Radiotherapy device control apparatus and radiation irradiation method

• US 20070211856A1
• Filed: 02/13/2007
• Published: 09/13/2007
• Est. Priority Date: 03/10/2006
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Mitsubishi Heavy Industries, Ltd.
• Inventors: Kaneko, Shuji, Urano, Susumu, Kawada, Noriyuki
• Granted Patent: US 7,672,429 B2
• Time in Patent Office: Days
• US Class Current: 378/65
• CPC Class Codes: A61N 2005/1059 using cameras imaging the patient
• CPC Class Codes: A61N 2005/1062 using virtual X-ray images, e.g. digitally reconstructed radiographs [DRR]
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: A61N 5/1069 Target adjustment, e.g. moving the patient support

Abstract

A radiotherapy device control apparatus controlling a radiotherapy device, includes a reference image creation section; a transmitted image creation section and an affected area position control section. The radiotherapy device includes a therapeutic radiation irradiation device radiating therapeutic radiation, an imager generating an image of a subject by using radiation transmitted through the subject, and a drive device moving a couch, where the subject is arranged, with respect to the therapeutic radiation irradiation device. The reference image creation section collects a reference image taken by the imager. The transmitted image creation section takes a transmitted image of the subject by the imager. The affected area position control section judge whether a relative position of the couch with respect to the therapeutic radiation irradiation device is appropriate based on a position where a characteristic point of the subject is displayed in the transmitted image and a position where the characteristic point is displayed in the reference image. The affected area position control section changes the relative position of the couch by using the drive device based on the first position and the second position.

Claims

1. A radiotherapy device control apparatus comprising:

a reference image creation section;

a transmitted image creation section; and

an affected area position control section,

wherein said radiotherapy device control apparatus controls a radiotherapy device,

wherein said radiotherapy device includes;

a therapeutic radiation irradiation device which radiates therapeutic radiation,

an imager which generates an imager image of a subject by using radiation transmitted through said subject, and

a drive device which moves a couch, on which said subject is arranged, with respect to said therapeutic radiation irradiation device,

wherein said reference image creation section collects a reference imager image taken by said imager,

wherein said transmitted image creation section takes a transmitted imager image of said subject by said imager,

wherein said affected area position control section judge whether or not a relative position of said couch with respect to said therapeutic radiation irradiation device is appropriate based on a first position at which a characteristic point of said subject is displayed in said transmitted imager image and a second position at which said characteristic point is displayed in said reference imager image, and

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and said second position.

2. The radiotherapy device control apparatus according to claim 1, wherein said imager takes said reference imager image when a part of said subject is arranged to be irradiated with said therapeutic radiation, and

wherein said affected area position control section, when a first relative position coincide with a second relative position, changes said relative position of said couch by using said drive device such that said first position coincides with said second position, said first relative position is a relative position of said imager with respect to said therapeutic radiation irradiation device when said transmitted imager image is taken, and said second relative position is a relative position of said imager with respect to said therapeutic radiation irradiation device when said reference imager image is taken.

3. The radiotherapy device control apparatus according to claim 1, wherein said affected area position control section, based on a relation between said second position and a third position of a part of said subject, changes said relative position of said couch by using said drive device such that said third position calculated by using said first position is irradiated with said therapeutic radiation.

4. The radiotherapy device control apparatus according to claim 3, wherein said drive device includes:

a couch drive device which moves said couch, and

a irradiation drive device which moves said therapeutic radiation irradiation device,

wherein said affected area position control section changes said relative position of said couch by preferentially using said irradiation drive device.

5. The radiotherapy device control apparatus according to claim 3, wherein said imager includes:

a first imager, and

a second imager,

wherein said reference imager image includes;

a first reference imager image which is taken by said first imager, and

a second reference imager image which is taken by said second imager,

wherein said transmitted imager image includes;

a first transmitted imager image which is taken by said first imager, and

a second transmitted imager image which is taken by said second imager,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on a third position at which a characteristic point of said subject is displayed in said first transmitted imager image, a fourth position at which said characteristic point is displayed in said first reference imager image, a fifth position at which a characteristic point of said subject is displayed in said second transmitted imager image, and a sixth position at which said characteristic point is displayed in said second reference imager image.

