JP2001259060A - Method and device for measuring positional deviation of patient, method and device for positioning patient by using the method, and radiotherapy apparatus - Google Patents
Method and device for measuring positional deviation of patient, method and device for positioning patient by using the method, and radiotherapy apparatusInfo
- Publication number
- JP2001259060A JP2001259060A JP2000078374A JP2000078374A JP2001259060A JP 2001259060 A JP2001259060 A JP 2001259060A JP 2000078374 A JP2000078374 A JP 2000078374A JP 2000078374 A JP2000078374 A JP 2000078374A JP 2001259060 A JP2001259060 A JP 2001259060A
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- Prior art keywords
- patient
- positioning
- measuring
- optical flow
- norm
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Links
- 238000000034 method Methods 0.000 title claims description 17
- 238000001959 radiotherapy Methods 0.000 title claims description 11
- 230000003287 optical effect Effects 0.000 claims abstract description 45
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 230000005855 radiation Effects 0.000 claims description 14
- 239000013598 vector Substances 0.000 claims description 13
- 239000002131 composite material Substances 0.000 claims description 4
- 230000001678 irradiating effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims 2
- 238000000691 measurement method Methods 0.000 claims 2
- 210000004872 soft tissue Anatomy 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 20
- 238000003384 imaging method Methods 0.000 description 12
- 238000004088 simulation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 3
- 239000003550 marker Substances 0.000 description 3
- 238000013170 computed tomography imaging Methods 0.000 description 2
- 238000005094 computer simulation Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011257 definitive treatment Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000002601 radiography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
Landscapes
- Apparatus For Radiation Diagnosis (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、患者位置ずれ計測
方法、装置、及び、これを用いた患者位置決め方法、装
置、並びに放射線治療装置に係り、特に、外部照射によ
る放射線治療の患者位置決めに用いるのに好適な、患者
位置の目標位置からのずれ量を計測するための患者位置
ずれ計測方法、装置、及び、これを用いた患者位置決め
方法、装置、並びに放射線治療装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for measuring a patient position shift, a method and an apparatus for positioning a patient using the same, and a radiotherapy apparatus, and more particularly to a method for positioning a patient for radiotherapy by external irradiation. More specifically, the present invention relates to a method and an apparatus for measuring a patient position deviation for measuring a deviation amount of a patient position from a target position, a patient positioning method and an apparatus using the same, and a radiotherapy apparatus.
【０００２】[0002]
【従来の技術】一般に、外部照射による放射線治療、特
に、線量局在性に優れた放射線治療を行う際には、放射
線を照射ターゲットである病巣に正確に照射するため
に、正確に患者を位置決めする必要がある。2. Description of the Related Art Generally, when performing radiation treatment by external irradiation, particularly radiation treatment with excellent dose localization, a patient is accurately positioned in order to accurately irradiate radiation to a target lesion. There is a need to.
【０００３】図１に、放射線治療で一般的に行われてい
る患者位置決めの様子を示す。FIG. 1 shows a state of patient positioning generally performed in radiation therapy.
【０００４】患者位置決めに際しては、図２に示す如
く、まずステップ１００で、放射線の照射門数、方向、
強度等の照射計画（治療計画と称する）を決定するため
に、Ｘ線ＣＴ撮影装置１２で、患者１０のＸ線ＣＴ画像
を撮影する。When positioning a patient, as shown in FIG. 2, first, in step 100, the number, direction,
In order to determine an irradiation plan such as intensity (referred to as a treatment plan), an X-ray CT image of the patient 10 is captured by the X-ray CT imaging apparatus 12.
【０００５】次いでステップ１１０に進み、治療計画装
置３０で、前記Ｘ線ＣＴ画像を用いて、照射する患部の
位置や大きさを把握し、照射方向や厚さ等の条件（いわ
ゆる照射パラメータ）を決定する治療計画を行う。具体
的には、撮影したＸ線ＣＴ画像を用い、患者の体輪郭や
腫瘍領域の設定、更に放射線を照射してはいけない重要
臓器の入力設定を行い、これらの３次元モデルを作成す
る。この３次元モデル及び画像を用いて治療計画を行
い、照射方向や、照射線量を、計算機シミュレーション
により決定する。照射の際、計画に使用したＸ線ＣＴと
治療台上の患者の位置や姿勢がずれていると、正確な照
射ができないため、照射治療の際の患者位置決めは、治
療の成否を決める非常に重要な作業となる。Next, the process proceeds to step 110, where the treatment planning device 30 grasps the position and size of the affected part using the X-ray CT image, and determines conditions (so-called irradiation parameters) such as the irradiation direction and thickness. Make a definitive treatment plan. Specifically, using the captured X-ray CT image, the body contour and the tumor region of the patient are set, and the input setting of important organs that should not be irradiated with radiation is performed, and these three-dimensional models are created. A treatment plan is performed using the three-dimensional model and the image, and the irradiation direction and the irradiation dose are determined by computer simulation. At the time of irradiation, if the X-ray CT used for planning and the position and posture of the patient on the treatment table are out of alignment, accurate irradiation cannot be performed. Therefore, positioning of the patient during irradiation treatment determines the success or failure of treatment. This is an important task.
