Apparatus for and method of performing stereotaxic surgery

• US 5,207,223 A
• Filed: 10/19/1990
• Issued: 05/04/1993
• Est. Priority Date: 10/19/1990
• Status: Expired due to Term

• Current Assignee: Accuray Incorporated
• Original Assignee: Accuray Incorporated
• Inventors: Adler, John R.
• Primary Examiner(s): Kamm, William E.
• Assistant Examiner(s): GILBERT, SAMUEL G
• Application Number:
  US07/600,501
• Time in Patent Office: 928 Days
• Field of Search: 606/130, 33/512, 33/514.1, 128/774, 128/662.05, 128/653.01, 378/205, 378/208, 378/204, 378/63-65
• US Class Current: 600/427
• CPC Class Codes: A61B 2090/101 for stereotaxic radiosurgery
• CPC Class Codes: A61B 6/08 Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
• CPC Class Codes: A61B 6/4458 the source unit or the detector unit being attached to robotic arms
• CPC Class Codes: A61B 6/4464 the source unit or the detector unit being mounted to ceiling
• CPC Class Codes: A61N 2005/1061 using an x-ray imaging system having a separate imaging source
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: A61N 5/1067 in real time, i.e. during treatment
• CPC Class Codes: A61N 5/107 in real time, i.e. during treatment
• CPC Class Codes: A61N 5/1083 Robot arm beam systems

Abstract

A method and an apparatus are set forth for selectively irradiating a target within a patient. A 3-dimensional mapping is provided of a mapping region surrounding the target. A beaming apparatus emits a collimated beam. Diagnostic beams at a known non-zero angle to one another pass through the mapping region. They produce images of projections within the mapping region. Electronic representations of the images are compared with the reference data thereby locating the target. The relative positions of the beaming apparatus and the living organism are adjusted in such a manner that the collimated beam is focused on the target region. The comparison is repeated at small time intervals and, when the comparison so indicates, the adjusting step is repeated, as needed, and in such a manner that the collimated beam remains focused on to the target region.

Claims

1. A method for carrying out radiosurgery by selectively irradiating a target region within a living organism, comprising:

preparing a 3-dimensional mapping of at least a portion of the living organism, the mapping covering a mapping region which includes and is larger than the target region;

storing the mapping as reference data in digital form;

positioning the organism with the mapping region within the target region of a radio-surgical beaming apparatus which, when activated, emits a collimated radiosurgical beam via a path through a mass of healthy tissue of a strength sufficient to cause the target region to become necrotic;

passing first and second diagnostic beams, which are separate and distinct from the radiosurgical beam, through the mapping region substantially simultaneously, the first and second diagnostic beams being at a known non-zero angle relative to one another, to produce respective first and second images of respective first and second projections within the mapping region;

producing first and second digital electronic images representative of the first and second images;

digitally comparing the first and second electronic images with the reference data in digital form to provide position data representative of relative spatial locations of the collimated beam and of the target region, said first and second images being compared with said reference data sufficiently close in time after said images are produced by said first and second diagnostic beams such that said position data substantially represents real time spatial locations of the collimated beam and the target region relative to one another;

in response to said real time spatial locations of said collimated beam and target region, adjusting the relative positions of the beaming apparatus and the living organism in such a manner that the collimated beam is focused onto the target region;

activating the beaming apparatus and thereafter maintaining it in its activated state for the time necessary to provide a desired amount of irradiation;

as radiosurgery is carried out, periodically repeating the comparing step at small time intervals using newly produced first and second images such that any movement of the target region relative to the focus of the collimated beam is detected in substantially real time; and

repeating the adjusting step, as needed, to maintain the focus of the collimated beam on the target region.

2. A method as set forth in claim 1, wherein the repeating of the adjusting is carried out automatically in response to the position data obtained in the comparing step.

3. A method as set forth in claim 2, wherein the collimated surgical beam is an x-ray beam.

4. A method as set forth in claim 3, wherein the diagnostic beams are x-ray beams.

5. A method as set forth in claim 4, wherein the 3-dimensional mapping is prepared from a CAT scan procedure and is stored in digital form.

