Proton and heavy ion treatment laser positioning device

Abstract

The invention provides a proton and heavy ion treatment laser positioning device. The proton and heavy ion treatment laser positioning device comprises a plurality of fixedly mounted laser lamps and a movable laser lamp, the fixedly mounted laser lamp is set to emit a cross laser ray by taking the isocenter of the radiotherapy device as a focus; the movable laser lamp is installed on a laser lamp guide rail above the treatment bed surface, the movable laser lamp emits a linear laser line penetrating through the isocenter of the radiotherapy device, and the linear laser line penetrates through a vertical plane parallel to the isocenter of the radiotherapy device and where the fourth laser lamp is located. According to the proton and heavy ion treatment laser positioning device, direct positioning of a treatment bed at a non-orthogonal angle during non-coplanar irradiation can be realized, and the positioning process is facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a proton and heavy ion therapy laser positioning device. Background Art

[0002] Proton and heavy ion radiotherapy is the process of using high-energy protons or heavy ions to kill cancer cells. The dose of protons and heavy ions after entering the human body forms a Bragg peak with depth, and the particle energy is rapidly released within a very short distance at the end of the range, which is beneficial for concentrated blasting of tumors while reducing damage to healthy tissues. Compared with conventional radiotherapy, proton and heavy ion radiotherapy has high precision, can irradiate lesions more accurately, and the dose can also drop rapidly, which can accurately attack tumors with small toxic side effects.

[0003] Usually, proton and heavy ion devices contain a treatment head and a treatment bed. The treatment head can be installed on a fixed-angle frame, a rotating frame that can rotate for a certain arc length, or a rotating frame that can rotate one circle. The treatment bed is composed of a robotic arm that can move in six dimensions and a bed surface. Different types of frames and robotic arm-type treatment beds are used in combination to enable the beam to be incident on different parts of the human body from different directions. In this context, the use of non-coplanar irradiation in proton and heavy ion treatment methods occurs very frequently.

[0004] Usually there are multiple laser lamps in the treatment room. The laser line of the laser lamp is a plane, and forms a line when it hits the object. When the patient is positioned, the laser line hits the human body in the coronal, sagittal and axial positions. The laser lines in different positions are perpendicular to each other and focused on the isocenter.

[0005] At present, the laser lights installed in radiotherapy rooms are basically fixed and cannot be moved. When the long axis of the treatment bed and the rotation axis of the frame in a certain irradiation field are not in the same plane, it is called non-coplanar irradiation. During non-coplanar irradiation, the treatment bed is at an angle, so that the human body lying on the treatment bed is also at an angle with the treatment bed. At this time, the laser line shot at the head and feet of the human body cannot be used for positioning, because it is at an angle with the marking line in the head and feet direction of the human body, and it is impossible to determine whether the laser line is aligned with the marking line of the human body. In other words, when the treatment bed appears at a non-coplanar angle in the treatment plan, the laser line shot at the head and feet of the patient cannot be used.

[0006] Therefore, the positioning can only be done at orthogonal angles, such as when the treatment bed revolves at 0° or 90°, and then the treatment bed is rotated to the target angle. This method makes the positioning process less intuitive and introduces motion errors in the rotation of the treatment bed.

[0007] Specifically, in proton and heavy ion therapy, the planned target volume is obtained by expanding the clinical target volume in the head and feet direction, left and right direction, and front and back direction of the human body to different sizes. The expansion size in different directions is determined by different factors. The expansion in the head and feet direction and left and right direction is determined by the setup error and system error, and the expansion size in the front and back direction is determined by the dose drop gradient of the beam. The setup error is the position deviation between the current setup and the treatment plan due to different setups each time. The position of the treatment plan is determined by the setup position during CT scan simulation. Therefore, the setup error can also be understood as the deviation between the current setup position and the setup position during CT scan simulation; the system error is the error caused by the system accuracy of the system. Through the accurate judgment of the setup error and system error, the size of the required expansion can be made reasonably small, so that fewer tissues and organs are irradiated, resulting in fewer side effects. Therefore, the judgment of the setup error and system error is very important.

