Robotic arm for integrated computed tomography (CT) couch systems

Abstract

An integrated computed tomography (CT) treatment couch system includes a robotic arm assembly comprising a base structure and an adjustable arm mounted to a portion of the base structure. The integrated CT treatment couch system includes a treatment couch disposed on and coupled to the adjustable arm, wherein the treatment couch is configured to support a patient for a particle therapy procedure. The integrated CT treatment couch system includes a helical CT scanner apparatus comprising a support structure and a CT gantry. The support structure is coupled to the base structure at or near a portion of the base structure, and the CT gantry includes a bore and is oriented such that the bore is aligned with the treatment couch. The CT gantry is configured to provide online CT scanning for image guidance associated with the particle therapy procedure.

Description

[0001] Related applications

[0002] This application claims priority under 35 U.S.C. §119 to U.S. Provisional Patent Application No. 62 / 692,441, filed on June 29, 2018, and entitled “INTEGRATED CT REATMENT COUCH SYSTEM,” the contents of which are incorporated herein by reference in their entirety.

[0003] background

[0004] Computed tomography (CT) scanning involves the use of X-rays to produce cross-sectional or volumetric images of a patient's body. Radiation therapy (RT) is a cancer treatment technique that utilizes high-intensity energy beams (e.g., X-rays, protons, or other types of particles) to target cancer cells and is typically performed in an operating room with the patient positioned on a treatment couch. RT typically refers to external beam RT, in which the treatment beam is generated by a linear accelerator (linac) equipped with a treatment couch and an on-board imaging system (e.g., the most common cone-beam computed tomography (CBCT)) for patient positioning and treatment beam delivery.

[0005] Overview

[0006] According to some embodiments, a robotic arm may be provided for an integrated computed tomography (CT) treatment couch system. The integrated (CT) treatment couch system may include a treatment couch configured to support a patient for a particle therapy procedure and a spiral CT scanner device. The CT scanner device may include a support structure and a CT gantry, wherein the CT gantry may include an aperture and may be oriented so that the aperture is aligned with the treatment couch, and wherein the CT gantry may be configured to provide online CT scanning for image guidance associated with the particle therapy procedure. The robotic arm may include a base structure, wherein the support structure may be coupled to the base structure at or near a portion of the base structure. The robotic arm may include an adjustable arm mounted to the portion of the base structure, wherein the treatment couch may be disposed on and coupled to the adjustable arm.

[0007] According to some embodiments, a method may include: monitoring, by an integrated computed tomography (CT) treatment couch system, position information associated with the integrated CT treatment couch system and / or associated with a patient using the integrated CT treatment couch system, wherein the integrated CT treatment couch system includes: a robotic arm assembly comprising a base structure and an adjustable arm mounted to a portion of the base structure; a treatment couch disposed on and coupled to the adjustable arm, wherein the treatment couch is configured to support the patient; a CT scanner device comprising a support structure and a CT gantry, wherein the support structure is coupled to the base structure or the adjustable arm, wherein the CT gantry includes an aperture and is oriented such that the aperture is aligned with the treatment couch, and wherein the CT gantry is configured to provide image guidance for radiation therapy; and one or more sensors configured to generate the position information; and controlling, by the integrated CT treatment couch system, movement of the treatment couch based on the position information.

[0008] According to some embodiments, an integrated computed tomography (CT) treatment couch system may include a robotic arm assembly comprising a base structure and an adjustable arm mounted to a portion of the base structure. The integrated (CT) treatment couch system may include a treatment couch disposed on and coupled to the adjustable arm, wherein the treatment couch may be configured to support a patient for a particle therapy procedure. The integrated (CT) treatment couch system may include a spiral CT scanner apparatus comprising a support structure and a CT gantry. The support structure may be coupled to the base structure at or near a portion of the base structure, and the CT gantry may include a bore and be oriented such that the bore is aligned with the treatment couch. The CT gantry may be configured to provide online CT scanning for image guidance associated with the particle therapy procedure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1A-Figure 1N is a diagram of an exemplary embodiment described herein.

