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

• US 9,623,263 B2
• Filed: 06/06/2014
• Issued: 04/18/2017
• Est. Priority Date: 08/12/2003
• Status: Active Grant

• Current Assignee: LOMA Linda University Medical Center (Mission Healthcare Services LLC)
• Original Assignee: Vision RT Limited
• Inventors: Cheng, Chieh C., Lesyna, David A., Moyers, Michael F.
• Primary Examiner(s): Song, Hoon
• Application Number:
  US14/298,082
• Publication Number:
  US 20150032233A1
• Time in Patent Office: 1,047 Days
• 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 collision avoidance system for a radiation therapy system having movable components comprising:

a plurality of external measurement devices arranged to obtain position measurements of components of the radiation therapy system, and a patient substantially fixed in position with respect to a movable patient support so as to provide location information; and

a controller operable to receive position information from the plurality of external measurement devices and determine a corresponding movement envelope defined by possible movement paths of the components given the position information, wherein the controller evaluates the movement envelope, and inhibits movement if a collision with any foreign object within the movement envelope is indicated.

2. The collision avoidance system of claim 1, further comprising local position feedback devices that also monitor the movement of the movable components and provide signals indicative thereof, and wherein the collision avoidance system monitors signals from the plurality of external measurement devices, and the local position feedback devices and inhibits movement of the plurality of movable components if the signals indicate that a collision of components is likely to occur.

3. The collision avoidance system of claim 1, wherein the plurality of external measurement devices comprise a plurality of cameras which obtain optical images of the movable components, and wherein the plurality of external measurement devices image distinctive monuments of the movable components to monitor their physical location.

4. The collision avoidance system of claim 3, wherein the monuments comprise markers attached to selected regions of the movable components.

5. The collision avoidance system of claim 2, wherein the local position feedback devices comprise resolvers in operable communication with the moving components so as to provide information relating to the measured position of the movable components.

6. The collision avoidance system of claim 1, further comprising a patient imager which obtains at least one image of a patient supported by the patient positioner and wherein the system evaluates the at least one patient image and provides control signals to induce at least one of the patient positioner and a nozzle to move with respect to each other to achieve a desired treatment pose.

7. The collision avoidance system of claim 1, wherein aligning the patient in the desired pose comprises aligning the patient support with respect to a beam delivery aiming point through which the radiation therapy system directs a radiation beam.

8. The collision avoidance system of claim 1, further comprising a patient imager system which is movable into and out of the beam axis so as to obtain an image of the patient and a target iso-center, wherein the path planning and collision avoidance system determines movement commands and trajectories for both the patient imager and the patient support and inhibits movement if a collision is indicated.

9. The collision avoidance system of claim 1, further comprising a plurality of markers fixed to selected points of the plurality of the components subject to movement and wherein the external measurement devices obtain position measurements of the markers.

10. The collision avoidance system of claim 1, wherein multiple external measurement devices obtain position measurements of a single marker so as to provide a more accurate measurement of the single marker'"'"'s location than provided by a single external measurement device.

13. The collision avoidance system of claim 6, wherein the patient imager is retractable between start and end locations that determine at least part of the movement envelope.

14. The collision avoidance system of claim 5, wherein the resolvers provide independent information to the external measurement devices of the measured position of the movable components.

15. The collision avoidance system of claim 5, wherein the resolvers comprise at least one of rotary encoders, linear encoders and servos.

16. The collision avoidance system of claim 3, wherein the monuments comprise characteristic outer contours of the movable components.

11. A radiation therapy system comprising:

a plurality of movable components including a movable patient support;

a plurality of external measurement devices arranged to obtain position measurements of the movable components of the radiation therapy system and a patient substantially fixed in position with respect to the movable patient support so as to provide location information; and

a controller operable to receive position information from the plurality of external measurement devices and determine a corresponding movement envelope defined by possible movement paths of the components given the position information, wherein the controller evaluates the movement envelope and inhibits movement if a collision with any foreign object within the movement envelope is indicated.

12. A method of monitoring a radiation therapy system having movable components comprising:

obtaining position measurements of components of the radiation therapy system and a patient substantially fixed in position with respect to a movable patient support so as to provide location information;

receiving position information from the plurality of external measurement devices;

determining and evaluating a movement envelope defined by possible movement paths of the components given the position information, and

inhibiting movement if a collision with any foreign object within the movement envelope is indicated.