[0008] In the case of coplanar irradiation, the existing technology can judge the overlap between the laser line and the marking line on the human body, and read the positioning error by visual method. However, in the case of non-coplanar irradiation, it is impossible to directly judge the amount of positioning error. The only way is to position the treatment bed when it is at an orthogonal angle, and then rotate the treatment bed to the target angle. At this time, the positioning error has introduced the motion error of the rotation of the treatment bed.

[0009] In order to solve the above problems, a proton and heavy ion therapy laser positioning device is proposed in this application. Summary of the invention

[0010] The object of the present invention is to provide a proton and heavy ion therapy laser positioning device to achieve direct positioning of a treatment bed at non-orthogonal angles during non-coplanar irradiation, thereby facilitating the positioning process.

[0011] In order to achieve the above-mentioned purpose, the present invention provides a proton and heavy ion therapy laser positioning device, which is installed in a treatment room with a radiotherapy device, wherein the radiotherapy device includes a treatment bed surface, which is used to place a human body, a phantom or an instrument, and includes multiple fixedly installed laser lamps and a movable laser lamp; the fixedly installed laser lamp is configured to emit a cross laser line with the isocenter of the radiotherapy device as the focus; the movable laser lamp is installed on a laser lamp guide rail above the treatment bed surface, and the movable laser lamp emits a straight laser line passing through the isocenter of the radiotherapy device, and the straight laser line passes through a vertical plane parallel to the isocenter of the radiotherapy device and where the fourth laser lamp is located.

[0012] The overall shape of the laser light guide rail is an arc or a curved surface.

[0013] The overall shape of the laser light guide rail is an arc with a central axis, and the central axis is vertical and passes through the isocenter of the radiotherapy device, and the radius of the laser light guide rail is at least larger than the long axis of the treatment bed surface.

[0014] The movable laser lamp is connected to an irradiation control terminal via a laser lamp driving device, and each position on the laser lamp guide rail corresponds to each treatment plan angle one by one. The laser lamp driving device is configured to receive the treatment bed plan angle from the irradiation control terminal, and drive the fourth laser lamp to move to the position on the laser lamp guide rail corresponding to the treatment bed plan angle according to the treatment bed plan angle.

[0015] The irradiation control terminal is configured to obtain and send the planned angle of the treatment couch, and the irradiation control terminal is a computer.

[0016] The arc length L of the fourth laser lamp moving on the laser lamp guide rail is:

[0017]

[0018] Wherein, n is the angle that the fourth laser light needs to move, and its value is the difference between the treatment plan angle and the current angle of the fourth laser light relative to the isocenter, R is the distance between the fourth laser light and the isocenter, and Pi is the pi.

[0019] The fixedly installed laser light comprises a first laser light, which is installed just above the treatment bed surface so that the cross laser line emitted by the first laser light is projected in the head and foot direction and left and right direction of the human body, phantom or instrument.

[0020] The fixedly installed laser lights include a second laser light and a third laser light, which are installed at the same height on both sides of the treatment bed surface, so that the cross laser lines emitted by the second laser light and the third laser light are projected in the head and feet direction and the front and back direction of the human body, phantom or instrument.

[0021] The specific heights of the second laser light and the third laser light are set so that the cross laser lines emitted by the second laser light and the third laser light propagate horizontally through the isocenter of the radiotherapy device.

[0022] The proton and heavy ion therapy laser positioning device of the present invention has effectively solved the problem that it is impossible to determine whether the laser line is aligned with the marking line on the human body during non-coplanar irradiation. Specifically, the fourth laser lamp that emits a straight laser line is movable and can move to the treatment plan angle corresponding to the treatment bed used in the irradiation field, and the straight laser line passes through a vertical plane parallel to the isocenter of the radiotherapy device and the fourth laser lamp. In this way, it is possible to intuitively determine whether the laser line is aligned with the marking line on the human body during non-coplanar irradiation, and direct positioning of the treatment bed at non-orthogonal angles during non-coplanar irradiation can be achieved, which facilitates the positioning process during non-coplanar irradiation.

