the plan view of FIG. 1A) disposed on the ceiling surface. The X-ray detector 22 is placed on the movable base 41 and moved.

  In addition, as shown in FIG. 2, the radiotherapy moving object tracking device includes a moving object tracking processing unit 5 that processes moving object tracking. The moving object tracking processing unit 5 includes an image collection unit, a pattern recognition unit, a tumor coordinate calculation unit, an irradiable position determination unit, and an irradiation instruction unit (all not shown). The moving body tracking processing unit 5 corresponds to the moving body tracking processing means in the present invention.

  In addition, as shown in FIG. 2, the radiation therapy moving body tracking device includes a sequence control device 6 that controls the video system 2. The moving object tracking processing unit 5 and the sequence control device 6 described above are configured by a central processing unit (CPU) or the like, and the above-described movable bases 31 and 41 are equipped with a CPU. In the first embodiment including the second embodiment described later, the sequence control device 6 controls the movement of the movable bases 31 and 41 while synchronizing them. By controlling in this way, the sequence control device 6 controls the movement of the video system 2 via the movable bases 31 and 41. Therefore, the sequence control device 6 corresponds to the movement control means in this invention.

  The image collection unit of the moving body tracking processing unit 5 collects an X-ray image obtained by X-ray fluoroscopy based on the X-rays irradiated from the X-ray tube 21 of the video system 2 and detected by the X-ray detector 22. The pattern recognition unit of the moving body tracking processing unit 5 performs matching between the image information of the marker photographed in advance and the target X-ray image, and the marker is reflected in the target X-ray image based on the matching result. Pattern recognition is performed. The tumor coordinate calculation unit of the moving body tracking processing unit 5 calculates the coordinates of the tumor by calculation based on the positional relationship between the embedded marker and the tumor. The irradiable position determination unit of the moving body tracking processing unit 5 determines the irradiable position based on whether or not the tumor coordinates are at a predetermined position (for example, a call position). The irradiation instruction unit of the moving body tracking processing unit 5 receives a command for irradiating radiation from the radiation source 11 (see FIG. 1) of the radiation therapy apparatus 1 when the coordinates of the tumor come to a predetermined position (for example, call period), It is sent to the radiation therapy apparatus 1.

  The radiotherapy moving body tracking apparatus includes an input unit 7 for inputting a command, an instruction, or the like to the moving body tracking processing unit 5. The input unit 7 includes a pointing device represented by a mouse, a keyboard, a joystick, a trackball, a touch panel, and the like, and includes an operation console in the first embodiment including the second embodiment described later. In the first embodiment, the console includes, for example, a “treatment position information acquisition button” and an “X-ray fluoroscopy device setting button”. These buttons will be described in detail later.

In the first embodiment including the second embodiment described later, the radiation therapy moving body tracking device includes table information 8. Table information 8 includes ROM (Read Only Memory) and RAM (Random
In the first embodiment, the moving object tracking processing unit 5 is provided with a storage medium such as an access memory. Of course, the moving object tracking processing unit 5 and the table information 8 may be separated from each other. The relationship between the position of the image system 2 such that the gantry 12 (see FIG. 1) and the bed 14 (see FIG. 1) of the radiotherapy apparatus 1 are not obstructed and the position of the radiotherapy apparatus 1 (the gantry 12 and bed 14). Is previously written and stored in the table information 8. Here, the relationship between the position of the imaging system 2 where the gantry 12 and the bed 14 of the radiation therapy apparatus 1 are not obstructed and the position of the radiation therapy apparatus 1 (the gantry 12 and the bed 14 thereof) is the X-ray of the imaging system 2. A relationship is shown in which the gantry 12 and the bed 14 of the radiotherapy apparatus 1 are not positioned on the X-ray irradiation axis connecting the tube 21 and the X-ray detector 22. The table information 8 corresponds to the storage means in this invention.

  In the first embodiment, the moving body tracking processing unit 5 (the CPU thereof) has an optimum position determination function for determining the optimum position related to the video system 2 in accordance with the position information related to the radiation therapy apparatus 1. As described above, the position information regarding the radiation therapy apparatus 1 includes a gantry position and a bed position. The moving body tracking processing unit 5 of the first embodiment also corresponds to the optimum position determination means in this invention.