[0011] Figure 2 is a diagram of an exemplary environment in which the systems and / or methods described herein may be implemented.

[0012] Figure 3 yes Figure 2 A diagram of exemplary components of one or more devices.

[0013] Figure 4 is a flow chart of an exemplary process for controlling an integrated CT treatment couch system.

[0014] Details

[0015] The following detailed description of exemplary embodiments refers to the accompanying drawings, in which the same reference numerals in different drawings may represent the same or similar elements.

[0016] Currently, many radiation-based treatment configurations use cone-beam computed tomography (CBCT) technology, in which diverging x-rays and detectors (e.g., flat-panel detectors) are used to image the patient's body for image guidance. However, this technology has several disadvantages. For example, CBCT devices (e.g., linear accelerators) deployed in radiation-based treatment systems are limited to only about 1 revolution per minute (RPM). Incorporated into an annular configuration, CBCT devices also only have a scan rate of about 12 seconds per unit volume. In addition, the quality of CBCT imaging is typically degraded due to the cone-based geometric acquisition, low signal-to-noise ratio (e.g., in typical amorphous silicon (a-Si)-based flat-panel detectors), sensitivity to high levels of x-ray scatter, and sensitivity to artifacts caused by patient movement during low-speed scanning.

[0017] Some embodiments described herein provide an integrated CT treatment couch system that includes a CT scanner device as an integral part of a treatment couch (e.g., a treatment table and / or the like), the CT scanner device having, for example, a rapidly rotating CT gantry (e.g., independently rotatable and controllable). In some embodiments, the CT gantry can include a bore; can be oriented so that the bore is aligned with the treatment couchtop; and can include one or more X-ray sources (e.g., an X-ray tube) and one or more detectors (e.g., a single-slice axial CT detector, a multi-detector CT (MDCT) detector, etc.) for generating online spiral CT scans (e.g., CT scans optimized for image-guided radiation therapy (IGRT)) based on translational motion of the treatment couchtop through the bore of the CT gantry while the CT gantry rotates (e.g., the same translational motion used for conventional patients in treatment rooms). In some embodiments, the CT scanner device can include a support structure coupled to a base member (on which the treatment couchtop is supported) and / or to a base platform (to which the base member is mounted). In some embodiments, the base platform can be configured to couple to a rotatable floor member centered about the beam isocenter axis of the medical accelerator. In some embodiments, rotation of the rotatable floor member can cause the CT scanner device and the treatment couch to actuate (e.g., rotate) about the beam isocenter axis.

[0018] In this way, in the treatment room, diagnostic-quality CT scans (or spiral CT-quality scans) can be obtained for IGRT and / or treatment planning during treatment via the capabilities of a CT scanner located on the treatment couch. Integrating a CT scanner device capable of providing spiral CT scans, rather than CBCT-based scans (which are typically used in treatment rooms), results in higher-quality CT scans and allows for faster CT scan speeds. Furthermore, providing an integrated CT scanner device on the treatment couch system reduces or eliminates the need to include or use a CBCT-based scanner on the linear accelerator's treatment gantry, reduces or eliminates the need to fold such a CBCT-based scanner during treatment (which may be required if the linear accelerator's beam alignment needs to be tilted or non-coplanar for treatment purposes), and / or allows for the use of a smaller imaging panel solely for kilovolt (kV) radiographic or fluoroscopic imaging. This saves costs, improves IGRT procedures, shortens treatment times, and increases overall patient throughput. Furthermore, integrating the CT scanner device and treatment couch (e.g., which can simply replace an existing treatment couch) allows both the CT scanner device and the treatment couch to rotate about the beam isocenter axis of a typical linear accelerator (e.g., as an integrated unit), also allowing the non-coplanar capability of the linear accelerator to be maintained without requiring any comprehensive or expensive modifications to the linear accelerator (in contrast, for example, to recently proposed advanced treatment machines, which have sacrificed non-coplanar capability by eliminating the couch's rotational capability to improve imaging). Furthermore, the use of an integrated CT scanner device reduces or eliminates the need to deploy and utilize a typical standalone CT scanning system for IGRT purposes. For example, the use of a standalone CT scanner configuration, such as one in which the CT gantry is movable on rails (e.g., an on-rail CT system in a treatment room), may involve additional patient movement in the treatment room (e.g., including rotating a conventional treatment couch toward the CT gantry for CT scanning and then rotating the conventional treatment couch back into alignment with the linear accelerator for patient treatment). This involves manual effort and additional time, such as time due to potential patient movement (e.g., including movement of internal organs and / or the like), which may impact the treatment procedure. In contrast, as described herein, an integrated CT scanner device that remains in line with the treatment table and patient even when the treatment table moves (e.g., as the table is moved) simplifies switching between CT scanning and patient treatment in the treatment room, which shortens treatment time and increases overall patient throughput.

