Systems and methods for real-time tracking of targets in radiation therapy and other medical applications

• US 8,239,005 B2
• Filed: 01/08/2010
• Issued: 08/07/2012
• Est. Priority Date: 07/23/2004
• Status: Expired due to Fees

• Current Assignee: Varian Medical Systems Incorporated (Siemens AG)
• Original Assignee: Varian Medical Systems Incorporated (Siemens AG)
• Inventors: Wright, J. Nelson, Dimmer, Steven C.
• Primary Examiner(s): Casler, Brian
• Assistant Examiner(s): Selkin, Saurel J
• Application Number:
  US12/684,639
• Publication Number:
  US 20100317968A1
• Time in Patent Office: 942 Days
• Field of Search: 600/427
• US Class Current: 600/427
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/3908 Soft tissue, e.g. breast tissue
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 2090/3995 Multi-modality markers
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/704 Tables
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 8/0833 involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61N 2005/1051 using an active marker
• 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

Abstract

Systems and methods for tracking targets in real time for radiation therapy and other applications. In one embodiment, a method includes collecting position information of a marker implanted within a patient at a site relative to the target at a time t_n, and providing an objective output indicative of the location of the target based on the position information collected at time t_n. The objective output is provided to a memory device, user interface, and/or radiation delivery machine within 1 ms to 2 seconds of the time t_n when the position information was collected. This embodiment of the method can further include providing the objective output at a periodicity of 10-200 ms during at least a portion of a treatment procedure. For example, the method can further include generating a beam of ionizing radiation and directing the beam to a machine isocenter, and continuously repeating the collecting procedure and the providing procedure every 10-200 ms while irradiating the patient with the ionizing radiation beam.

Claims

1. A radiation therapy system for treating a target of a patient using a marker implanted in the patient at a site relative to the target, the system comprising:

a radiation delivery device including a beam generator for generating a beam of ionizing radiation, an isocenter, and an aiming system for directing the beam to the isocenter;

a tracking device having a detector that obtains position data of the marker at a time t_n wherein the marker moves either directly with the target or in a relationship proportional to the movement of the target, the tracking device being configured to track the different types of motion of the target relative to the beam; and

a computer operatively coupled to the detector to receive the position data, the computer having a computer operable medium that determines a location of the marker based on the position data and provides an objective output indicative of a location of the target to a user interface, a memory device, and/or a radiation delivery device within a latency of not greater than 2 seconds from time t_n and at a periodicity of not greater than 2 seconds.

2. The radiation therapy system of claim 1, further comprising an excitation source configured to wirelessly transmit a non-ionizing excitation energy, a marker having a small transponder configured to wirelessly transmit a location signal in response to the wirelessly transmitted non-ionizing excitation energy, and wherein the detector is configured to sense the location signal wirelessly transmitted by the marker.

3. The radiation therapy system of claim 1, further comprising an excitation source configured to wirelessly transmit an alternating magnetic field, a marker having a small alternating magnetic transponder that wirelessly transmits an alternating magnetic location signal in response to the wirelessly transmitted alternating magnetic field, and wherein the detector comprises a coil configured to sense the alternating magnetic location signal wirelessly transmitted by the marker.

4. The radiation therapy system of claim 1 wherein the objective output comprises an offset coordinate between the location of the target and a desired site for the target relative to an isocenter of the radiation delivery device.

5. The radiation therapy system of claim 4 wherein the computer-operable medium sends the offset coordinate to the user interface, the memory device and/or the radiation delivery device within a latency of approximately 1 ms to approximately 1 second of time t_n and at a periodicity of approximately 1 ms to approximately 1 second.

6. The radiation therapy system of claim 4 wherein the computer-operable medium sends the offset coordinate to the user interface, the memory device and/or the radiation delivery device within a latency of approximately 1 ms to approximately 100 ms of time t_n and at a periodicity of approximately 1 ms to approximately 200 ms.

7. The radiation therapy system of claim 4 wherein the computer-operable medium sends the offset coordinate to the user interface, the memory device and/or the radiation delivery device within a latency of approximately 10 ms to approximately 50 ms of time t_n and at a periodicity of approximately 20 ms to approximately 50 ms.