  Further, the radiotherapy device 1 and the moving body tracking processing unit 5 are configured to be communicable, and the moving body tracking processing unit 5 and the sequence control device 6 that controls the movable bases 31 and 41 are configured to be communicable, so that the radiotherapy is performed. The apparatus 1 and the sequence control apparatus 6 are configured to be communicable. The radiotherapy device 1 and the moving body tracking processing unit 5 are configured to be communicable by electrically connecting the radiotherapy device 1 and the moving body tracking processing unit 5 with a cable. Similarly, the moving object tracking processing unit 5 and the sequence control device 6 are configured to be communicable by electrically connecting the moving object tracking processing unit 5 and the sequence control device 6 with a cable. Of course, the radiotherapy apparatus 1 and the moving body tracking processing unit 5 may be configured to communicate with each other wirelessly in addition to a wired cable, and the moving body tracking processing unit 5 and the sequence control device 6 may be configured to be communicable. Wired and wireless may be combined.

  Next, specific setup of the “treatment position information acquisition button” and the “X-ray fluoroscopy device setting button” will be described.

[Treatment position information acquisition button]
First, the operator (operator) moves the gantry 12 and the bed 14 of the radiotherapy apparatus 1 in the treatment room, and performs position setting (setup) for treatment.

  Next, the operator moves to the operation room and operates the moving body tracking processing unit 5 by inputting a command through the input unit 7 and sending it to the moving body tracking processing unit 5. For example, a “treatment position information acquisition button” is pressed.

  By pressing the “treatment position information acquisition button”, the radiotherapy apparatus 1 and the moving body tracking processing unit 5 communicate with each other. Then, the moving body tracking processing unit 5 receives position setting (setup) information of the gantry 12 and the bed 14 of the radiotherapy apparatus 1.

  The moving body tracking processing unit 5 refers to the table information 8 and based on the received setup information (position information on the gantry 12, the bed 14, etc.) of the radiotherapy device 1, the gantry 12 and the bed 14 of the radiotherapy device 1. The position of the video system 2 is determined so as not to block, and the positions of the movable bases 31 and 41 are also determined.

  Accordingly, it is not necessary for the operator to grasp the position setting (setup) status of the gantry 12 and the bed 14 of the radiotherapy apparatus 1 as in the prior art, and setup information (the gantry 12 and the bed 14 etc.) of the radiotherapy apparatus 1 by reception. Position information) can be automatically grasped. Further, it is not necessary to set the positions of the movable bases 31 and 41 (X-ray fluoroscopy devices) separately, and the position of the image system 2 is automatically determined so that the gantry 12 and the bed 14 of the radiotherapy apparatus 1 are not obstructed. As a result, the positions of the movable bases 31 and 41 can also be automatically determined.

[X-ray fluoroscopy device setting button]
The operator operates the moving body tracking processing unit 5 by inputting a command through the input unit 7 in the operation room and sending it to the moving body tracking processing unit 5. For example, the “X-ray fluoroscopy device setting button” is pressed.

  By pressing the “X-ray fluoroscopy device setting button”, the moving object tracking processing unit 5 and the sequence control device 6 communicate with each other. Then, the moving body tracking processing unit 5 transmits the position of the video system 2 such that the gantry 12 and the bed 14 of the radiotherapy apparatus 1 are not obstructed to the movable bases 31 and 41 via the sequence control device 6, respectively. Simultaneously with the transmission, the position of the video system 2 is automatically set internally as a three-dimensional position calculation parameter on the moving body tracking processing unit 5 side.

  The sequence control device 6 that controls the movable bases 31 and 41 controls the movement of the video system 2 based on the position of the video system 2 transmitted from the moving body tracking processing unit 5. If the position setting information set by the movable pedestals 31 and 41 and the position of the video system 2 transmitted from the moving body tracking processing unit 5 are different, the position of the video system 2 transmitted from the moving body tracking processing unit 5 is set. By controlling the movement of the video system 2 based on this, the position change of the video system 2 can be remotely operated from the operation room in which the moving object tracking processing unit 5 is arranged.

  According to the radiation therapy moving body tracking apparatus according to the first embodiment having the above-described configuration, the radiation therapy apparatus 1 that irradiates the treatment site with radiation and the moving body tracking processing unit 5 that processes the motion tracking can communicate with each other. By configuring, both the radiation therapy apparatus 1 and the moving object tracking processing unit 5 can share information. As a result, both the radiotherapy device 1 and the moving body tracking processing unit 5 can grasp the status of each other's information, and the moving body tracking processing unit 5 obtains positional information regarding the gantry 12, the bed 14, etc. of the radiotherapy device 1. I can grasp it. Thereby, the burden on the operator (operator) can be reduced.