[0019] Figure 1A-Figure 1N is a diagram of an exemplary embodiment 100 described herein. Figure 1A is a side view of an exemplary integrated CT treatment couch system configured for in-line use with a linear accelerator. Figure 1BFIG is a front view of an exemplary integrated CT treatment couch system and linear accelerator. Figure 1A As shown in FIG, an exemplary embodiment 100 may include an integrated CT treatment couch system aligned with a beam isocenter axis of a linear accelerator. As shown, the integrated CT treatment couch system may include a base platform, a CT scanner device (e.g., a spiral CT scanner device) mounted to the base platform, a base member also mounted to the base platform, and a treatment couch table disposed on the base member.

[0020] In some embodiments, the base platform can be configured to couple to a rotatable floor member (not shown) that is aligned with the beam isocentric axis of the linear accelerator. Figure 1C is a top view of an exemplary integrated CT treatment couch system and a linear accelerator, wherein the integrated CT treatment couch system is positioned in a first orientation relative to a beam isocenter axis of the linear accelerator, and Figure 1D FIG2 is a top view of an exemplary integrated CT treatment couch system and linear accelerator, wherein the integrated CT treatment couch system is positioned in a second orientation relative to the beam isocentric axis. Coupling the base platform to a rotatable floor member allows an operator to actuate (e.g., rotate) both the CT scanner device and the treatment couch about the beam isocentric axis, enabling flexible treatment via the linear accelerator.

[0021] In some embodiments, a CT scanner device can be configured to provide CT scans that provide image guidance for radiation therapy and / or to assist in various types of procedures, including, for example, spinal radiation therapy, cranial radiation therapy, brachytherapy, and / or the like. Figure 1A As shown, and in some embodiments, the CT scanner device can include a support structure and a CT gantry, for example, a rotatable CT gantry coupled to the support structure (e.g., for CT scanning in a plane parallel to the axis of rotation of the treatment gantry (e.g., the yz plane)). In some embodiments, the support structure can be mounted to the base platform via one or more coupling mechanisms. For example, the support structure can be rigidly fixed (e.g., welded and / or the like) to the base platform, fastened to the base platform via one or more fasteners (e.g., screws, bolts, nuts and / or the like), and / or the like. Additionally or alternatively, the support structure can be mounted to the base component via one or more coupling mechanisms. Where the support structure is fixedly mounted to the base platform and / or the base component, a CT scan (e.g., a volumetric CT scan) of a patient on the treatment couch can be obtained via translational movement of the treatment couch (e.g., along the z-axis through a hole in the CT gantry). In some embodiments, the CT gantry can be rotatable in a manner that allows the CT gantry to tilt (e.g., in Figure 1A The θ shown yzThe CT gantry can be coupled to a support structure in a manner that is in a plane (in a plane) to facilitate CT scanning as needed. In some embodiments, the CT gantry can include one or more X-ray sources and one or more corresponding detectors disposed within a housing and can be configured to rotate concentrically to provide high-quality spiral CT scans for interventional procedures.