6. A method as set forth in claim 5, wherein the adjusting of the relative positions of the beaming apparatus and the living organism comprises moving the beaming apparatus while the living organism remains substantially stationary.

7. A method as set forth in claim 6, further including providing a selected total dose of irradiation by:

dividing the total dose into fractional doses;

utilizing the method of claim 6 to provide each fractional dose; and

supplying the fractional doses during time periods spaced apart in time from one another.

8. A method as set forth in claim 6, wherein the organism is part of a living body and wherein the target region is at a location in the body where sufficient bone structure is not present to mount an external reference frame.

9. A method as set forth in claim 6, further including, at some time prior to the mapping step:

implanting one or more fiducials in the mapping region.

10. A method as set forth in claim 1, wherein the collimated surgical beam is an x-ray beam.

11. A method as set forth in claim 10, wherein the diagnostic beams are x-ray beams.

12. A method as set forth in claim 11, wherein the 3-dimensional mapping is prepared from a CAT scan procedure and is stored in digital form.

13. A method as set forth in claim 12, wherein the adjusting of the relative positions of the beaming apparatus and the living organism comprises moving the beaming apparatus while the living organism remains substantially stationary.

14. A method as set forth in claim 13, further including providing a selected total dose of irradiation by:

dividing the total dose into fractional doses;

utilizing the method of claim 13 to provide each fractional dose; and

supplying the fractional doses during time periods spaced apart in time from one another.

15. A method as set forth in claim 13, wherein the organism is part of a living body and wherein the target region is at a location in the body where sufficient bone structure is not present to mount an external reference frame.

16. A method as set forth in claim 13, further including, at some time prior to the mapping step:

implanting one or more fiducials in the mapping region.

17. A method as set forth in claim 11, wherein the adjusting of the relative positions of the beaming apparatus and the living organism comprises moving the beaming apparatus while the living organism remains substantially stationary.

18. A method as set forth in claim 17, further including providing a selected total dose of irradiation by:

dividing the total dose into fractional doses;

utilizing the method of claim 17 to provide each fractional dose; and

supplying the fractional doses during time periods spaced apart in time from one another.

19. A method as set forth in claim 17, wherein the organism is part of a living body and wherein the target region is at a location in the body where sufficient bone structure is not present to mount an external reference frame.

20. A method as set forth in claim 17, further including, at some time prior to the mapping step:

implanting one or more fiducials in the mapping region.

21. A method as set forth in claim 1, wherein the diagnostic beams are x-ray beams.

22. A method as set forth in claim 21, wherein the 3-dimensional mapping is prepared from a CAT scan procedure and is stored in digital form.

23. A method as set forth in claim 22, wherein the adjusting of the relative positions of the beaming apparatus and the living organism comprises moving the beaming apparatus while the living organism remains substantially stationary.

24. A method as set forth in claim 1, wherein the adjusting of the relative positions of the beaming apparatus and the living organism comprises moving the beaming apparatus while the living organism remains substantially stationary.

25. A method as set forth in claim 1, further including providing a selected total dose of irradiation by:

dividing the total dose into fractional doses;

utilizing the method of claim 1 to provide each fractional dose; and

supplying the fractional doses during time periods spaced apart in time from one another.

26. A method as set forth in claim 1, wherein the organism is part of a living body and wherein the target region is at a location in the body where sufficient bone structure is not present to mount an external reference frame.

27. A method as set forth in claim 26, further including, at some time prior to the mapping step:

implanting one or more fiducials in the mapping region.

28. A method as set forth in claim 1, further including, at some time prior to the mapping step:

implanting one or more fiducials in the mapping region.

29. A method as set forth in claim 1, further including:

Repositioning the beaming apparatus such that, when activated, it emits the collimated beam such that the mapping region is within the target region and such that the collimated beam is directed via a different path through a different mass of healthy tissue to thereby minimize necrosis of healthy tissue; and

activating the beaming apparatus.