[0023] The present invention solves the problem that the positioning error cannot be directly determined during non-coplanar irradiation. By allowing the user to position the patient at a non-orthogonal angle, the user can visually determine the positioning error without introducing a rotational motion error of the treatment couch. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 It is a schematic diagram of the structure of the proton and heavy ion therapy laser positioning device of the present invention;

[0026] Figure 2 It is a schematic diagram of the working principle of the laser lamp driving device and the irradiation control terminal of the proton and heavy ion therapy laser positioning device of the present invention;

[0027] Figure 3 This is a top view schematic diagram of an actual usage scenario of the proton and heavy ion therapy laser positioning device of the present invention.

[0028] Figure 4 It is a schematic diagram of the position of a human body lying on its back on a bed.

[0029] In the figure, 11, the first laser light; 12, the second laser light; 13, the human body model; 14, the treatment bed surface; 15, the third laser light; 16, the laser light guide rail; 17, the fourth laser light; 21, the operator; 22, the irradiation control terminal; 23, the laser light driving device. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with specific examples. It should be understood that the following examples are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0031] like Figure 1-Figure 3The figure shows a proton and heavy ion therapy laser positioning device according to an embodiment of the present invention, which is installed in a treatment room with a radiotherapy device, wherein the radiotherapy device includes a treatment bed surface 14, and the treatment bed surface 14 is used to place a human body, a phantom or an instrument 13. Cross marking lines are drawn on both sides and the front surface of the human body, the phantom or the instrument, and the cross marking lines are used to align the cross laser lines emitted by the laser positioning device during positioning.

[0032] like Figure 1 and Figure 3 As shown, the proton and heavy ion therapy laser positioning device includes a first laser lamp 11, a second laser lamp 12, a third laser lamp 15, and a fourth laser lamp 17. The fourth laser lamp 17 is a movable laser lamp, which is installed on a laser lamp guide rail 16 above the treatment bed surface 14.

[0033] The first laser lamp 11 is installed directly above the treatment bed surface 14. The first laser lamp 11 is configured to shoot a cross laser line with the isocenter of the radiotherapy device as the focus, so that the cross laser line shot by the first laser lamp 11 is shot in the head and foot direction and the left and right direction of the human body, the phantom or the instrument. The cross laser line is used to align with the marking line on the human body, the phantom or the instrument during positioning. The first laser lamp 11 is installed in a fixed manner and is therefore immovable.

[0034] The second laser light 12 and the third laser light 15 are installed at the same height on both sides of the treatment bed surface 14, and are configured to shoot a cross laser line with the isocenter as the focus, so that the cross laser lines shot by the second laser light 12 and the third laser light 15 are shot in the head and foot direction and the front and back direction of the human body, the phantom or the instrument. The cross laser line is used to align with the marking line on the human body during positioning.

[0035] The specific heights of the second laser light 12 and the third laser light 15 are set so that the cross laser lines emitted by the second laser light 12 and the third laser light 15 propagate horizontally through the isocenter of the radiotherapy device. The second laser light 12 and the third laser light 15 are installed in a fixed manner and are therefore immovable.

[0036] The fourth laser light 17 is installed on the laser light guide rail 16 above the treatment bed surface 14. The overall shape of the laser light guide rail 16 is an arc with a central axis, and the central axis of the laser light guide rail 16 is vertical and passes through the isocenter of the radiotherapy device. The laser light guide rail 16 is installed on the ceiling of the treatment room above the treatment bed surface 14, and the radius of the laser light guide rail 16 is at least greater than the long axis of the treatment bed surface 14.

[0037] In other embodiments, the overall shape of the laser light guide 16 may not be an arc, but may be other shapes such as a curved surface. As long as the fourth laser light 17 on the laser light guide 16 is set at any position on the laser light guide 16, the straight laser line emitted by the fourth laser light 17 passes through the isocenter of the radiotherapy device and is parallel to the isocenter of the radiotherapy device and the vertical plane where the fourth laser light 17 is located.

[0038] In this embodiment, the fourth laser lamp 17 is connected to an irradiation control terminal 22 via a laser lamp driving device 23, so as to realize automatic movement of the fourth laser lamp 17. Each position on the laser lamp guide rail 16 corresponds to each treatment plan angle. The laser lamp driving device 23 is configured to receive the treatment bed plan angle from the irradiation control terminal 22, and drive the fourth laser lamp to move to the position on the laser lamp guide rail 16 corresponding to the treatment bed plan angle according to the treatment bed plan angle. In other embodiments, it is also possible to consider manually adjusting the position of the fourth laser lamp 17 on the laser lamp guide rail 16.

