Imaging device for radiation treatment applications

• US 7,657,304 B2
• Filed: 10/05/2002
• Issued: 02/02/2010
• Est. Priority Date: 10/05/2002
• Status: Active Grant

• Current Assignee: Varian Medical Systems Incorporated (Siemens AG)
• Original Assignee: Varian Medical Systems Incorporated (Siemens AG)
• Inventors: Mansfield, Stan, Kopels, Robert, Graf, Ulrich Martin
• Primary Examiner(s): Winakur; Eric F
• Assistant Examiner(s): Rozanski; Michael T
• Application Number:
  US10/264,630
• Publication Number:
  US 20040068169A1
• Time in Patent Office: 2,677 Days
• Field of Search: 600/411, 600/425, 600/427, 378/9, 378/65, 378/197
• US Class Current: 600/427
• CPC Class Codes: A61B 6/022 Stereoscopic imaging
• CPC Class Codes: A61B 6/08 Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
• CPC Class Codes: A61B 6/4007 characterised by using a plurality of source units
• CPC Class Codes: A61B 6/405 Source units specially adapted to modify characteristics of the beam during the data acquisition process A61B6/4021, A61B6/4035 take precedence
• CPC Class Codes: A61B 6/4233 using matrix detectors
• CPC Class Codes: A61B 6/4266 characterised by using a plurality of detector units A61B6/4014 takes precedence
• CPC Class Codes: A61B 6/4429 related to the mounting of source units and detector units
• CPC Class Codes: A61B 6/4452 the source unit and the detector unit being able to move relative to each other
• CPC Class Codes: A61B 6/4458 the source unit or the detector unit being attached to robotic arms
• CPC Class Codes: A61B 6/482 involving multiple energy imaging
• CPC Class Codes: A61B 6/587 Alignment of source unit to detector unit
• CPC Class Codes: A61N 2005/1061 using an x-ray imaging system having a separate imaging source
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam

Abstract

A radiotherapy clinical treatment machine is described having a rotatable gantry and an imaging device with articulating robotic arms to provide variable positioning and clearance for radiation treatment applications. According to one aspect of the invention, a first and a second robotic arms are pivotally coupled to the rotatable gantry, allowing the robotic arms to maneuver independently from the rotatable gantry.

Claims

1. An apparatus, comprising:

a rotatable gantry including a treatment source;

a first arm coupled to the rotatable gantry at a first coupling point, and the arm having a pivot point separate from the first coupling point;

an imaging source coupled to a source end of the first arm;

a different second arm coupled to the rotatable gantry at a different second coupling point; and

an image detector coupled to the imaging end of the second arm.

2. The apparatus of claim 1, wherein the first arm and the second arm extend and maneuver independent from the rotatable gantry.

3. The apparatus of claim 1, wherein the first arm and the second arm extend independently to an imaging position from a retracted position.

4. The apparatus of claim 3, wherein the first arm and the second arm swing laterally into the imaging position from the retracted position.

5. The apparatus of claim 3, wherein the first arm and the second arm swing downward into the imaging position from the retracted position.

6. The apparatus of claim 1, wherein the imaging source is at a different distance from the gantry than the image detector, wherein the imaging source is pivotally positioned to target the image detector, and the image detector is pivotally positioned to capture an imaging beam from the imaging source.

7. The apparatus of claim 1, wherein the image detector provides target volume information.

8. The apparatus of claim 7, further comprising:

a computer to position a treatment beam based on the target volume information.

9. The apparatus of claim 1, further comprising:

a computer having a mechanical flexure feedback control component to correct a mechanical flexure of the imaging source and a mechanical flexure of the imager.

10. The apparatus of claim 1, wherein the pivot point is at the first coupling point.

11. The apparatus of claim 1, wherein the pivot point pivotally couples the imaging source to the source end of the first arm.

12. The apparatus of claim 1, wherein the pivot point is between the first coupling point and the source end of the first arm.

13. The apparatus of claim 1, wherein the first coupling point for the first arm is a first pivot point, and the pivot point is a second pivot point.

14. The apparatus of claim 13, wherein the different second coupling point for second arm is a third pivot point.

15. The apparatus of claim 1, wherein the second arm is separate from the rotatable gantry.

16. A method to perform a clinical treatment, comprising:

independently positioning a first arm and a second arm with respect to where the first and second arm are coupled to a rotatable gantry to receive target volume data, the first arm coupled to the rotatable gantry at a first coupling point, and the first arm having a pivot point separate from the first coupling point, the second arm coupled to the rotatable gantry at a second coupling point, wherein the first arm is positioned from a clearance position and wherein the gantry includes a treatment source;

wherein the first arm comprises a diagnostic radiation source and the second arm comprises an imager;

wherein the treatment source comprises a source of treatment radiation separate from the diagnostic radiation source;

determining a treatment position for a treatment beam based on the target volume information;

applying the treatment beam upon maneuvering the treatment source to the treatment position.

17. The method of claim 16, wherein the positioning the first arm and the second arm includes positioning an image detector on the first arm to receive radiation from an imaging source on the second arm.

18. The method of claim 17, wherein the target volume data is based on the radiation received by the image detector.

19. The method of claim 17, wherein the positioning includes extending the first and second arms to provide higher resolution.