[0022] In some embodiments, the operation of an integrated CT treatment couch system, including various functions of a CT scanner device, can be facilitated via motion control, sensors, and / or data connectivity. For example, although not shown, in some embodiments, the integrated CT treatment couch system can include one or more motors, for example, disposed within a base member, coupled to a treatment couch table, and / or the like, configured to control the motion of the base member and / or the treatment couch table. The motors can include any suitable type of motor, such as a direct current (DC)-based motor, a synchronous-based motor, an induction-based motor, and / or the like. In some embodiments, the integrated CT treatment couch system can include one or more shafts and / or the like (e.g., internal structural components within a portion of the base member and / or the treatment couch table for coupling the motors), one or more power supplies (e.g., for powering the motors), power / electronic circuitry (e.g., a regulator and / or the like), memory, and / or the like.

[0023] In some embodiments, the integrated CT treatment couch system may include a processor (e.g., one or more processing devices) configured to control the motor. In some embodiments, the processor may be configured to provide control signals to the motor to cause movement of the base member and / or the treatment couch table. As an example, the processor may (e.g., based on programming instructions, based on input from a user, such as an operator of the integrated CT treatment couch system, and / or the like) control the motor to cause the base member to extend in an upward direction (e.g., along the Figure 1A The y-axis shown in FIG2 may be used to raise the treatment couch), cause the base member to retract or compress in a downward direction (e.g., to lower the treatment couch), cause the treatment couch to move translationally relative to the base member and / or base platform (e.g., along the y-axis shown in FIG2 ), cause the base member to retract or compress in a downward direction (e.g., to lower the treatment couch), cause the treatment couch to move translationally relative to the base member and / or base platform (e. Figure 1A In some embodiments, the treatment couch can be configured to move with six degrees of freedom (6DOF), i.e., along the y-axis, along the z-axis, along the x-axis (e.g., Figure 1B shown) and also around the pitch axis (e.g. Figure 1A The θ shown yz plane), about a roll axis (e.g., about a z axis), and about a yaw axis (e.g., about a Figure 1CThe θ shown xz This allows flexible adjustment of the treatment table to obtain online CT scans and facilitate patient treatment at the linear accelerator.

[0024] In some embodiments, the integrated CT treatment couch system may include or be communicatively coupled to one or more sensors configured to monitor the position of the treatment couch (e.g., relative to the base assembly, the CT gantry, the base platform, the ground, and / or the like), monitor the load on the treatment couch (e.g., the patient's weight), monitor the patient's posture on the treatment couch while the patient is lying on the treatment couch and / or the position of one or more body parts of the patient, and / or the like. In some embodiments, the sensors may generate sensor signals based on such monitoring and provide the sensor signals to a processor for processing. In some embodiments, the processor may control a motor based on the sensor signals to move the base assembly and / or the treatment couch accordingly. For example, if the sensor signals indicate that one end of the treatment couch is sagging downward (e.g., due to the weight of the patient on the treatment couch) (e.g., when the treatment couch is extended translationally along the z-axis toward the treatment gantry), the processor may control the motor to tilt the treatment couch (e.g., upward) to compensate for the sagging. As another example, if the sensor signals indicate that a patient's body part is not properly positioned (e.g., the patient's hips are misaligned), the processor can control the motors to roll the treatment couch and / or move the treatment couch in a sway and / or pitch manner. In some embodiments, the processor can utilize sensor signals and information based on a CT scan during treatment (e.g., results from a comparison of the CT scan during treatment with a previously acquired planning CT scan) to determine how and / or how much to adjust the treatment couch. For example, in some embodiments, the integrated CT treatment couch system can include or be communicatively coupled to one or more smart sensors configured to: monitor the patient's respiratory cycle (e.g., which can provide sensor signals for controlling the CT scanner device in a manner that reduces respiratory motion artifacts (e.g., for "gated" imaging or "4D" imaging)), monitor the patient's cardiac cycle for controlling the CT scanner device in a manner that reduces cardiac motion artifacts (e.g., for gated imaging or 4D imaging of the patient's heart), and / or the like. As other examples, an integrated CT treatment couch system may include video sensors for video monitoring of the treatment couch, electromagnetic-based sensors for tracking radio frequency transponders that may be placed on or in the patient, and / or the like.