【０００６】治療計画終了後、ステップ１２０で、患者
位置決めのための疑似Ｘ線画像を計算機シミュレーショ
ンにより作成する。該疑似Ｘ線画像は、例えば患者上方
及び側方からの２方向を作成し、記録装置に記録保存す
る。After the treatment plan is completed, in step 120, a pseudo X-ray image for patient positioning is created by computer simulation. The pseudo X-ray image is created in, for example, two directions from above and from the side of the patient, and is recorded and stored in a recording device.
【０００７】ここまでが、照射治療のための事前準備と
なる。Up to this point, the preparation for irradiation treatment has been completed.
【０００８】次いで、患者位置決めのための作業を行
う。これには、事前位置決め段階１３０と、照射時位置
決め段階１４０の２つの作業があり、事前位置決め１３
０は、照射治療前に１回だけ行う。放射線の外部照射治
療の場合、通常２０〜３０回の分割照射が行われるが、
照射時位置決め１４０は、照射毎に毎回行われる。従っ
て、この位置決め作業を簡略化できれば、技師と患者の
双方の負担を減らすことができる。Next, an operation for patient positioning is performed. This involves two operations, a pre-positioning stage 130 and an irradiation positioning stage 140.
0 is performed only once before irradiation treatment. In the case of external irradiation treatment of radiation, usually 20 to 30 divided irradiations are performed,
The irradiation positioning 140 is performed each time irradiation is performed. Therefore, if this positioning operation can be simplified, the burden on both the technician and the patient can be reduced.
【０００９】前記事前位置決め段階１３０では、例えば
患者の体表（又は患者固定具表面）へのマーキングと、
照射時位置決めのためのＸ線画像撮影を行う。In the pre-positioning step 130, for example, marking on the patient's body surface (or the surface of the patient fixture),
An X-ray image is taken for positioning during irradiation.
【００１０】具体的には、図１に示すように、ステップ
１３２で、治療用の回転ガントリ１４内の治療台１６上
における患者１０の位置を大まかに推定し、これに合わ
せて治療台１６を目視による手動操作で移動する（荒位
置決めと称する）。More specifically, as shown in FIG. 1, in step 132, the position of the patient 10 on the treatment table 16 in the treatment rotating gantry 14 is roughly estimated, and the treatment table 16 is adjusted accordingly. It is moved by visual manual operation (referred to as rough positioning).
【００１１】次いでステップ１３４に進み、患者１０の
例えば上方と側方と２方向から、例えばＸ線発生装置２
２Ａ、２２Ｂ及びＸ線撮像装置２４Ａ、２４Ｂをそれぞ
れ含むＸ線透過撮影装置２０Ａ、２０Ｂを用いてＸ線透
過撮影を行い、ステップ１２０で作成した疑似Ｘ線画像
と一致するように、治療台１６を動かす。治療台１６を
動かしたら、再度Ｘ線画像を撮影し、結果を確認する。
必要に応じ、この作業が繰り返される（詳細位置決めと
称する）。Next, the routine proceeds to step 134, where the X-ray generator 2
X-ray transmission imaging is performed using X-ray transmission imaging apparatuses 20A and 20B including X-ray imaging apparatuses 2A and 22B and X-ray imaging apparatuses 24A and 24B, respectively, and the treatment table 16 is adjusted to match the pseudo X-ray image created in step 120. Move. When the treatment table 16 is moved, an X-ray image is taken again and the result is confirmed.
This operation is repeated as necessary (referred to as detailed positioning).
【００１２】両者が一致したら、ステップ１３６に進
み、２つのＸ線透過画像を記録装置に記録保存する。If they match, the process proceeds to step 136, where two X-ray transmission images are recorded and stored in the recording device.
【００１３】次いでステップ１３８で、例えば照射装置
系に固定された投光器により、患者体表に投影されたマ
ーカーを、例えばインキ等で体表や固定具に転写する。Next, in step 138, the marker projected on the patient's body surface is transferred to the body surface or the fixture with, for example, ink or the like by a light projector fixed to the irradiation device system, for example.