[0039] The fourth laser lamp 17 can move along the laser lamp guide rail 16. The fourth laser lamp 17 is configured to emit a straight laser line passing through the isocenter of the radiotherapy device. The straight laser line passes through a vertical plane parallel to the isocenter of the radiotherapy device and the fourth laser lamp 17, so that the direction of the straight laser line is consistent with the treatment plan angle of the treatment bed surface 14. When the treatment bed surface 14 has a rotation angle in the plan (i.e., non-coplanar irradiation), it is necessary to obtain the treatment bed plan angle and move the fourth laser lamp 17 to the position on the laser lamp guide rail 16 corresponding to the treatment bed plan angle. Therefore, when the treatment bed has a rotation angle (i.e., non-coplanar irradiation), there can be a straight laser line in the head and foot direction of the human body for aligning the marking line.

[0040] The calculation formula of the arc length L of the fourth laser light 17 moving on the laser light guide rail 16 is as follows:

[0041]

[0042] Wherein, n is the angle that the fourth laser light needs to move, and its value is the difference between the treatment plan angle and the current angle of the fourth laser light relative to the isocenter, R is the distance between the fourth laser light and the isocenter, and Pi is the pi.

[0043] The irradiation control terminal 22 is configured to obtain and send the planned angle of the treatment couch. The irradiation control terminal 22 is preferably a computer.

[0044] The laser light driving device 23 is configured to receive the planned angle of the treatment bed from the irradiation control terminal 22, and drive the fourth laser light 17 to move to a position on the laser light guide rail 16 corresponding to the planned angle of the treatment bed according to the planned angle of the treatment bed.

[0045] like Figure 2 As shown, the illumination control terminal 22 is specifically configured as follows:

[0046] Step S1': in response to the operator's operation, loading the patient's treatment plan;

[0047] The patient's treatment plan is pre-stored in the computer, including the planned angle of the treatment bed.

[0048] Step S2': identifying the planned angle of the treatment couch in the treatment plan;

[0049] Step S3': determine whether the current angle of the treatment couch surface 14 is the planned angle of the treatment couch. If so, execute step S4'; otherwise, drive the treatment couch surface 14 to move to the planned angle of the treatment couch.

[0050] Step S4 ′: sending the planned angle of the treatment couch to the laser light driving device 23 , so that the laser light driving device 23 drives the fourth laser light 17 to move to a position on the laser light guide rail 16 corresponding to the planned angle of the treatment couch.

[0051] Therefore, based on the above-mentioned proton and heavy ion therapy laser positioning device, the non-coplanar irradiation laser positioning method for proton and heavy ion therapy includes:

[0052] Step S1: In response to the operation of the operator 21, the treatment plan of the patient is loaded by using the irradiation control terminal 22;

[0053] Step S2: using the irradiation control terminal 22 to identify the planned angle of the treatment bed in the treatment plan;

[0054] Step S3: using the irradiation control terminal 22 to determine whether the current angle of the treatment couch 14 is the planned angle of the treatment couch, if so, executing step S4, otherwise, driving the treatment couch 14 to move to the planned angle of the treatment couch.

[0055] Step S4: using the irradiation control terminal 22 to send the planned angle of the treatment bed to the laser light driving device 23, and using the laser light driving device 23 to drive the fourth laser light 17 to move to the position on the laser light guide rail 16 corresponding to the planned angle of the treatment bed.

[0056] Step S5: Use the straight laser line emitted by the fourth laser lamp 17 to align the marking line in the head-foot direction, and visually measure the deviation value between the fourth laser lamp 17 and the marking line;

[0057] Step S6: Align the second laser light 12 and the third laser light 15 with the marking lines on both sides of the human body, the phantom or the instrument, and visually measure the deviation values ​​of the second laser light 12 and the third laser light 15 from their marking lines.