[0025] In some embodiments, the processor can be configured to control (e.g., based on user input, based on one or more preprogrammed CT scan modes, and / or the like) the rotation of the CT gantry (e.g., by controlling a motor in the CT gantry), the operation of emitters and / or detectors in the CT gantry, and / or the like, to provide CT scanning functionality. In some embodiments, the CT scanner device can be configured to provide various CT scanning functions. For example, the CT scanner device can be configured to perform: spiral CT scanning (e.g., based on continuous movement of the treatment table and patient along the z-axis through the bore of the CT gantry during continuous rotation of the CT gantry, causing a spiral or quasi-spiral path of the X-ray source and corresponding detector of the CT scanner device relative to the patient's anatomy), axial CT scanning (e.g., based on step-by-step or step-by-step movement of the treatment table and patient along the z-axis through the bore of the CT gantry corresponding to the periodic rotation of the CT gantry, wherein image layers can be stacked to form a volumetric image), and / or the like. As another example, the CT scanner device can be configured to provide: four-dimensional (4D) CT scans, including 4D respiratory-related CT scans (e.g., CT scan data (e.g., when the CT gantry rotates at a continuous speed and the treatment table rotates at a steady rate (e.g., at a constant speed)). Figure 1A The CT scanner apparatus may be configured to facilitate CT scanning based on contrast angiography (CTA), perform at least dual-energy CT scanning, and / or the like.

[0026] In some embodiments, the CT gantry can have a large bore (e.g., a diameter greater than about 100 centimeters (cm) and / or the like) and a thin width (e.g., a width less than about 50 cm and / or the like). In some embodiments, the CT scanner device can provide CT scanning with a small slice thickness (e.g., a slice thickness of about 1 millimeter (mm) and / or the like) and a rapidly variable rate (e.g., a volume of about 20 cm thick in about 8 seconds and / or the like), and can have a large scanning range (e.g., about 1 meter and / or the like).

[0027] In some embodiments, the integrated CT treatment couch system may include one or more in-room and / or remote-based user interfaces (e.g., including a capacitive touchscreen, a keypad, and / or the like) configured to enable a user (e.g., an operator) to interact with the integrated CT treatment couch system, such as inputting commands for controlling a CT gantry of a CT scanner device, controlling movement of the treatment couch table and / or base component, and / or the like. In some embodiments, the user interface may include a display configured to: display information about the integrated CT treatment couch system (e.g., status and / or position information about the treatment couch table, base component, and / or CT scanner device), display CT scans obtained by the CT scanner device, and / or the like. In some embodiments, the integrated CT treatment couch system may include a communication interface configured to enable data exchange with one or more external systems (e.g., an external system for performing image analysis on CT scans, and / or the like).

[0028] In this way, the CT scanner equipment and treatment table can be synchronously controlled to provide diagnostic-quality CT scans within the treatment room during treatment. Furthermore, positioning the integrated CT treatment table system in line with the linear accelerator's beam isocenter allows for rapid patient switching between treatment and CT scanning positions, shortening treatment time, thereby conserving power resources and increasing patient throughput.

[0029] Figure 1E-1K are various views of an exemplary integrated CT treatment couch system configured for use with a linear accelerator (e.g., a linear accelerator provided by Elekta AB and / or the like). The integrated CT treatment couch system may be similar to the one described above in conjunction with Figure 1A-1D The integrated CT treatment bed system. For example, here, Figure 1E-Figure 1I As shown, the integrated CT treatment couch system can be aligned with the beam isocenter axis of the linear accelerator and can include a base platform, a CT scanner device (e.g., a spiral CT scanner device (e.g., a CT scanner device provided by Mobis Imaging and / or the like)) mounted to the base platform and / or base member (e.g., in an anterior treatment embodiment), and a treatment couch table disposed on the base member. As another example, the integrated CT treatment couch system can include a system similar to the one described above in combination with the CT scanner device. Figure 1A-1D The processor, motor and / or sensor.