【００１４】最後に、実際の照射治療の度に、照射時位
置決め１４０を行う。具体的には、ステップ１４２で、
体表のマーカーと照射装置系に固定された投光器による
投影マーカーを一致させるよう、目視による手動操作で
治療台１６を動かす（荒位置決めと称する）。Finally, the irradiation positioning 140 is performed every time the actual irradiation treatment is performed. Specifically, in step 142,
The treatment table 16 is moved by manual operation visually so as to match the marker on the body surface with the marker projected by the projector fixed to the irradiation device system (referred to as rough positioning).
【００１５】次いでステップ１４４で、Ｘ線透過撮影を
行い、ステップ１３６で保存した位置決め用Ｘ線透過画
像と一致するように、治療台１６を動かす。治療台１６
を動かしたら、再度Ｘ線透過画像を撮影し、結果を確認
する。必要に応じて、この作業が繰り返される（詳細位
置決めと称する）。Next, at step 144, X-ray transmission radiography is performed, and the treatment table 16 is moved so as to coincide with the positioning X-ray transmission image stored at step 136. Treatment table 16
After moving, an X-ray transmission image is taken again and the result is confirmed. This operation is repeated as necessary (referred to as detailed positioning).
【００１６】[0016]
【発明が解決しようとする課題】放射線は、前記治療計
画で決定された照射パラメータに基づいて照射される
が、Ｘ線ＣＴ撮影装置１２と治療装置（回転ガントリ１
４）は異なる装置であるため、治療台１６上の患者１０
の座標系と、治療計画時に用いたＸ線ＣＴ画像の座標系
との間には、若干のずれが生じることになる。従って、
治療計画どおりに正確に患部に照射するためには、この
座標系のずれを補正する必要がある。ずれ量を正確に測
定できれば、例えば６自由度の治療台１６により、患者
位置の補正が可能である。The radiation is applied based on the irradiation parameters determined in the treatment plan. The X-ray CT apparatus 12 and the treatment apparatus (rotating gantry 1) are used.
4) is a different device, so the patient 10 on the treatment table 16
Is slightly different from the coordinate system of the X-ray CT image used at the time of treatment planning. Therefore,
In order to accurately irradiate the affected part in accordance with the treatment plan, it is necessary to correct the deviation of the coordinate system. If the amount of displacement can be measured accurately, the patient position can be corrected using, for example, the treatment table 16 having six degrees of freedom.
【００１７】前記ステップ１３４及び１４４の詳細位置
決めでは、Ｘ線透過画像を用いて患者位置の計測を行っ
ている。Ｘ線透過画像では、骨等の密度の高い物質は比
較的視認し易いが、筋肉やその他の軟部組織は判別が難
しい。従って、通常は近傍にある骨等の特徴ある形状を
ランドマークとして位置決めを行うが、胸部や腹部のよ
うな体幹部では、コントラストが低く、正確な位置決め
が困難であるという問題点を有していた。In the detailed positioning in steps 134 and 144, the patient position is measured using an X-ray transmission image. In an X-ray transmission image, a substance having a high density such as a bone is relatively easy to visually recognize, but it is difficult to distinguish a muscle or other soft tissue. Therefore, positioning is usually performed using a characteristic shape such as a nearby bone as a landmark. However, in a trunk such as the chest and abdomen, there is a problem that contrast is low and accurate positioning is difficult. Was.
【００１８】本発明は、前記従来の問題点を解決するべ
くなされたもので、判別が難しい軟部組織中の照射ター
ゲットの位置を直接計測することにより、位置決め精度
を向上させることを第１の課題とする。The present invention has been made to solve the above-mentioned conventional problems, and it is a first object of the present invention to improve the positioning accuracy by directly measuring the position of an irradiation target in soft tissue which is difficult to determine. And
【００１９】本発明は、又、放射線の照***度を向上さ
せて、病院側スタッフ及び患者の負担を軽減することを
第２の課題とする。Another object of the present invention is to reduce the burden on hospital staff and patients by improving the irradiation accuracy of radiation.
【００２０】[0020]
【課題を解決するための手段】本発明は、患者位置の目
標位置からのずれ量を計測するための患者位置ずれ計測
方法において、患者位置ずれ量の予想範囲内における全
てのオプティカルフローを予め計算し、これと実際に計
測したオプティカルフローを比較して、患者の位置ずれ
量を求めることにより、前記第１の課題を解決したもの
である。According to the present invention, there is provided a method for measuring a displacement of a patient from a target position, wherein all optical flows within an expected range of the displacement of the patient are calculated in advance. Then, the first problem is solved by comparing this with the actually measured optical flow to determine the amount of displacement of the patient.