20. The method of claim 17, wherein the positioning includes extending the first and second arms for large field-of-view computed tomography.

21. The method of claim 17, wherein the positioning includes correcting for mechanical flexure.

22. The method of claim 17, wherein the target volume information is based on intra-fraction motion away from a target volume.

23. The method of claim 16, wherein the positioning the first arm and the second arm includes positioning an image detector on the first arm to receive radiation from a first and a second radiation source.

24. The method of claim 16, wherein the determining is based on generated stereoscopic information.

25. An apparatus, comprising:

a gantry having a treatment source;

an imaging source to emit imaging radiation on a target volume;

an imaging means to receive the radiation from the imaging source; and

means for positioning the imaging source and the imaging means, wherein the means for positioning includes the gantry pivotally coupled to the imaging source and imaging means at coupling points, wherein the means for positioning includes a first arm separate from the gantry, the first arm coupled to the gantry at a first coupling point, the first arm including a pivot point separate from the coupling point and including the imaging source, wherein the means for positioning includes a second arm separate from the gantry, the second arm coupled to the gantry at a second coupling point, and the second arm having the imaging means, and wherein the positioning includes transitioning between a clearance position and an imaging position.

26. The apparatus of claim 25, wherein the means for positioning swings the imaging source downward into the imaging position.

27. The apparatus of claim 25, wherein the means for positioning swings the imaging means outward into the imaging position.

28. The apparatus of claim 25, wherein the means for positioning contracts the imaging means to provide a higher resolution.

29. The apparatus of claim 25, wherein the means for positioning extends the imaging means to provide a larger image field of view.

30. The apparatus of claim 25, further comprising:

a computing means to correct a mechanical flexure of the imaging source.

31. An apparatus, comprising:

a rotatable gantry including a treatment source;

a first arm coupled to the rotatable gantry at a first coupling point, and having a pivot point separate from the first coupling point; and

a different second arm coupled to the rotatable gantry at a different second coupling point;

a plurality of imaging sources coupled to the first arm; and

an image detector coupled to the second arm, the image detector to receive radiation from the plurality of radiation sources.

32. The apparatus of claim 31, wherein a first of the plurality of imaging sources is a kilovoltage radiation source.

33. The apparatus of claim 31, wherein the image detector is a multi-energy imager.

34. The apparatus of claim 31, wherein the first arm extents to an imaging position from a clearance position.

35. An apparatus, comprising:

a rotatable gantry including a treatment source;

a first arm coupled to the rotatable gantry at a first coupling point, and the first arm having a first pivot point separate from the coupling point;

an imaging source coupled to a source end of the first arm;

a second arm coupled to the rotatable gantry at a different second coupling point, the second arm having a second pivot point; and

an image detector coupled to the imaging end of the second arm.

36. The apparatus of claim 35, wherein the first pivot point is between the first coupling point and the source end of the first arm, and wherein the second pivot point is between the second coupling point and imaging end of the second arm.

37. The apparatus of claim 35, wherein the first pivot point is at the first coupling point.

38. The apparatus of claim 37, wherein a third pivot point pivotally couples the imaging source to the source end of the first arm.

39. The apparatus of claim 38, wherein a fourth pivot point is between the coupling point and the source end of the first arm.

40. The apparatus of claim 39, wherein the second pivot point is at the second coupling point.

41. The apparatus of claim 40, wherein a fifth pivot point pivotally couples the image detector to the imaging end of the second arm.

42. The apparatus of claim 41, wherein a sixth pivot point is between the coupling point and the imaging end of the second arm.

43. An apparatus, comprising:

a rotatable gantry including a treatment source;

a first arm coupled to the rotatable gantry at a first coupling point, and the first arm having three pivot points;

an imaging source coupled to a source end of the first arm;

a second arm coupled to the rotatable gantry at a different second coupling point; and

an image detector coupled to an imaging end of the second arm.

44. The apparatus of claim 43, wherein the first arm includes a first pivot point at the first coupling point, a second pivot point coupling the imaging source to the source end of the first arm, and a third pivot point between the first coupling point and the source end of the first arm.

45. An apparatus, comprising:

a rotatable gantry including a treatment source;

a first arm coupled to the rotatable gantry at a first coupling point, and the first arm having a pivot point separate from the coupling point;

an imaging source coupled to a source end of the first arm;

a second arm coupled to the rotatable gantry at a second coupling point, the second arm having three pivot points; and

an image detector coupled to an imaging end of the second arm.

46. The apparatus of claim 45, wherein the second arm includes a first pivot point at the second coupling point, a second pivot point coupling the image detector to the imaging end of the second arm, and a third pivot point between the second coupling point and the imaging end of the second arm.

47. An apparatus comprising:

a rotatable gantry including a treatment source;

a first arm coupled to the rotatable gantry at a first coupling point, and having a pivot point separate from the first coupling point, the first arm having at least one radiation source;

a second arm coupled to the rotatable gantry at a second different coupling point, the second arm having a first radiation detector at a first location, and a second radiation detector at a second location, the first and second radiation detectors to capture radiation from the at least one radiation source, and wherein the first and second radiation detectors are off-set radially from the at least one radiation source to provide data to generate a stereoscopic representation of a target volume.