[0030] For example, Figure 1E 、 Figure 1G and Figure 1H As shown, and similar to the above combination Figure 1A-1DIn the integrated CT treatment couch system, the support structure of the CT scanner device can be mounted to the base platform and / or the base component via one or more coupling mechanisms, and a CT scan (e.g., a volumetric CT scan) of a patient on the treatment couch can be obtained via translational movement of the treatment couch (e.g., along the z-axis through the hole of the CT gantry).

[0031] In some embodiments, the base member may be compressible to lower the treatment table (e.g., Figure 1E ) and can be extendable to elevate the treatment couch to facilitate patient loading and positioning for treatment. In some embodiments, the treatment couch can additionally or alternatively be positioned relative to the CT scanner device and / or treatment gantry (e.g., Figure 1E The device is movable (left and right) to facilitate patient loading and positioning for treatment.

[0032] In some embodiments, and as Figure 1F As shown, for example, the overall dimensions of the CT gantry of a CT scanner apparatus (e.g., including the bore of the CT gantry and the perimeter / aperture of the CT gantry) can correspond to and / or be aligned with the geometry and / or dimensions of the linear accelerator, which can avoid collisions between the CT gantry and the treatment gantry.

[0033] like Figure 1G As shown, the treatment couch can be loaded with the patient (e.g., in an appropriate position on the plane of the beam isocenter) and positioned through the aperture of the CT gantry to allow CT scanning of a targeted portion of the patient. Figure 1H As shown, the treatment couch can be positioned closer to the treatment gantry (e.g., in an extended position) to allow non-coplanar treatment of the patient via the linear accelerator. Figure 1E 、 Figure 1G and Figure 1H As shown, the base platform can be coupled to a rotatable floor member aligned with the beam isocenter of the linear accelerator. This allows the integrated CT treatment couch system (e.g., CT scanner equipment and treatment couch table) to be axially moved about the beam isocenter to facilitate various treatments delivered via the linear accelerator. Figure 1I The treatment couch and CT scanner apparatus are shown in various rotational positions about the beam isocenter. As shown, the treatment couch and CT scanner apparatus can be integrated with each other (e.g., via the base platform) so that they rotate together when the rotatable floor member rotates, which allows CT scanning even when the treatment couch is moved to different positions about the beam isocenter. In some embodiments, and as shown Figure 1IAs shown, isocenter rotation of the treatment couch and CT scanner apparatus may be limited (eg, within a range of approximately -100 degrees to approximately +100 degrees) to prevent the CT gantry from contacting the treatment gantry.

[0034] In some embodiments, the CT scanner device can be installed in a different Figure 1E Position as shown (e.g., different from the anterior treatment position). Figure 1J As shown, for example, the CT scanner device can be mounted near a middle portion of the base member (e.g., mounted to the base platform and / or the base member via one or more coupling mechanisms) (e.g., in an intermediate treatment position). Figure 1K As shown, the CT scanner device can be mounted near an end of the base assembly farthest from the linear accelerator (e.g., mounted to the base platform and / or base assembly via one or more coupling mechanisms) (e.g., in a distal treatment position). In any case, regardless of where the CT scanner device is mounted relative to the base assembly and / or the linear accelerator, the treatment couch can be configured to move through the aperture of the CT gantry to facilitate patient scanning and be positioned for treatment of the patient by the linear accelerator.

[0035] In some embodiments, an integrated CT treatment couch system can replace an existing treatment couch without requiring any changes to existing linear accelerator or particle therapy-based systems. In some embodiments, an existing treatment couch can be modified to implement the embodiments of the integrated CT treatment couch system described herein. In such cases, for example, the treatment couch can be offset away from the treatment gantry (e.g., by a distance at least corresponding to the width of the CT gantry (e.g., 40 cm and / or the like)) to accommodate the addition of a CT scanner device. In some embodiments, the CT scanner device can be easily removed (e.g., from the base platform and / or pedestal assembly) when the CT scanning functionality is not needed and can be easily reinstalled (e.g., to the base platform and / or pedestal assembly) as needed. In some embodiments, the CT scanning functionality (e.g., the CT scanner device) of the integrated CT treatment couch system can be provided as an accessory, e.g., as an optional feature of the system.