【００２１】又、前記計算した各オプティカルフローで
合成ベクトルのノルムを計算し、該ノルムが最大となる
基準ノルム近傍で前記実際のオプティカルフローを計測
するようにして、照射ターゲットの検出を容易としたも
のである。Further, the norm of the composite vector is calculated with each of the calculated optical flows, and the actual optical flow is measured near the reference norm where the norm is maximum, thereby facilitating detection of the irradiation target. Things.
【００２２】本発明は、又、患者位置の目標位置からの
ずれ量を計測するための患者位置ずれ計測装置におい
て、予め計算した患者位置ずれ量の予想範囲内における
全てのオプティカルフローを保存する保存手段と、実際
のオプティカルフローを計測する計測手段と、前記保存
手段に保存された保存オプティカルフローと実際に計測
された計測オプティカルフローを比較して、患者の位置
ずれ量を求めるマッチング手段とを備えることにより、
前記第１の課題を解決したものである。According to another aspect of the present invention, there is provided a patient displacement measuring apparatus for measuring a displacement of a patient position from a target position, wherein all optical flows within an expected range of the previously calculated patient displacement are stored. Means, measuring means for measuring the actual optical flow, and matching means for comparing the stored optical flow stored in the storing means with the actually measured optical flow to determine the amount of displacement of the patient. By doing
This is a solution to the first problem.
【００２３】又、予め計算した各オプティカルフローで
合成ベクトルのノルムを計算し、該ノルムが最大となる
基準ノルムを求める手段を備え、該基準ノルム近傍で前
記実際のオプティカルフローを計測するようにして、照
射ターゲットの検出を容易としたものである。Further, there is provided means for calculating the norm of the composite vector with each of the optical flows calculated in advance, and obtaining a reference norm in which the norm is maximized, and measuring the actual optical flow near the reference norm. , Making it easier to detect the irradiation target.
【００２４】本発明は、又、前記の患者位置ずれ計測方
法により求められた位置ずれ量に応じて、患者の位置決
めを行うようにして、前記第１の課題を解決したもので
ある。The present invention also solves the first problem by positioning a patient in accordance with the amount of positional deviation obtained by the above-mentioned method of measuring patient positional deviation.
【００２５】本発明は、又、患者位置決め装置におい
て、前記の患者位置ずれ計測装置と、該患者位置ずれ計
測装置により求められた位置ずれ量に応じて、患者の位
置決めを行う患者位置決め制御装置とを備えることによ
り、同じく前記第１の課題を解決したものである。According to the present invention, there is also provided a patient positioning device, wherein the patient position deviation measuring device and a patient positioning control device for positioning a patient in accordance with the positional deviation amount obtained by the patient position deviation measuring device. The above-mentioned first problem has been solved in the same manner.
【００２６】本発明は、又、放射線治療装置において、
前記の患者位置決め装置と、該患者位置決め装置により
位置決めされた患者に放射線を照射する放射線照射装置
とを備えることにより、前記第２の課題を解決したもの
である。The present invention also provides a radiotherapy device,
The second problem has been solved by providing the above-mentioned patient positioning device and a radiation irradiating device for irradiating a patient positioned by the patient positioning device with radiation.
【００２７】前記オプティカルフローとは、画像上の画
素の流れ（動き）をベクトルで表わしたものを言い、通
常は動画像のフレーム間での各画素の動きをベクトルで
求めることで、移動方向を検出するのに用いられてい
る。その特徴は、瞬間瞬間の微小変化を扱い、変化が連
続的であれば、各画素の動きが流れるように変化すると
ころであると判断する。移動ベクトルを検出できれば、
移動物体の把握や追跡や可能であり、交通量調査や人間
のジェスチャの認識等に用いることが検討されている。The optical flow refers to a flow (movement) of pixels on an image represented by a vector. Normally, the movement direction of each pixel between frames of a moving image is obtained by a vector, and the moving direction is determined. Used to detect. The feature is to handle a minute change at the moment, and if the change is continuous, it is determined that the movement of each pixel is about to change. If the movement vector can be detected,
It is possible to grasp and track a moving object, and to use it for traffic surveys, recognition of human gestures, and the like.
【００２８】本発明では、このオプティカルフローを利
用して、照射ターゲットの３次元位置決めを行う。In the present invention, three-dimensional positioning of the irradiation target is performed using this optical flow.
【００２９】[0029]
【発明の実施の形態】以下図面を参照して、本発明の実
施形態を詳細に説明する。Embodiments of the present invention will be described below in detail with reference to the drawings.