  In the first embodiment, the radiotherapy device 1 and the moving body tracking processing unit 5 are configured to be communicable, and the moving body tracking processing unit 5 and the movement control means (sequence control device 6 in the first embodiment) can communicate. By comprising, the radiotherapy apparatus 1 and the movement control means are comprised so that communication is possible. Both the radiotherapy device 1 and the movement control means can grasp the status of each other's information via the moving body tracking processing unit 5, and both the radiotherapy device 1 and the moving body tracking processing unit 5, the moving body tracking processing unit 5 and Both of the movement control means can also grasp each other's information. In this way, the video system 2 can be arranged at an optimal position.

  In the first embodiment, preferably, the radiotherapy device 1 and the moving body tracking processing unit 5 are configured to be able to communicate with each other, and the moving body tracking processing unit 5 receives position information regarding the gantry 12 and the bed 14 of the radiotherapy device 1. ing. Since the moving body tracking processing unit 5 receives position information regarding the gantry 12 and the bed 14 of the radiation therapy apparatus 1 and the moving body tracking processing unit 5 can grasp the information, the operator (operator) can receive the information. It is possible to track a moving object without having to make a judgment on its own.

  In the first embodiment, preferably, an optimal position determination function for determining an optimal position with respect to the video system 2 according to position information regarding the gantry 12 and the bed 14 of the radiotherapy apparatus 1 is provided. Since the optimum position for the image system 2 is automatically determined according to the position information regarding the gantry 12 and the bed 14 of the radiotherapy apparatus 1, the operator (operator) does not need to set the position of the image system 2 himself. X-ray fluoroscopy with the video system 2 can be performed accurately.

  In the case where the optimal position determination function is provided, the determination is preferably performed as follows. That is, the table information 8 for storing the relationship between the position of the image system 2 and the position of the radiation therapy apparatus 1 that the radiation therapy apparatus 1 is not obstructed is provided, and the function of determining the optimum position is the image stored in the table information 8. With reference to the relationship between the position of the system 2 and the position of the radiation therapy apparatus 1, the optimum position for the video system 2 is automatically determined based on the position information regarding the gantry 12, the bed 14, etc. of the radiation therapy apparatus 1. It is not necessary for the operator (operator) to set the position of the image system 2 (so that the radiotherapy apparatus 1 is not obstructed), and X-ray fluoroscopy by the image system 2 is accurately performed at a position where the radiotherapy apparatus 1 is not obstructed. Can be done.

  When the optimal position determination function is provided as in the first embodiment, each piece of information is sent from the radiotherapy apparatus 1 to the movement control means (sequence control apparatus 6 in the first embodiment) via the moving body tracking processing unit 5. Send. That is, as described above, the radiotherapy apparatus 1 and the moving body tracking processing unit 5 are configured to be communicable, and the moving body tracking processing unit 5 and the movement control unit are configured to be communicable, so that Are configured to be communicable. And the moving body tracking process part 5 receives the positional information regarding the gantry 12, the bed 14, etc. of the radiotherapy apparatus 1, and regarding the video system 2 according to the received positional information regarding the gantry 12, the bed 14, etc. of the radiotherapy apparatus 1. The optimum position determination function determines the optimum position. Further, the optimal position related to the video system 2 determined by the function of determining the optimal position is transmitted to the movement control means, and the video system 2 is moved based on the position information. Thus, since each information is transmitted to the radiation therapy apparatus 1 via the moving body tracking processing unit 5, it is not necessary for the operator (operator) to set the position of the video system 2 by himself / herself. Can be done accurately.

Next, Embodiment 2 of the present invention will be described with reference to the drawings.
FIG. 3 is a block diagram of the moving body tracking apparatus for radiotherapy according to the second embodiment. The portions common to the above-described first embodiment are denoted by the same reference numerals and the description thereof is omitted.

  Also in the second embodiment, as shown in FIG. 1, the radiotherapy moving body tracking apparatus includes an image system 2 and is used in combination with the radiotherapy apparatus 1. Similar to the first embodiment, the radiation therapy apparatus 1 includes a radiation source 11, a gantry 12, a base 13, and a bed 14. The radiation therapy apparatus 1 corresponds to the radiation irradiating means in the present invention, and the image system 2 corresponds to the image system in the present invention.