6. The radiotherapy device control apparatus according to claim 4, wherein said imager includes:

a first imager, and

a second imager,

wherein said reference imager image includes;

a first reference imager image which is taken by said first imager, and

a second reference imager image which is taken by said second imager,

wherein said transmitted imager image includes;

a first transmitted imager image which is taken by said first imager, and

a second transmitted imager image which is taken by said second imager,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on a third position at which a characteristic point of said subject is displayed in said first transmitted imager image, a fourth position at which said characteristic point is displayed in said first reference imager image, a fifth position at which a characteristic point of said subject is displayed in said second transmitted imager image, and a sixth position at which said characteristic point is displayed in said second reference imager image.

7. The radiotherapy device control apparatus according to claim 3, wherein said imager includes:

a radiation imager which generates at least one of said transmitted imager image and said reference imager image by using said therapeutic radiation.

8. The radiotherapy device control apparatus according to claim 4, wherein said imager includes:

a radiation imager which generates at least one of said transmitted imager image and said reference imager image by using said therapeutic radiation.

9. The radiotherapy device control apparatus according to claim 3, further comprising:

a three-dimensional data creation section which creates a three-dimensional data of said subject based on a transmitted image taken by said imager; and

a two-dimensional image creation section which creates a two-dimensional image based on said three-dimensional data,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

10. The radiotherapy device control apparatus according to claim 4, further comprising:

a three-dimensional data creation section which creates a three-dimensional data of said subject based on a transmitted image taken by said imager; and

a two-dimensional image creation section which creates a two-dimensional image based on said three-dimensional data,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

11. The radiotherapy device control apparatus according to claim 3, further comprising:

a three-dimensional data collection section which collects a three-dimensional data of said subject, said three-dimensional data is created by a three-dimensional imaging device provided in addition to said radiotherapy device; and

a two-dimensional image creation section which creates a two-dimensional image based on said three-dimensional data,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

12. The radiotherapy device control apparatus according to claim 4, further comprising:

a three-dimensional data collection section which collects a three-dimensional data of said subject, said three-dimensional data is created by a three-dimensional imaging device provided in addition to said radiotherapy device; and

a two-dimensional image creation section which creates a two-dimensional image based on said three-dimensional data,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

13. A radiotherapy system comprising:

a radiotherapy device control apparatus; and

a radiotherapy device,

wherein said radiotherapy device control apparatus includes;

a reference image creation section;

a transmitted image creation section; and

an affected area position control section,

wherein said radiotherapy device control apparatus controls said radiotherapy device,

wherein said radiotherapy device includes;

a therapeutic radiation irradiation device which radiates therapeutic radiation,

an imager which generates an imager image of a subject by using radiation transmitted through said subject, and

a drive device which moves a couch, on which said subject is arranged, with respect to said therapeutic radiation irradiation device,

wherein said reference image creation section collects a reference imager image taken by said imager,

wherein said transmitted image creation section takes a transmitted imager image of said subject by said imager,

wherein said affected area position control section judge whether or not a relative position of said couch with respect to said therapeutic radiation irradiation device is appropriate based on a first position at which a characteristic point of said subject is displayed in said transmitted imager image and a second position at which said characteristic point is displayed in said reference imager image, and

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and said second position.

14. The radiotherapy system according to claim 13, wherein said imager takes said reference imager image when a part of said subject is arranged to be irradiated with said therapeutic radiation, and

wherein said affected area position control section, when a first relative position coincide with a second relative position, changes said relative position of said couch by using said drive device such that said first position coincides with said second position, said first relative position is a relative position of said imager with respect to said therapeutic radiation irradiation device when said transmitted imager image is taken, and said second relative position is a relative position of said imager with respect to said therapeutic radiation irradiation device when said reference imager image is taken.

15. The radiotherapy system according to claim 13, wherein said affected area position control section, based on a relation between said second position and a third position of a part of said subject, changes said relative position of said couch by using said drive device such that said third position calculated by using said first position is irradiated with said therapeutic radiation.

16. The radiotherapy system according to claim 15, wherein said drive device includes:

a couch drive device which moves said couch, and

a irradiation drive device which moves said therapeutic radiation irradiation device,

wherein said affected area position control section changes said relative position of said couch by preferentially using said irradiation drive device.

