Path planning and collision avoidance for movement of instruments in a radiation therapy environment

• US 8,184,773 B2
• Filed: 04/07/2011
• Issued: 05/22/2012
• Est. Priority Date: 08/12/2003
• Status: Active Grant

• Current Assignee: LOMA Linda University Medical Center (Mission Healthcare Services LLC)
• Original Assignee: LOMA Linda University Medical Center (Mission Healthcare Services LLC)
• Inventors: Cheng, Chieh C, Lesyna, David A, Moyers, Michael F
• Primary Examiner(s): SONG, HOON K
• Application Number:
  US13/082,239
• Publication Number:
  US 20110218679A1
• Time in Patent Office: 411 Days
• Field of Search: None
• US Class Current: 378/117
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 6/0442 made of non-metallic materials
• CPC Class Codes: A61B 6/4092 for producing synchrotron radiation
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61N 2005/105 using a laser alignment system
• CPC Class Codes: A61N 2005/1059 using cameras imaging the patient
• CPC Class Codes: A61N 2005/1061 using an x-ray imaging system having a separate imaging source
• CPC Class Codes: A61N 2005/1062 using virtual X-ray images, e.g. digitally reconstructed radiographs [DRR]
• CPC Class Codes: A61N 2005/1087 Ions; Protons
• CPC Class Codes: A61N 2005/1097 Means for immobilizing the patient
• CPC Class Codes: A61N 5/1037 taking into account the movement of the target, e.g. 4D-image based planning
• 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 5/1069 Target adjustment, e.g. moving the patient support
• CPC Class Codes: A61N 5/107 in real time, i.e. during treatment
• CPC Class Codes: A61N 5/1078 Fixed beam systems
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 2219/45117 Medical, radio surgery manipulator

Abstract

Apparatus and methods for therapy delivery are disclosed. In one embodiment, a therapy delivery system includes a plurality of movable components including a radiation therapy nozzle and a patient pod for holding a patient, a patient registration module for determining a desired position of at least one of the plurality of movable components, and a motion control module for coordinating the movement of the least one of the plurality of movable components from a current position to the desired position. The motion control module includes a path planning module for simulating at least one projected trajectory of movement of the least one of the plurality of moveable components from the current position to the desired position.

Claims

1. A therapy delivery system comprising:

a plurality of movable components including a radiation therapy nozzle and a patient pod for holding a patient;

a patient registration module for determining a desired position of at least one of the plurality of movable components; and

a motion control module for coordinating the movement of the least one of the plurality of movable components from a current position to the desired position, wherein the motion control module comprises a path planning module configured to;

use data from a library of three dimensional model data, the three dimensional model data corresponding to position envelopes defined by possible movement of the movable components;

perform calculations simulating at least one projected trajectory of movement of the at least one of the plurality of moveable components from the current position to the desired position; and

use the calculations simulating at least one projected trajectory of movement to assist in planning a path with non-overlapping position envelopes that will thereby avoid collisions during movement from the current position to the desired position.

2. The therapy delivery system of claim 1, wherein the motion control module further comprises a collision avoidance module configured to calculate distances between the plurality of movable components along the at least one projected trajectory to determine a first collision hazard, and wherein the therapy delivery system further comprises a multidimensional position determination module for determining the current position of the plurality of movable components, the multidimensional position determination module including a first position measurement system.

3. The therapy delivery system of claim 2, wherein the collision avoidance module is further configured to receive real-time position data of the plurality of movable components from the multidimensional position determination module, and wherein the collision avoidance module is further configured to calculate distances between the plurality of movable components based on the real-time position data to determine a second collision hazard.

4. The therapy delivery system of claim 2, where the first position measurement system comprises a plurality of cameras for measuring the position of the plurality of movable components.

5. The therapy delivery system of claim 2, wherein the multidimensional position determination module further includes an arbitration module and a second position measurement system, wherein the second position measurement system includes a plurality of resolvers for measuring the position of at least a portion of the plurality of movable components, and wherein the arbitration module is configured to receive the measured position information from the first and second position measurement systems for determining the position of the plurality of movable components.

6. The therapy delivery system of claim 1, wherein the path planning module comprises a library of three dimensional model data for each of the plurality of movable components.