  Similar to the first embodiment described above, the video system 2 includes an X-ray tube 21 and an X-ray detector 22. Similar to the first embodiment described above, the moving body tracking apparatus for radiotherapy includes movable bases 31 and 41. The X-ray tube 21 corresponds to the X-ray tube in the present invention, and the X-ray detector 22 corresponds to the X-ray detection means in the present invention.

  In addition, as in the first embodiment described above, as shown in FIG. 3, the radiotherapy apparatus includes a moving body tracking processing unit 5, a sequence control device 6, an input unit 7, and table information 8. The moving body tracking processing unit 5 corresponds to the moving body tracking processing means in this invention, the sequence control device 6 corresponds to the movement control means in this invention, and the table information 8 corresponds to the storage means in this invention.

  In the second embodiment, unlike the first embodiment, the moving body tracking processing unit 5 is omitted for communication, and the radiotherapy apparatus 1 and the sequence control apparatus 6 are configured to be directly communicable. The table information 8 is provided in the sequence control device 6. Of course, the sequence control device 6 and the table information 8 may be separated from each other.

  Therefore, in the second embodiment, the sequence control device 6 (the CPU thereof) has an optimum position determination function for determining the optimum position related to the video system 2 according to the position information related to the gantry 12 and the bed 14 of the radiation therapy apparatus 1. Have. In particular, the function of determining the optimum position refers to the relationship between the position of the image system 2 stored in the table information 8 and the position of the radiation therapy apparatus 1 (the gantry 12 or the bed 14 thereof), and the radiation therapy apparatus 1. The optimum position for the video system 2 is determined based on the position information regarding the gantry 12 and the bed 14. The sequence control device 6 of the second embodiment also corresponds to the optimum position determination means in this invention.

  Also in the second embodiment, first, the operator (operator) moves the gantry 12 and the bed 14 of the radiation therapy apparatus 1 in the treatment room, and performs position setting (setup) for treatment.

  Next, the operator operates the sequence control device 6 by inputting a command to the sequence control device 6 through the input unit 7 in the same treatment room. For example, a “treatment position information acquisition button” is pressed.

  By pressing the “treatment position information acquisition button”, the radiotherapy apparatus 1 and the sequence control apparatus 6 communicate with each other. Then, the sequence control device 6 receives position setting (setup) information related to the gantry 12 and the bed 14 of the radiotherapy device 1.

  The sequence control device 6 refers to the table information 8 and determines whether the gantry 12 or the bed 14 of the radiotherapy device 1 is based on the received setup information (position information about the gantry 12 or the bed 14) of the radiotherapy device 1. The position of the image system 2 that is not obstructed is obtained, and the positions of the movable bases 31 and 41 are also obtained. Then, the movement of the video system 2 is controlled from the sequence control device 6.

  As in each embodiment, when the moving body tracking processing unit 5 is arranged in the operation room and the radiotherapy apparatus 1 and the sequence control apparatus 6 are arranged in the treatment room, the moving body is in communication as in the second embodiment. When the tracking processing unit 5 is omitted and the radiotherapy apparatus 1 and the sequence control apparatus 6 are configured to be directly communicable, the following effects are also achieved.

  That is, since the moving body tracking processing unit 5 is omitted for communication and the radiation therapy apparatus 1 and the sequence control device 6 communicate directly, the radiation therapy apparatus 1 is operated in the treatment room without going through the moving body tracking processing unit 5. Subsequently, the sequence controller 6 is operated in the same treatment room so that the sequence controller 6 receives the position setting (setup) information of the radiation therapy apparatus 1 and controls the movement of the video system 2 based on the information. Therefore, unlike Example 1, it is not necessary for the operator to move to the operation room in which the moving body tracking processing unit 5 is arranged in order to receive the setup information, and by operating the sequence control device 6 in the same treatment room, Setup information can be received directly without going through the moving body tracking processing unit 5. Further, unlike the first embodiment, it is not necessary to transmit the position of the video system 2 from the moving body tracking processing unit 5 to the sequence control device 6 (so that the radiation therapy device 1 does not block). A button such as “X-ray fluoroscopy device setting button” can be omitted.

  According to the radiotherapy moving body tracking apparatus according to the second embodiment having the above-described configuration, the radiotherapy apparatus 1 that irradiates the treatment site with radiation, and the movement control unit that controls the movement of the video system 2 (the present embodiment). Then, by configuring the sequence control device 6) to be communicable, both the radiotherapy device 1 and the movement control means can share information. As a result, both the radiotherapy apparatus 1 and the movement control means can grasp the status of each other's information, and the movement control means can grasp the positional information regarding the gantry 12, the bed 14, and the like that the radiotherapy apparatus 1 has. it can. Thereby, the burden on the operator (operator) can be reduced.