17. The radiotherapy system according to claim 15, wherein said imager includes:

a first imager, and

a second imager,

wherein said reference imager image includes;

a first reference imager image which is taken by said first imager, and

a second reference imager image which is taken by said second imager,

wherein said transmitted imager image includes;

a first transmitted imager image which is taken by said first imager, and

a second transmitted imager image which is taken by said second imager,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on a third position at which a characteristic point of said subject is displayed in said first transmitted imager image, a fourth position at which said characteristic point is displayed in said first reference imager image, a fifth position at which a characteristic point of said subject is displayed in said second transmitted imager image, and a sixth position at which said characteristic point is displayed in said second reference imager image.

18. The radiotherapy system according to claim 16, wherein said imager includes:

a first imager, and

a second imager,

wherein said reference imager image includes;

a first reference imager image which is taken by said first imager, and

a second reference imager image which is taken by said second imager,

wherein said transmitted imager image includes;

a first transmitted imager image which is taken by said first imager, and

a second transmitted imager image which is taken by said second imager,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on a third position at which a characteristic point of said subject is displayed in said first transmitted imager image, a fourth position at which said characteristic point is displayed in said first reference imager image, a fifth position at which a characteristic point of said subject is displayed in said second transmitted imager image, and a sixth position at which said characteristic point is displayed in said second reference imager image.

19. The radiotherapy system according to claim 15, wherein said imager includes:

a radiation imager which generates at least one of said transmitted imager image and said reference imager image by using said therapeutic radiation.

20. The radiotherapy system according to claim 16, wherein said imager includes:

a radiation imager which generates at least one of said transmitted imager image and said reference imager image by using said therapeutic radiation.

21. The radiotherapy system according to claim 15, said radiotherapy device control apparatus further includes:

a three-dimensional data creation section which creates a three-dimensional data of said subject based on a transmitted image taken by said imager; and

a two-dimensional image creation section which creates a two-dimensional image based on said three-dimensional data,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

22. The radiotherapy system according to claim 16, said radiotherapy device control apparatus further includes:

a three-dimensional data creation section which creates a three-dimensional data of said subject based on a transmitted image taken by said imager; and

a two-dimensional image creation section which creates a two-dimensional image based on said three-dimensional data,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

23. The radiotherapy system according to claim 15, said radiotherapy device control apparatus further includes:

a three-dimensional data collection section which collects a three-dimensional data of said subject, said three-dimensional data is created by a three-dimensional imaging device provided in addition to said radiotherapy device; and

a two-dimensional image creation section which creates a two-dimensional image based on said three-dimensional data,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

24. The radiotherapy system according to claim 16, said radiotherapy device control apparatus further includes:

a three-dimensional data collection section which collects a three-dimensional data of said subject, said three-dimensional data is created by a three-dimensional imaging device provided in addition to said radiotherapy device; and

a two-dimensional image creation section which creates a two-dimensional image based on said three-dimensional data,

wherein said affected area position control section changes said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

25. A radiation irradiation method using a radiotherapy device, wherein said radiotherapy device includes:

a therapeutic radiation irradiation device which radiates therapeutic radiation,

an imager which generates an imager image of a subject by using radiation transmitted through said subject, and

a drive device which moves a couch, on which said subject is arranged, with respect to said therapeutic radiation irradiation device,

said radiation irradiation method comprising;

(a) collecting a reference imager image taken by said imager,

(b) imaging a transmitted imager image of said subject by said imager,

(c) judging whether or not a relative position of said couch with respect to said therapeutic radiation irradiation device is appropriate based on a first position at which a characteristic point of said subject is displayed in said transmitted imager image and a second position at which said characteristic point is displayed in said reference imager image, and

(d) changing said relative position of said couch by using said drive device based on said first position and said second position.

26. The radiation irradiation method according to claim 25, wherein said reference imager image is taken by said imager when a part of said subject is arranged to be irradiated with said therapeutic radiation, and

wherein said relative position of said couch is changed by using said drive device when a first relative position coincide with a second relative position such that said first position coincides with said second position, said first relative position is a relative position of said imager with respect to said therapeutic radiation irradiation device when said transmitted imager image is taken, and said second relative position is a relative position of said imager with respect to said therapeutic radiation irradiation device when said reference imager image is taken.

