Apparatus and method for compensating for respiratory and patient motions during treatment
First Claim
1. A method for compensating for breathing and other motions of the patient during treatment, the method comprising:
- generating images of the target region prior to the treatment;
periodically generating positional data about the internal target region;
continuously generating positional data about external motion of the patient'"'"'s body using one or more external sensors;
generating a correspondence between the position of the internal target region and the external sensors so that the treatment is directed towards the position of the target region of the patient based on the positional data of the external sensors and the target region'"'"'s position is subsequently matched to the position of the target region in the preoperative images; and
predicting the position of the target region at some predetermined later time based on the generated correspondence of the internal target region and the external sensors.
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Abstract
An apparatus and method for performing treatment on an internal target region while compensating for breathing and other motion of the patient is provided in which the apparatus comprises a first imaging device for periodically generating positional data about the internal target region and a second imaging device for continuously generating positional data about one or more external markers attached to the patient'"'"'s body or any external sensor such as a device for measuring air flow. The apparatus further comprises a processor that receives the positional data about the internal target region and the external markers in order to generate a correspondence between the position of the internal target region and the external markers and a treatment device that directs the treatment towards the position of the target region of the patient based on the positional data of the external markers.
636 Citations
32 Claims
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1. A method for compensating for breathing and other motions of the patient during treatment, the method comprising:
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generating images of the target region prior to the treatment;
periodically generating positional data about the internal target region;
continuously generating positional data about external motion of the patient'"'"'s body using one or more external sensors;
generating a correspondence between the position of the internal target region and the external sensors so that the treatment is directed towards the position of the target region of the patient based on the positional data of the external sensors and the target region'"'"'s position is subsequently matched to the position of the target region in the preoperative images; and
predicting the position of the target region at some predetermined later time based on the generated correspondence of the internal target region and the external sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. An apparatus for compensating for breathing and other motions of the patient during treatment, the apparatus comprising:
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a first detection device for periodically generating positional data about the internal target region;
a second detection device for continuously generating positional data about pulsation motions within the patient;
a processor that receives the positional data about the internal target region and the pulsation in order to generate a correspondence between the position of the internal target region and the pulsation so that the treatment is directed towards the position of the target region of the patient based on the positional data obtained from the pulsation sensors; and
wherein the processor further comprises means for predicting the position of the target region at some predetermined later time based on the correspondence between the position of the internal target region and the pulsation. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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27. The apparatus of claim 34 further comprising a treatment device that directs a treatment towards the patient, wherein the treatment device further comprises a robot that moves the treatment device.
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28. A method for compensating for breathing and other motions of the patient during treatment, the method comprising:
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periodically generating positional data about the internal target region;
continuously generating positional data about external motion of the patient'"'"'s body using one or more external sensors;
generating a deformation model between the position of the internal target region and the external sensors, the deformation model representing the correlation between the external and the internal patient motion; and
predicting the position of the target region at some later time based on the deformation model. - View Dependent Claims (29, 30)
distinguishing between voluntary patient motion and respiratory motion by comparing the position of the internal target region to a target region inferred from the deformation model;
recomputing the deformation model when the deviation between actual internal placement of the target region and the inferred placement of the target region exceeds a threshold value; and
continuing treatment without recomputing when the deviation does not exceed a threshold value.
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31. A method for compensating for breathing and other motions of the patient during treatment, the method comprising:
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generating images of the target region prior to the treatment;
periodically generating positional data about the internal target region;
continuously generating positional data about external motion of the patient'"'"'s body using one or more external sensors;
generating a deformation model representing a correspondence between the position of the internal target region and the external sensors so that the treatment is directed towards the position of the target region of the patient based on the positional data of the external sensors and the target region'"'"'s position is subsequently matched to the position of the target region in the preoperative images;
predicting the position of the target region at some predetermined later time based on the generated correspondence of the internal target region and the external sensors; and
compensating for the time lag between a command to move the treatment beam and the movement of the treatment beam by determining the placement of the target region at a future time from the deformation model. - View Dependent Claims (32)
distinguishing between voluntary patient motion and respiratory motion by comparing the position of the internal target region to a target region inferred from the deformation model;
recomputing the deformation model when the deviation between actual internal placement of the target region and the inferred placement of the target region exceeds a threshold value; and
continuing treatment without recomputing when the deviation does not exceed a threshold value.
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Specification