【００３０】本発明に係る放射線治療装置の実施形態
は、図３に示す如く、図１に示したＸ線ＣＴ撮影装置１
２で撮影された、放射線治療に必要なＸ線ＣＴ画像を保
存する画像データベース（ＤＢ）３２と、該画像ＤＢ３
２からＸ線ＣＴ画像を取出し、照射ターゲットの３次元
位置・形状入力や、線量分布シミュレーションを行っ
て、放射線治療の照射パラメータを決定する、従来と同
様の治療計画装置３０と、該治療計画装置３０で設定さ
れた照射ターゲット付近のオプティカルフロー情報、及
び、患者１０の回りに回動可能な照射ノズル１８から放
射線を照射して治療を行うための回転ガントリ１４の回
転情報を計算し、後出３次元（３Ｄ）位置決め制御装置
３６に送信する、本発明に係る３次元（３Ｄ）位置決め
計画装置３４と、まず、該３Ｄ位置決め計画装置３４で
計算されたガントリ回転情報に基づきＸ線透過撮影を行
って、その画像を収集し、次に、この画像からオプティ
カルフローを計算して、照射ターゲット付近のオプティ
カルフロー情報とのずれを計算し、これを治療台１６の
回転・移動情報に変換する、本発明に係る３次元（３
Ｄ）位置決め制御装置３６とを含んで構成されており、
これらが、治療システムのネットワークに接続されてい
る。An embodiment of the radiotherapy apparatus according to the present invention is, as shown in FIG. 3, an X-ray CT apparatus 1 shown in FIG.
An image database (DB) 32 for storing X-ray CT images necessary for radiotherapy, taken in step 2, and the image DB3
A conventional treatment planning device 30 for taking out an X-ray CT image from the device 2, inputting the three-dimensional position and shape of the irradiation target, and simulating the dose distribution to determine the irradiation parameters of the radiation treatment; The optical flow information near the irradiation target set in 30 and the rotation information of the rotating gantry 14 for irradiating radiation from the irradiation nozzle 18 rotatable around the patient 10 to perform treatment are calculated, and will be described later. The three-dimensional (3D) positioning planning device 34 according to the present invention, which is transmitted to the three-dimensional (3D) positioning control device 36, and first, the X-ray transmission imaging is performed based on the gantry rotation information calculated by the 3D positioning planning device 34. Go, collect the image, and then calculate the optical flow from this image and combine it with optical flow information near the irradiation target. Les calculates, converts it into rotation and movement information of the treatment stage 16, a three-dimensional (3 according to the present invention
D) a positioning control device 36;
These are connected to the network of the treatment system.
【００３１】前記３Ｄ位置決め計画装置３４では、図４
に示す如く、まずステップ２００で、治療直前の患者位
置決めで行われているＸ線透過撮影の画像を、１回転分
（ガントリ角度０〜３６０°）、設定された各回転角度
ステップ（例えば２°）でシミュレーションして、図５
に示す如く、多ガントリ方向からのＸ線透過シミュレー
ション画像ＸＩ（ｎ）、ＸＩ（ｎ＋１）・・・を作成す
る。ステップ角度は任意に設定できるが、例えば２°に
設定すると、１８０枚のＸ線透過シミュレーション画像
が作成される。In the 3D positioning planning device 34, FIG.
As shown in (1), first, in step 200, the image of the X-ray transmission imaging performed in the patient positioning immediately before the treatment is performed at each set rotation angle step (for example, 2 °) for one rotation (gantry angle 0 to 360 °). 5)
, X-ray transmission simulation images XI (n), XI (n + 1)... From multiple gantry directions are created. The step angle can be set arbitrarily. For example, when the step angle is set to 2 °, 180 X-ray transmission simulation images are created.
【００３２】次いで、ステップ２１０で、前記治療計画
装置３０で設定された照射ターゲット付近のオプティカ
ルフローを、各シミュレーション画像間で計算する。具
体的には、図６に示す如く、２つの隣接するＸ線透過シ
ミュレーション画像Ｘ（ｎ）、Ｘ（ｎ＋１）において、
同じ場所に設定した、ある微小領域内の等輝度画素は、
同じ物が移動したと仮定して、２つの画素間の移動ベク
トルを算出することにより、オプティカルフローを計算
して、図６の右側に示すようなオプティカルフロー画像
Ｏを得る。画像中の矢印が、Ｘ（ｎ）とＸ（ｎ＋１）と
の間での移動量と方向を示す。筋肉やその他の、コント
ラストが低い、軟部組織であっても、動きの判別は可能
である。Next, in step 210, an optical flow near the irradiation target set by the treatment planning device 30 is calculated between the simulation images. Specifically, as shown in FIG. 6, in two adjacent X-ray transmission simulation images X (n) and X (n + 1),
Equal luminance pixels in a small area set at the same location
Assuming that the same object has moved, an optical flow is calculated by calculating a movement vector between the two pixels to obtain an optical flow image O as shown on the right side of FIG. Arrows in the image indicate the amount and direction of movement between X (n) and X (n + 1). It is possible to determine the movement of a muscle or other soft tissue having low contrast.