30. A method as set forth in claim 29, wherein the repositioning is within a plane and extends over an angle greater than 180°

.

31. A method as set forth in claim 29, wherein the repositioning is over 3-dimensions.

32. A method as set forth in claim 1, further including:

periodically or continuously repositioning the beaming apparatus that emits the collimated beam in such a manner that the mapping region is within the target region and the collimated beam is periodically or continuously directed via different paths through different masses of healthy tissue to thereby minimize necrosis of healthy tissue.

33. A method as set forth in claim 32, wherein the repositioning is within a plane and extends over an angle greater than 180°

.

34. A method according claim 1 wherein said radiosurgery is carried out on a human head without the use of a frame or any other external radiosurgery beam positioning reference.

35. A method according to claim 1 wherein said radiosurgical beaming apparatus includes a beam aiming member and wherein said apparatus is operated in a way which causes the aiming member to move continuously along a path transverse to the radiosurgical beam during radiosurgery.

36. A method according to claim 35 wherein said aiming member includes a gantry.

37. A method according to claim 35 wherein said aiming member includes a robotic arm.

38. An apparatus for carrying out radiosurgery by selectively irradiating a target region of living tissue within a living organism, comprising:

a digital data storage memory having stored therein a 3-dimensional mapping of at least a portion of the living organism, the mapping covering a mapping region which includes and is larger than the target region;

a beaming apparatus which, when activated, is adapted to emit a collimated radio surgical beam of a strength sufficient to cause the target region to become necrotic;

means for selectively activating the beaming apparatus;

means for passing first and second diagnostic beams, which are separate and distinct from said radiosurgical beam, through the mapping region substantially simultaneously, the first and second diagnostic beams being at a known non-zero angle relative to one another, to produce respective first and second images of respective first and second projections within the mapping region;

means for producing first and second digital electronic images representative of the first and second images;

means for digitally comparing the 3-dimensional mapping in digital form with the electronic images representative of the first and second images sufficiently close in time after said images are produced to derive therefrom data representative of a real time location of the target region; and

means for adjusting the relative positions of the beaming apparatus and the living organism as needed due to any movement of the target region relative to the collimated beam in response to the data representative of the real time location of the target region in such a manner that the collimated beam, when activated, is continuously focused onto the target region.

39. An apparatus as set forth in claim 38, wherein the collimated surgical beam produced by the beaming apparatus is an x-ray beam.

40. An apparatus as set forth in claim 39, wherein the means for passing diagnostic beams through the mapping region passes x-ray beams through the mapping region.

41. An apparatus as set forth in claim 40, wherein the 3-dimensional mapping is prepared from a CAT scan procedure and is stored in digital form in the data storage memory.

42. An apparatus as set forth in claim 41, wherein the means for adjusting the relative positions of the beaming apparatus and the living organism moves the beaming apparatus while the living organism remains substantially stationary.

43. An apparatus as set forth in claim 38, wherein the 3-dimensional mapping is prepared from a CAT scan procedure and is stored in digital form in the data storage memory.

44. An apparatus as set forth in claim 43, wherein the means for producing electronic signals representative of the diagnostic beams produces such signals in digital form.

45. An apparatus as set forth in claim 44, wherein the means for adjusting the relative positions of the beaming apparatus and the living organism moves the beaming apparatus while the living organism remains substantially stationary.