27. The radiation irradiation method according to claim 25, wherein said relative position of said couch is changed by using said drive device based on a relation between said second position and a third position of a part of said subject such that said third position calculated by using said first position is irradiated with said therapeutic radiation.

28. The radiation irradiation method according to claim 27, wherein said drive device includes:

a couch drive device which moves said couch, and

a irradiation drive device which moves said therapeutic radiation irradiation device,

wherein said irradiation drive device is used in preference to said couch drive device when said relative position of said couch is changed.

29. The radiation irradiation method according to claim 27, wherein said imager includes:

a first imager, and

a second imager,

wherein said reference imager image includes;

a first reference imager image which is taken by said first imager, and

a second reference imager image which is taken by said second imager,

wherein said transmitted imager image includes;

a first transmitted imager image which is taken by said first imager, and

a second transmitted imager image which is taken by said second imager,

said radiation irradiation method further includes;

(e) changing said relative position of said couch by using said drive device based on a third position at which a characteristic point of said subject is displayed in said first transmitted imager image, a fourth position at which said characteristic point is displayed in said first reference imager image, a fifth position at which a characteristic point of said subject is displayed in said second transmitted imager image, and a sixth position at which said characteristic point is displayed in said second reference imager image.

30. The radiation irradiation method according to claim 28, wherein said imager includes:

a first imager, and

a second imager,

wherein said reference imager image includes;

a first reference imager image which is taken by said first imager, and

a second reference imager image which is taken by said second imager,

wherein said transmitted imager image includes;

a first transmitted imager image which is taken by said first imager, and

a second transmitted imager image which is taken by said second imager,

said radiation irradiation method further includes;

(e) changing said relative position of said couch by using said drive device based on a third position at which a characteristic point of said subject is displayed in said first transmitted imager image, a fourth position at which said characteristic point is displayed in said first reference imager image, a fifth position at which a characteristic point of said subject is displayed in said second transmitted imager image, and a sixth position at which said characteristic point is displayed in said second reference imager image.

31. The radiation irradiation method according to claim 27, wherein said imager includes:

a radiation imager which generates at least one of said transmitted imager image and said reference imager image by using said therapeutic radiation.

32. The radiation irradiation method according to claim 28, wherein said imager includes:

a radiation imager which generates at least one of said transmitted imager image and said reference imager image by using said therapeutic radiation.

33. The radiation irradiation method according to claim 27, further comprising:

(f) creating a three-dimensional data of said subject based on a transmitted image taken by said imager,

(g) creating a two-dimensional image based on said three-dimensional data, and

(h) changing said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

34. The radiation irradiation method according to claim 28, further comprising:

(f) creating a three-dimensional data of said subject based on a transmitted image taken by said imager,

(g) creating a two-dimensional image based on said three-dimensional data, and

(h) changing said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

35. The radiation irradiation method according to claim 27, further comprising:

(i) collecting a three-dimensional data of said subject, said three-dimensional data is created by a three-dimensional imaging device provided in addition to said radiotherapy device,

(j) creating a two-dimensional image based on said three-dimensional data, and

(k) changing said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

36. The radiation irradiation method according to claim 28, further comprising:

(i) collecting a three-dimensional data of said subject, said three-dimensional data is created by a three-dimensional imaging device provided in addition to said radiotherapy device,

(j) creating a two-dimensional image based on said three-dimensional data, and

(k) changing said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

37. A computer program product for a radiation irradiation method using a radiotherapy device, wherein said radiotherapy device includes:

a therapeutic radiation irradiation device which radiates therapeutic radiation,

an imager which generates an imager image of a subject by using radiation transmitted through said subject, and

a drive device which moves a couch, on which said subject is arranged, with respect to said therapeutic radiation irradiation device,

said computer program product embodied on a computer-readable medium comprising code that, when executed, causes a computer to perform the following;

(a) collecting a reference imager image which is taken by said imager;

(b) imaging a transmitted imager image of said subject by said imager;

(c) judging whether or not a relative position of said couch with respect to said therapeutic radiation irradiation device is appropriate based on a first position at which a characteristic point of said subject is displayed in said transmitted imager image and a second position at which said characteristic point is displayed in said reference imager image; and

(d) changing said relative position of said couch by using said drive device based on said first position and said second position.