【００３３】次いでステップ２２０に進み、図７に示す
如く、それぞれのオプティカルフロー画像で、画像中心
付近のオプティカルフローベクトルｏｆ（ｉ）及びその
ノルム（絶対値）を計算し、その中から最大のノルム値
を検索して、基準ノルムＸＮ（ｎ）とする。又、このと
きのオプティカルフローを基準オプティカルフローと
し、この基準オプティカルフローを計算した回転角度情
報と合わせて、計３つの情報を保存する。基準ノルム近
傍では、オプティカルフローベクトルが大きく、照射タ
ーゲット付近での画像の見え方に大きな変化があると考
えられるため、この回転角度情報を用いて、Ｘ線透過撮
影を行えば、照射ターゲットを検出し易くなる。Next, in step 220, as shown in FIG. 7, for each optical flow image, an optical flow vector of (i) near the center of the image and its norm (absolute value) are calculated, and the maximum norm is calculated. The value is retrieved and set as a reference norm XN (n). The optical flow at this time is set as a reference optical flow, and a total of three pieces of information are stored together with the rotation angle information obtained by calculating the reference optical flow. In the vicinity of the reference norm, the optical flow vector is large, and it is considered that there is a large change in the appearance of the image near the irradiation target. Therefore, if X-ray transmission imaging is performed using this rotation angle information, the irradiation target will be detected. Easier to do.
【００３４】前記３Ｄ位置決め計画装置３４は、次い
で、図８のステップ２３０に進み、この回転角度近傍で
患者セットアップ誤差（例えば±３０％）の範囲で、Ｘ
線ＣＴ画像を回転・移動させて、ステップ２４０で、図
９に示す如く、ベッド角度やチルト角度も入れて基準角
度周辺微小領域のＸ線透過シミュレーション画像を再作
成し、回転・移動量（ｎ）と、そのときのオプティカル
フロー（ｎ）（ステップ２５０）、合成ベクトルのノル
ム（ｎ）（ステップ２６０）を計算して、テーブルに保
存する。この保存情報は、前記３Ｄ位置決め制御装置３
６に転送される。The 3D positioning planner 34 then proceeds to step 230 in FIG. 8 and executes X within the range of the patient setup error (for example, ± 30%) near this rotation angle.
The X-ray CT image is rotated / moved, and in step 240, as shown in FIG. 9, an X-ray transmission simulation image of the micro area around the reference angle is re-created including the bed angle and the tilt angle, and the rotation / movement amount (n ), The optical flow (n) at that time (step 250), and the norm (n) of the combined vector (step 260) are calculated and stored in a table. This stored information is stored in the 3D positioning control device 3
6 is transferred.
【００３５】前記３Ｄ位置決め制御装置３６は、図１０
に示す如く、ステップ３１０で前記３Ｄ位置決め計画装
置３４から出力された回転角度情報と回転角度ステップ
情報を用いて、回転ガントリ及びＸ線透過撮影装置を制
御し、Ｘ線透過撮影を行い、ステップ３２０で、計測さ
れたオプティカルフローを計測オプティカルフローとし
て計算し、保存する。更に、ステップ３３０で、合成ベ
クトルのノルムも計算し、計測ノルムとして保存する。The 3D positioning control device 36 is provided in FIG.
As shown in the figure, the rotation gantry and the X-ray transmission apparatus are controlled using the rotation angle information and the rotation angle step information output from the 3D positioning planning apparatus 34 in step 310 to perform X-ray transmission imaging, and step 320 Then, the measured optical flow is calculated as a measured optical flow and stored. Further, in step 330, the norm of the combined vector is also calculated and stored as the measured norm.
【００３６】次いで図１１のステップ３４０に進み、こ
の計測オプティカルフローＯｆｍ（ｉ）と、テーブルと
して保存したオプティカルフローＯｆｍ（ｉ）とのパタ
ーンマッチングを、図１２に示す如く、例えば対応する
画素毎のベクトルの内積の総和ＰＭをとることによって
行い、マッチングの値が最小（ＰＭは最大）になった回
転・移動量を、回転・移動のずれ量として出力する。Then, the process proceeds to step 340 in FIG. 11, where pattern matching between the measured optical flow Ofm (i) and the optical flow Ofm (i) stored as a table is performed, for example, as shown in FIG. This is performed by taking the total sum PM of the inner products of the vectors, and outputs the rotation / movement amount at which the matching value becomes the minimum (PM is the maximum) as the rotation / movement deviation amount.