  The operations and effects of the optimum position determination function are the same as those in the first embodiment except that the optimum position determination function is provided in the sequence control device 6 in the second embodiment, and thus the description thereof is omitted. To do.

  The present invention is not limited to the above-described embodiment, and can be modified as follows.

  (1) In the first embodiment described above, the movement control means is the sequence control device 6 and the function of the movement control means and the movable pedestal are separated from each other. However, the movable pedestal is mounted with a CPU and is movable. The pedestal may also have a function of movement control means for controlling movement of the video system. For example, as shown in FIG. 4, the radiotherapy apparatus 1 and the moving body tracking processing unit 5 are configured to be communicable, and the moving body tracking processing unit 5 and the movable bases 31 and 41 are configured to be communicable to each other. You may comprise the treatment apparatus 1 and the movable bases 31 and 41 so that communication is possible. In the case of this modification (1), the movable pedestals 31 and 41 correspond to the movable pedestals in the present invention, and also correspond to the movement control means in the present invention. In FIG. 4, the sequence control device 6 is configured separately from the movable pedestals 31 and 41, but the functions of the sequence control device 6 may be mounted on the movable pedestals 31 and 41.

  (2) In the second embodiment described above, the movement control means is the sequence control device 6, and the function of the movement control means and the movable pedestal are separated from each other. However, similarly to the modification (1) described above. The movable pedestal may be equipped with a CPU, and the movable pedestal may also be equipped with a function of movement control means for controlling movement of the video system. For example, as shown in FIG. 5, the radiotherapy apparatus 1 and the movable bases 31 and 41 may be configured to be communicable. Even in this modification (2), the movable bases 31 and 41 correspond to the movable base in the present invention, and also correspond to the movement control means in the present invention. In FIG. 5, the sequence control device 6 is configured separately from the movable pedestals 31 and 41, but the function of the sequence control device 6 also functions as the movable pedestals 31 and 41 as described in the above-described modification (1). 41 may be mounted.

  (3) In each of the above-described embodiments, the movable pedestals 31 and 41 are separated for the X-ray tube 21 and the X-ray detector 22, but the X-ray tube 21 and the X-ray detector 22 are moved together. Further, the movable bases 31 and 41 may be integrated. In that case, as in the above-described embodiments, the function of the movement control means and the movable base may be separated from each other.

  (4) In the above-described first embodiment, the moving body tracking processing unit 5 receives position information regarding the gantry 12 and the bed 14 of the radiotherapy apparatus 1, and in the above-described second embodiment, the gantry 12 and the bed of the radiotherapy apparatus 1. Although the movement control means (sequence control device 6 in the second embodiment) has received the position information regarding 14 etc., the information (for example, three-dimensional position calculation parameters) that the moving object tracking processing unit 5 has or the information (for example, the movement control means that has The positions of the video system 2 and the movable bases 31 and 41) may be transmitted to the radiation therapy apparatus 1. As described above, information shared by both the radiotherapy apparatus 1 and the moving body tracking processing unit 5 or both the radiotherapy apparatus 1 and the movement control means is not particularly limited.

  (5) In the first embodiment described above, the radiotherapy device 1 and the moving body tracking processing unit 5 are configured to be communicable, and the moving body tracking processing unit 5 and the movement control means (sequence control device 6 in the first embodiment) are provided. By communicably configuring, the radiotherapy apparatus 1 and the movement control means are configured to be communicable. In the above-described second embodiment, the moving body tracking processing unit 5 is omitted for communication, and the radiotherapy apparatus 1 and the movement control means. (In Example 2, the sequence control device 6) is configured to be communicable, but conversely, the movement control means may be omitted for communication, and the radiotherapy device 1 and the moving body tracking processing unit 5 may be configured to be communicable. For example, as in the modification (4) described above, when transmitting the three-dimensional position calculation parameters of the moving body tracking processing unit 5 to the radiation therapy apparatus 1, the radiation therapy apparatus 1 and the moving body tracking processing unit 5 can communicate with each other. It is only necessary to configure.