46. A method for selectively aligning a target region within a living organism with a linearly extendable surgical instrumentality, comprising:

preparing a 3-dimensional mapping of at least a portion of the living organism, the mapping covering a mapping region which includes and is larger than the target region;

storing the mapping as reference data in digital form;

positioning the organism with the mapping region within the target region of a surgical apparatus which, when activated, causes the linearly extendable surgical instrumentality to extend to the target region;

substantially simultaneously passing first and second diagnostic beams, which are separate and distinct from said instrumentality, through the mapping region, the first and second diagnostic beams being at a known non-zero angle relative to one another, to produce respective first and second images of respective first and second projections within the mapping region;

producing first and second electronic images representative of the first and second images;

comparing the first and second electronic images with the reference data to provide 3-dimensional position data representative of the relative spatial locations of the linearly extending surgical instrumentality and of the target region, said first and second images being compared with said reference data sufficiently close in time after said images are produced by said first and second diagnostic beams such that said data represents substantially the real time locations of said instrumentality and the target region relative to one another; and

adjusting the relative positions of the surgical apparatus and the living organism in such a manner that the linearly extending surgical instrumentality is aimed at the target region.

47. A method according to claim 46 wherein said instrumentality is a solid instrument such as a biopsy probe.

48. A method according to claim 46 wherein said instrumentality is a radiosurgical beam.

49. An apparatus for selectively aligning a target region of living tissue within a living organism with a linearly extendable surgical instrumentality, comprising:

a data storage memory having stored therein a 3-dimensional mapping of at least a portion of the living organism, the mapping covering a mapping region which includes and is larger than the target region;

a surgical apparatus which, when activated, is adapted to extend a linearly extendable surgical instrumentality to the target region;

means for selectively activating the surgical apparatus;

means for substantially simultaneously passing first and second diagnostic beams, which are separate and distinct from said instrumentality, through the mapping region periodically, the first and second diagnostic beams being at a known non-zero angle relative to one another, to produce periodically pairs of respective first and second images of respective pairs of first and second projections within the mapping region;

means for producing first and second digital electronic images representative of the first and second images;

means for comparing the 3-dimensional mapping in digital form with the first and second digital electronic images representative of the first and second images sufficiently close in time after said images are produced to derive therefrom data representative of a 3-dimensional real time location of the target region; and

means for adjusting relative positions of the surgical apparatus and the living organism in response to the data representative of the 3-dimensional real time location of the target region in such a manner that the linearly extending surgical instrumentality, when activated, is aimed at the target region.

50. A method for carrying out radiosurgery by selectively irradiating a target region within a living organism, comprising:

preparing a 3-dimensional mapping of at least a portion of the living organism, the mapping covering a mapping region which includes and is larger than the target region;

storing the mapping as reference data;

positioning the organism with the mapping region within the target region of a radiosurgical beaming apparatus which, when activated, emits a collimated radiosurgical beam from a beam aiming member forming part of the apparatus via a path through a mass of healthy tissue of a strength sufficient to cause the target region to become necrotic, said apparatus being operated in a way which causes said aiming member to move continuously along a path transverse to the beam during radiosurgery;

during movement of said aiming member, passing first and second diagnostic beams, which are separate and distinct from the radiosurgical beam, through the mapping region substantially simultaneously, the first and second diagnostic beams being at a known non-zero angle relative to one another, to produce respective first and second images of respective first and second projections within the mapping region;

producing first and second digital electronic images representative of the first and second images;

digitally comparing the first and second electronic images with the reference data in digital form to provide position data representative of relative spatial locations of the collimated beam and of the target region, said first and second images being compared with said reference data sufficiently close in time after said images are produced by said first and second diagnostic beams such that said position data substantially represents real time spatial locations of the collimated beam and the target region relative to one another;

in response to said real time spatial locations of said collimated beam and target region, adjusting the relative positions of the beaming apparatus and the living organism in such a manner that the collimated beam is focused onto the target region;

activating the beaming apparatus and thereafter maintaining it in its activated state for the time necessary to provide a desired amount of irradiation;

as radiosurgery is carried out, periodically repeating the comparing step at small time intervals during movement of said aiming member using newly produced first and second images such that any movement of the target region relative to the focus of the collimated beam is detected in substantially real time; and

repeating the adjusting step, as needed, to maintain the focus of the collimated beam on the target region.

51. A method according to claim 50 wherein said radiosurgery is carried out on a human head without the use of a frame or any other external radiosurgery beam positioning reference.