【００３７】本実施形態においては、照射ターゲット近
傍での画像の見え方に大きな変化があると考えられる基
準ノルム近傍での回転角度情報を用いて、Ｘ線透過撮影
を行っているので、照射ターゲットを容易に精度良く検
出できる。なお、基準ノルム近傍でなくても十分な精度
が得られる時には、他の回転角度で位置ずれを検出する
ことも可能である。In this embodiment, X-ray transmission imaging is performed using rotation angle information near the reference norm, which is considered to have a large change in the appearance of an image near the irradiation target. Can be easily and accurately detected. Note that when sufficient accuracy can be obtained even when the position is not near the reference norm, it is also possible to detect a position shift at another rotation angle.
【００３８】更に、高速計算が可能になれば、リアルタ
イムでのシミュレーションも可能である。Further, if high-speed calculation becomes possible, real-time simulation is possible.
【００３９】[0039]
【発明の効果】本発明によれば、骨等の密度の高い物質
を代わりに用いるのではなく、照射ターゲットそのもの
を計測するので、位置決めの精度が向上する。従って、
放射線の照***度が向上して、病院側スタッフと患者双
方の負担を軽減させることができる。According to the present invention, since the irradiation target itself is measured instead of using a substance having a high density such as bone instead, the positioning accuracy is improved. Therefore,
The radiation irradiation accuracy is improved, and the burden on both the hospital staff and the patient can be reduced.
【００４０】又、実際のＸ線透過撮影は、１回で済み、
患者の被爆量が低減される。In addition, the actual X-ray transmission imaging only needs to be performed once,
The patient's exposure is reduced.
【００４１】特に、全自動で位置決めを行うようにした
場合には、オペレータ毎のばらつきを防ぐことができ
る。In particular, when the positioning is performed fully automatically, it is possible to prevent variations among operators.
【図１】放射線治療で一般的に行われている患者位置決
めの様子を示す線図FIG. 1 is a diagram showing a state of patient positioning generally performed in radiation therapy.
【図２】前記患者位置決め作業の手順を示す流れ図FIG. 2 is a flowchart showing a procedure of the patient positioning operation.
【図３】本発明が採用された放射線治療装置の全体構成
を示すブロック図FIG. 3 is a block diagram showing an overall configuration of a radiotherapy apparatus to which the present invention is applied;
【図４】前記実施形態で用いられている３次元位置決め
計画装置の動作の前半を示す流れ図FIG. 4 is a flowchart showing the first half of the operation of the three-dimensional positioning planning device used in the embodiment.
【図５】前記３次元位置決め計画装置において、多ガン
トリ角度方向からシミュレーション画像を作成している
様子を示す斜視図FIG. 5 is a perspective view showing a state in which a simulation image is created from multiple gantry angles in the three-dimensional positioning planning apparatus.
【図６】同じくオプティカルフローを計算している様子
を示す線図FIG. 6 is a diagram showing a state where an optical flow is calculated.
【図７】同じくオプティカルフローの特徴量を計算して
いる様子を示す線図FIG. 7 is a diagram showing a state in which the feature amount of the optical flow is calculated.
【図８】前記３Ｄ位置決め計画装置の動作の後半を示す
流れ図FIG. 8 is a flowchart showing the latter half of the operation of the 3D positioning planning device.
【図９】前記３Ｄ位置決め計画装置において、基準角度
周辺微小領域でのシミュレーション画像を作成している
様子を示す斜視図FIG. 9 is a perspective view showing a state in which a simulation image is created in a minute area around a reference angle in the 3D positioning planning device.
【図１０】前記実施形態で用いられている３Ｄ位置決め
制御装置の動作の前半を示す流れ図FIG. 10 is a flowchart showing the first half of the operation of the 3D positioning control device used in the embodiment.
【図１１】同じく後半を示す流れ図FIG. 11 is a flowchart showing the second half of the same.
【図１２】前記３Ｄ位置決め制御装置において、オプテ
ィカルフローのパターンマッチングを行っている様子を
示す線図FIG. 12 is a diagram showing a state in which pattern matching of an optical flow is performed in the 3D positioning control device.