  (6) In each of the embodiments described above, the position of the image system 2 that is not blocked by the radiation therapy apparatus 1 has been described as an example of the optimal position regarding the image system 2. It is not limited to the position of the image system 2 that the radiotherapy apparatus 1 does not block. For example, the X-ray tube 21 and the X-ray detector 22 positioned in a specific direction (for example, the front direction and the side surface direction) may be the optimum position of the video system 2.

  (7) In each of the above-described embodiments, the movable pedestal is used to move the X-ray tube 21 and the X-ray detector 22, but at least one of the X-ray tube and the X-ray detector is moved other than the movable pedestal. It may be moved using means (eg rails). For example, a rail may be used to move the X-ray tube, the X-ray tube may be moved along the rail, or a rail may be used to move the X-ray detector, and the X-ray tube may be moved along the rail. The line detector may be moved. Further, a movable pedestal is used to move either the X-ray tube or the X-ray detector, and a moving means (for example, a rail) other than the movable pedestal is used to move the other. You may combine with a means.

DESCRIPTION OF SYMBOLS 1 ... Radiation therapy apparatus 2 ... Video system 21 ... X-ray tube 22 ... X-ray detector 31, 41 ... Movable base 5 ... Moving body tracking processing part 6 ... Sequence control apparatus 8 ... Table information

Claims (7)

A radiation therapy moving body tracking device for tracking a moving body related to the treatment site by X-ray fluoroscopy in order for the radiation irradiation means to irradiate the treatment site with radiation,
A moving body tracking processing means for processing the moving body tracking;
An image system comprising an X-ray tube that emits X-rays to perform the X-ray fluoroscopy, and an X-ray detection unit that detects the X-rays to perform the X-ray fluoroscopy;
A movement control means for controlling movement of the video system,
The radiation irradiation means and the movement control means are configured to be communicable ,
Optimal position determination means for determining an optimal position for the video system according to position information regarding the radiation irradiation means;
Storage means for storing the relationship between the position of the image system and the position of the radiation irradiating means such that the radiation irradiating means is not obstructed;
The relationship between the position of the image system and the position of the radiation irradiating means that the radiation irradiating means is not obstructed is that the radiation irradiating means is on the X-ray irradiation axis connecting the X-ray tube and the X-ray detecting means. A non-positional relationship
The optimum position determination means refers to the relationship between the position of the image system and the position of the radiation irradiation means stored in the storage means according to the position information related to the radiation irradiation means, and determines the optimum position related to the image system. Determine the position,
The radiotherapy moving object tracking device , wherein the movement control means moves the video system based on an optimal position related to the video system determined by the optimal position determination means . The moving body tracking device for radiotherapy according to claim 1,
While configuring the radiation irradiation means and the moving object tracking processing means to be communicable,
By configuring the moving object tracking processing means and the movement control means to be communicable,
A radiation therapy moving body tracking device, wherein the radiation irradiating means and the movement control means are communicable. In the moving body tracking device for radiotherapy according to claim 1 or 2,
The radiation irradiating means and the moving object tracking processing means are configured to be communicable,
The radiotherapy moving object tracking device, wherein the moving object tracking processing means receives position information of the radiation irradiating means. In the moving body tracking device for radiotherapy according to claim 1 or 2,
A radiotherapy moving object tracking device, wherein the movement control means receives position information of the radiation irradiation means. In the moving body tracking device for radiotherapy according to any one of claims 1 to 4 ,
While configuring the radiation irradiation means and the moving object tracking processing means to be communicable,
By configuring the moving object tracking processing means and the movement control means to be communicable,
The radiation irradiation means and the movement control means are configured to be communicable,
The moving object tracking processing means receives position information regarding the radiation irradiating means,
The optimum position determining means determines the optimum position relating to the video system according to the received position information relating to the radiation irradiating means,
A radiotherapy moving body tracking apparatus, wherein the optimal position related to the video system determined by the optimal position determination unit is transmitted to the movement control unit, and the video system is moved based on the position information. In the moving body tracking device for radiotherapy according to any one of claims 1 to 4 ,
The movement control means receives position information related to the radiation irradiating means,
The optimum position determining means determines the optimum position relating to the video system according to the received position information relating to the radiation irradiating means,
The radiotherapy moving object tracking device, wherein the movement control means moves the video system based on an optimal position related to the video system determined by the optimal position determination means. In the moving body tracking device for radiotherapy according to any one of claims 1 to 6 ,
The radiotherapy therapeutic body tracking apparatus, wherein the movement control means is a movable pedestal that supports the video system and is movable.

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