7. The therapy delivery system of claim 1, wherein the plurality of movable components further comprises a patient imaging system configured to obtain an image of the patient, and wherein the motion control module coordinates the movement of the least one of the plurality of movable components from the current position to the desired position based at least in part on the image of the patient.

8. The therapy delivery system of claim 1, wherein the patient registration module comprises a user interface for providing a patient identifier.

9. The therapy delivery system of claim 8, wherein the patient registration module is configured to receive information relating to a treatment prescription for the patient from a data file.

10. The system of claim 1, wherein the three dimensional model data corresponding to position envelopes comprises position envelopes that are larger than the three dimensional shape of a movable component for which movement is planned from a current position to a desired position.

11. The system of claim 10, wherein the three dimensional model data corresponding to position envelopes comprises position envelopes that are the same as the three dimensional shape of a movable component for which movement is not planned.

12. The system of claim 11, wherein the motion control module and path planning module are configured to avoid collisions between movable components for which movement is planned and movable components for which movement is not planned.

13. A therapy delivery system comprising:

a plurality of movable components including a radiation therapy nozzle and a patient pod for holding a patient;

a command and control module configured to provide a call for movement from a present location to an end location of at least one of the plurality of movable components; and

a path planning module configured to plan a safe projected trajectory of movement from the present location to the end location by;

retrieving three dimensional model data from a library of three dimensional model data;

using the three dimensional model data to simulate at least one projected trajectory of movement of the least one of the plurality of moveable components from the present location to the end location; and

calculating at least one movement for the plurality of moveable components to avoid collisions by verifying that the projected trajectory of movement does not overlap with any other component of the system.

14. The therapy delivery system of claim 13, wherein the library of three dimensional model data comprises a data set corresponding to each of the plurality of movable components.

15. The therapy delivery system of claim 14, wherein the movement coordinating means further comprises a means for determining a collision hazard of the plurality of movable components along the at least one projected trajectory path planning module uses at least one data set from the library of three dimensional model data and calculates volumes in space through which the corresponding movable components will move, given their present and end locations.

16. The therapy delivery system of claim 13, wherein the command and control module is configured to receive information relating to a treatment prescription of the patient.

17. A method of positioning a patient for delivery of therapy, the method comprising:

providing a library of three dimensional model data corresponding to the size and shape of a plurality of movable components of a therapy delivery system;

measuring a current position of the plurality of movable components;

determining a desired position of at least one of the plurality of movable components; and

coordinating the movement of the least one of the plurality of movable components from the current position to the desired position, wherein coordinating the movement comprises using the library of three dimensional model data to simulate at least one projected trajectory of movement of the least one of the plurality of moveable components from the current position to the desired position to determine a planned path;

wherein the steps of measuring, determining and coordinating are performed at least in part in electronic hardware.

18. The method of claim 17, wherein measuring the current position of the plurality of movable components comprises capturing a plurality of images of the plurality of movable components using a plurality of cameras.

19. The method of claim 17, further comprising determining real-time position data of the plurality of movable components, and calculating distances between the plurality of movable components based on the real-time position data to determine a collision hazard.

20. The method of claim 19, further comprising analyzing the plurality of images for intrusion of a foreign object, and inhibiting movement of the least one of the plurality of moveable components when intrusion of any foreign object is detected.

21. The method of claim 17, further comprising receiving information relating to a treatment prescription of the patient.

22. The method of claim 17, wherein simulating the at least one projected trajectory of movement of the least one of the plurality of moveable components comprises simulating the at least one projected trajectory using data from the library of three dimensional model data for each of the plurality of movable components.

23. A system for path planning and avoidance of collision between a plurality of medical device components, the system comprising:

a command module configured to provide a call for movement of one or more components of the system, the call for movement from a current position to a next position;

a motion control module configured to;

receive the call for movement from the command module;

retrieve a current position configuration; and

provide the current position configuration and the next position to a path planning module;

the path planning module, comprising;

a three dimensional model data module; and

an object movement simulator configured to receive data from the three dimensional model data module and calculate movement simulations for the one or more components of the system for which the command module has provided a call for movement;

the path planning module configured to work in concert with a collision avoidance module.