１０…患者 １２…Ｘ線ＣＴ撮影装置 １４…回転ガントリ １６…治療台（患者ベッド） ２０Ａ、２０Ｂ…Ｘ線透過撮影装置 ２２Ａ、２２Ｂ…Ｘ線発生装置 ２４Ａ、２４Ｂ…Ｘ線撮像装置 ３０…治療計画装置 ３２…画像データベース（ＤＢ） ３４…３次元（３Ｄ）位置決め計画装置 ３６…３次元（３Ｄ）位置決め制御装置 Ｏ…オプティカルフロー画像 DESCRIPTION OF SYMBOLS 10 ... Patient 12 ... X-ray CT imaging device 14 ... Rotating gantry 16 ... Treatment table (patient bed) 20A, 20B ... X-ray transmission imaging device 22A, 22B ... X-ray generator 24A, 24B ... X-ray imaging device 30 ... Treatment Planning device 32 ... Image database (DB) 34 ... Three-dimensional (3D) positioning planning device 36 ... Three-dimensional (3D) positioning control device O ... Optical flow image
───────────────────────────────────────────────────── フロントページの続き Ｆターム(参考） 4C082 AC02 AE03 AG52 AJ08 AN02 AP07 4C093 AA22 AA25 CA17 CA35 CA50 FD03 FF12 FF21 FF33 FF41 FF50 FH07 5B057 AA08 BA03 BA19 DA07 DB03 DC02 DC33 5L096 AA09 BA06 BA13 FA66 FA69 HA04 HA07 ──────────────────────────────────────────────────続 き Continued on the front page F-term (reference) 4C082 AC02 AE03 AG52 AJ08 AN02 AP07 4C093 AA22 AA25 CA17 CA35 CA50 FD03 FF12 FF21 FF33 FF41 FF50 FH07 5B057 AA08 BA03 BA19 DA07 DB03 DC02 DC33 5L096 AA09 BA06 BA06
Claims (7)
るための患者位置ずれ計測方法において、 患者位置ずれ量の予想範囲内における全てのオプティカ
ルフローを予め計算し、 これと実際に計測したオプティカルフローを比較して、 患者の位置ずれ量を求めることを特徴とする患者位置ず
れ計測方法。In a method for measuring a displacement of a patient from a target position, all optical flows within an expected range of the displacement of the patient are calculated in advance and actually measured. A method for measuring a patient's position shift, comprising comparing an optical flow to obtain a position shift amount of a patient.
ベクトルのノルムを計算し、該ノルムが最大となる基準
ノルム近傍で前記実際のオプティカルフローを計測する
ことを特徴とする請求項１に記載の患者位置ずれ計測方
法。2. The patient according to claim 1, wherein a norm of the composite vector is calculated with each of the calculated optical flows, and the actual optical flow is measured near a reference norm where the norm is maximum. Position shift measurement method.
るための患者位置ずれ計測装置において、 予め計算した患者位置ずれ量の予想範囲内における全て
のオプティカルフローを保存する保存手段と、 実際のオプティカルフローを計測する計測手段と、 前記保存手段に保存された保存オプティカルフローと実
際に計測された計測オプティカルフローを比較して、患
者の位置ずれ量を求めるマッチング手段と、 を備えたことを特徴とする患者位置ずれ計測装置。3. A patient position deviation measuring device for measuring a deviation amount of a patient position from a target position, wherein a storage means for storing all optical flows within an expected range of a previously calculated patient position deviation amount; Measuring means for measuring the optical flow of, and matching means for comparing the stored optical flow stored in the storing means with the actually measured optical flow to determine the amount of displacement of the patient. Characteristic patient displacement measurement device.
ベクトルのノルムを計算し、該ノルムが最大となる基準
ノルムを求める手段を備え、 該基準ノルム近傍で前記実際のオプティカルフローを計
測することを特徴とする請求項３に記載の患者位置ずれ
計測装置。4. The apparatus according to claim 1, further comprising means for calculating a norm of the composite vector using each of the optical flows calculated in advance, and obtaining a reference norm having the maximum norm, and measuring the actual optical flow near the reference norm. The patient displacement measurement apparatus according to claim 3, wherein:
方法により求められた位置ずれ量に応じて、患者の位置
決めを行うことを特徴とする患者位置決め方法。5. A patient positioning method, comprising: positioning a patient in accordance with a position shift amount obtained by the patient position shift measurement method according to claim 1 or 2.
装置と、 該患者位置ずれ計測装置により求められた位置ずれ量に
応じて、患者の位置決めを行う患者位置決め制御装置
と、 を備えたことを特徴とする患者位置決め装置。6. A patient displacement measuring device according to claim 3 or 4, and a patient positioning control device for positioning a patient in accordance with the displacement amount obtained by the patient displacement measuring device. A patient positioning device characterized by the above-mentioned.
を照射する放射線照射装置と、 を備えたことを特徴とする放射線治療装置。7. A radiation therapy apparatus comprising: the patient positioning apparatus according to claim 6; and a radiation irradiating apparatus that irradiates a patient positioned by the patient positioning apparatus with radiation.
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