[0058] The proton and heavy ion therapy laser positioning device of the present invention has effectively solved the problem that it is impossible to determine whether the laser line is aligned with the marking line on the human body during non-coplanar irradiation. Specifically, the fourth laser lamp that emits a straight laser line is movable and can move to the treatment plan angle corresponding to the treatment bed used in the irradiation field, and the straight laser line passes through a vertical plane parallel to the isocenter of the radiotherapy device and the fourth laser lamp. In this way, it is possible to intuitively determine whether the laser line is aligned with the marking line on the human body during non-coplanar irradiation, and direct positioning of the treatment bed at non-orthogonal angles during non-coplanar irradiation can be achieved, which facilitates the positioning process during non-coplanar irradiation.

[0059] The present invention solves the problem that the positioning error cannot be directly determined during non-coplanar irradiation. By allowing the user to position the patient at a non-orthogonal angle, the user can visually determine the positioning error without introducing a rotational motion error of the treatment couch.

[0060] The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. The above embodiments of the present invention can also be modified in various ways. All simple, equivalent changes and modifications made according to the claims and the description of the present invention fall within the scope of protection of the claims of the present invention. The contents not described in detail in the present invention are all conventional technical contents.

Claims

1. A proton and heavy ion therapy laser positioning device, which is installed in a treatment room with a radiotherapy device, wherein the radiotherapy device includes a treatment bed surface, and the treatment bed surface is used to place a human body, a phantom or an instrument, characterized in that: It includes a plurality of fixedly mounted laser lights and a movable laser light; the fixedly mounted laser lights are arranged to project cross laser lines with the isocenter of the radiotherapy device as the focus; the movable laser light is mounted on a laser light guide rail above the treatment bed surface, and the movable laser light projects a straight laser line passing through the isocenter of the radiotherapy device, and the straight laser line passes through a vertical plane parallel to the isocenter of the radiotherapy device and where the fourth laser light is located.

2. The proton and heavy ion therapy laser positioning device according to claim 1, characterized in that: The overall shape of the laser light guide rail is an arc or a curved surface.

3. The proton and heavy ion therapy laser positioning device according to claim 2, characterized in that: The overall shape of the laser light guide track is an arc with a central axis, and the central axis is vertical and passes through the isocenter of the radiotherapy device, and the radius of the laser light guide track is at least larger than the long axis of the treatment bed surface.

4. The proton and heavy ion therapy laser positioning device according to claim 1, characterized in that: The movable laser lamp is connected to an irradiation control terminal via a laser lamp driving device, and each position on the laser lamp guide rail corresponds to each treatment plan angle one by one. The laser lamp driving device is configured to receive the treatment bed plan angle from the irradiation control terminal, and drive the fourth laser lamp to move to the position on the laser lamp guide rail corresponding to the treatment bed plan angle according to the treatment bed plan angle.

5. The proton and heavy ion therapy laser positioning device according to claim 4, characterized in that: The irradiation control terminal is configured to obtain and send the planned angle of the treatment couch, and the irradiation control terminal is a computer.

6. The proton and heavy ion therapy laser positioning device according to claim 1, characterized in that: The arc length L of the fourth laser lamp moving on the laser lamp guide rail is: Wherein, n is the angle that the fourth laser light needs to move, and its value is the difference between the treatment plan angle and the current angle of the fourth laser light relative to the isocenter, R is the distance between the fourth laser light and the isocenter, and Pi is the pi.

7. The proton and heavy ion therapy laser positioning device according to claim 1, characterized in that: The fixedly installed laser light comprises a first laser light, which is installed just above the treatment bed surface so that the cross laser line emitted by the first laser light is projected in the head and foot direction and left and right direction of the human body, phantom or instrument.

8. The proton and heavy ion therapy laser positioning device according to claim 1, characterized in that: The fixedly installed laser lights include a second laser light and a third laser light, which are installed at the same height on both sides of the treatment bed surface, so that the cross laser lines emitted by the second laser light and the third laser light are projected in the head and feet direction and the front and back direction of the human body, phantom or instrument.

9. The proton and heavy ion therapy laser positioning device according to claim 8, characterized in that: The specific heights of the second laser light and the third laser light are set so that the cross laser lines emitted by the second laser light and the third laser light propagate horizontally through the isocenter of the radiotherapy device.

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