8. The radiation therapy system of claim 4 wherein the objective output comprises a coordinate in the external reference frame related to the location of the target, and wherein the computer-operable medium sends the coordinate to the user interface within a latency of approximately 10 ms to approximately 100 ms of time t_n and at a periodicity of approximately 10 ms to approximately 50 ms.

9. The radiation therapy system of claim 1, wherein the computer-operable medium sends a signal for positioning the patient to locate the target at a desired location relative to an isocenter of the radiation delivery device.

10. The radiation therapy system of claim 9 wherein the objective output comprises an offset coordinate between the location of the target and an isocenter of the radiation delivery device, and the computer-operable medium sends the offset coordinate to the user interface, the memory device and/or the radiation delivery device within a latency of approximately 1 ms to approximately 100 ms of time t_n and at a periodicity of approximately 1 ms to approximately 200 ms.

11. The radiation therapy system of claim 10 wherein the computer-operable medium sends the offset coordinate to the user interface within a latency of approximately 10 ms to approximately 100 ms of time t_n and at a periodicity of approximately 10 ms to approximately 50 ms.

12. The radiation therapy system of claim 10 wherein the computer-operable medium sends the offset coordinate to the radiation delivery device within a latency of approximately 1 ms to approximately 100 ms of time t_n and at a periodicity of approximately 1 ms to approximately 50 ms, and wherein the radiation delivery device is configured to automatically move a patient support table according to the offset coordinate.

13. The radiation therapy system of claim 1 wherein the objective output comprises an offset coordinate between the location of the target and an isocenter of the radiation delivery device, and wherein the computer-operable medium sends the offset coordinate to the radiation delivery device within a latency of approximately 1 ms to approximately 100 ms of time t_n and at a periodicity of approximately 1 ms to approximately 200 ms.

14. A tracking system for treating a target of a patient using a marker implanted in the patient at a site relative to the target, the system comprising:

a tracking device having a detector that obtains position data of the marker at a time to wherein the marker moves either directly with the target or in a relationship proportional to the movement of the target, wherein the tracking device being configured to tracks the different types of movement of the target; and

a computer operatively coupled to the detector to receive the position data, the computer having a computer operable medium that determines a location of the marker based on the position data and provides an objective output indicative of a location of the target within a latency of 10-200 ms from time t_n and at a periodicity of 10-100 ms.

15. A method of treating a target of a patient with an ionizing radiation, comprising:

generating a beam of ionizing radiation and directing the beam relative to the target;

collecting position information of a marker implanted within a patient at a site relative to the target while directing the beam toward the beam isocenter wherein the marker moves either directly with the target or in a relationship proportional to the movement of the target;

providing an objective output indicative of a location of the target relative to the beam isocenter based on the collected position information; and

correlating the objective output indicative of the location of the target to track the different types of movement of the target to a parameter of the beam.

16. A method of treating a target of a patient with an ionizing radiation, comprising:

generating a beam of ionizing radiation and directing the beam relative to the target with a multi-leaf collimator;

collecting position information of a marker implanted within a patient at a site relative to the target indicative of the location of the target to track different types of movement of the target while directing the beam toward the beam isocenter wherein the marker moves either directly with the target or in a relationship proportional to the movement of the target; and

providing an objective output indicative of a location of the target of the patient based on the collected position information relative to the beam isocenter and controlling a configuration of the multi-leaf collimator based on the objective output.

17. A method of treating a target of a patient with an ionizing radiation, comprising:

generating a beam of ionizing radiation and directing the beam relative to the target; and

operating a localization system to

(a) collect position information of a marker implanted within a patient at a site relative to the target while directing the beam toward the beam isocenter wherein the marker moves either directly with the target or in a relationship proportional to the movement of the target;

(b) track the different types of movement of the target; and

(c) provide an objective output indicative of a location of the target relative to the beam isocenter based on the collected position information of the marker while directing the beam toward the beam isocenter for a period of at least 10 seconds without recalibrating the localization system.