38. The computer program product according to claim 37, wherein said reference imager image is taken by said imager when a part of said subject is arranged to be irradiated with said therapeutic radiation, and

wherein said relative position of said couch is changed by using said drive device when a first relative position coincide with a second relative position such that said first position coincides with said second position, said first relative position is a relative position of said imager with respect to said therapeutic radiation irradiation device when said transmitted imager image is taken, and said second relative position is a relative position of said imager with respect to said therapeutic radiation irradiation device when said reference imager image is taken.

39. The computer program product according to claim 37, wherein said relative position of said couch is changed by using said drive device based on a relation between said second position and a third position of a part of said subject such that said third position calculated by using said first position is irradiated with said therapeutic radiation.

40. The computer program product according to claim 39, wherein said drive device includes:

a couch drive device which moves said couch, and

a irradiation drive device which moves said therapeutic radiation irradiation device,

wherein said irradiation drive device is used in preference to said couch drive device when said relative position of said couch is changed.

41. The computer program product according to claim 39, wherein said imager includes:

a first imager, and

a second imager,

wherein said reference imager image includes;

a first reference imager image which is taken by said first imager, and

a second reference imager image which is taken by said second imager,

wherein said transmitted imager image includes;

a first transmitted imager image which is taken by said first imager, and

a second transmitted imager image which is taken by said second imager,

said computer program product further includes;

(e) changing said relative position of said couch by using said drive device based on a third position at which a characteristic point of said subject is displayed in said first transmitted imager image, a fourth position at which said characteristic point is displayed in said first reference imager image, a fifth position at which a characteristic point of said subject is displayed in said second transmitted imager image, and a sixth position at which said characteristic point is displayed in said second reference imager image.

42. The computer program product according to claim 40, wherein said imager includes:

a first imager, and

a second imager,

wherein said reference imager image includes;

a first reference imager image which is taken by said first imager, and

a second reference imager image which is taken by said second imager,

wherein said transmitted imager image includes;

a first transmitted imager image which is taken by said first imager, and

a second transmitted imager image which is taken by said second imager,

said computer program product further includes;

(e) changing said relative position of said couch by using said drive device based on a third position at which a characteristic point of said subject is displayed in said first transmitted imager image, a fourth position at which said characteristic point is displayed in said first reference imager image, a fifth position at which a characteristic point of said subject is displayed in said second transmitted imager image, and a sixth position at which said characteristic point is displayed in said second reference imager image.

43. The computer program product according to claim 39, wherein said imager includes:

a radiation imager which generates at least one of said transmitted imager image and said reference imager image by using said therapeutic radiation.

44. The computer program product according to claim 40, wherein said imager includes:

a radiation imager which generates at least one of said transmitted imager image and said reference imager image by using said therapeutic radiation.

45. The computer program product according to claim 39, further comprising:

(f) creating a three-dimensional data of said subject based on a transmitted image taken by said imager,

(g) creating a two-dimensional image based on said three-dimensional data, and

(h) changing said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

46. The computer program product according to claim 40, further comprising:

(f) creating a three-dimensional data of said subject based on a transmitted image taken by said imager,

(g) creating a two-dimensional image based on said three-dimensional data, and

(h) changing said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

47. The computer program product according to claim 39, further comprising:

(i) collecting a three-dimensional data of said subject, said three-dimensional data is created by a three-dimensional imaging device provided in addition to said radiotherapy device,

(j) creating a two-dimensional image based on said three-dimensional data, and

(k) changing said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.

48. The computer program product according to claim 40, further comprising:

(i) collecting a three-dimensional data of said subject, said three-dimensional data is created by a three-dimensional imaging device provided in addition to said radiotherapy device,

(j) creating a two-dimensional image based on said three-dimensional data, and

(k) changing said relative position of said couch by using said drive device based on said first position and a position at which said characteristic point is displayed in said two-dimensional image.