[0036] In some embodiments, as Figure 1L As shown in FIG, an integrated CT treatment couch system may include a guide path (e.g., including one or more rails) coupled to or incorporated into a base platform to allow movement of a CT scanner device (e.g., a CT gantry) relative to the treatment couch. This can be accomplished via translational motion of only the treatment couch (and not the CT gantry) (e.g., similar to the above combined CT couch system). Figures 1A-1KIn some embodiments, the CT scan (e.g., a volumetric CT scan) can be obtained by translating only the CT gantry (and not the treatment couch) along the guide path (as described above), and / or by combining translational motion of the treatment couch and CT gantry (e.g., in a continuous spiral or stepped axial manner). The combined translational motion of the treatment couch and CT gantry can, for example, provide improved CT scan speed and extended coverage (e.g., along the z-axis). Furthermore, because the guide path is coupled to or contained within the base platform, the guide path can also move about the beam isocenter axis (with the CT scanner apparatus) as the rotatable floor member rotates (e.g., as the couch is actuated).

[0037] Figure 1M and Figure 1N is a perspective view of an exemplary integrated CT treatment couch system configured for use in a system providing particle therapy, such as a proton beam therapy system. Figure 1M As shown, the proton beam therapy system may include a 360° rotating treatment gantry and a proton beam delivery mechanism. As shown, the integrated CT treatment couch system may include a robotic arm assembly comprising a base structure, an adjustable arm coupled to the base structure, and a treatment couch table disposed on the adjustable arm. As shown, the integrated CT treatment couch system may also include a CT scanner device and a CT gantry having a support structure mounted to the base structure (e.g., at or near a portion of the base structure to which the adjustable arm is coupled). In some embodiments, the CT gantry may include a bore, may be oriented so that the bore is in line with the treatment couch table, and may be configured to generate an online spiral CT scan, as described above in conjunction with Figure 1A-1L As stated.

[0038] In some embodiments, as Figure 1M As shown, the base structure can be configured to traverse one or more guide paths (e.g., rails or slides) that are disposed on the ground or floor and are aligned with the isocenter of the proton beam therapy system gantry. For example, in some embodiments, the base structure can include one or more wheels and / or can include a surface with a low coefficient of friction that enables the base structure to traverse the guide paths. This allows the CT scanner device to be rotated to accommodate the desired intraoperative CT scan. In some embodiments, and as Figure 1N As shown, the treatment couch can be configured to rotate about an axis to allow for a variety of treatment positions.

[0039] In some embodiments, the integrated CT treatment couch system may include one or more motors, processors, one or more sensors, and / or the like, similar to the above combined Figure 1A-1LThose described for controlling movement of an adjustable arm, for controlling an integrated CT treatment couch system along a guide path, for controlling movement of a treatment couch table (e.g., with 6DOF), for controlling a CT scanner device to provide CT scans, and / or the like.

[0040] In this way, in the treatment room, diagnostic-quality CT scans (or spiral CT-quality scans) can be obtained for IGRT and / or treatment planning during treatment via the capabilities of a CT scanner located on the treatment couch. Integrating a CT scanner device capable of providing spiral CT scans, rather than CBCT-based scans (which are typically used in treatment rooms), results in higher-quality CT scans and allows for faster CT scan speeds. Furthermore, providing an integrated CT scanner device on the treatment couch system reduces or eliminates the need to include or use a CBCT-based scanner on the linear accelerator's treatment gantry, reduces or eliminates the need to fold such a CBCT-based scanner during treatment (which may be required if the linear accelerator's beam alignment needs to be tilted or non-coplanar for treatment purposes), and / or allows for the use of a smaller imaging panel solely for kilovolt (kV) radiographic or fluoroscopic imaging. This saves costs, improves IGRT procedures, shortens treatment times, and increases overall patient throughput. Furthermore, integrating the CT scanner device and treatment couch (e.g., which can simply replace an existing treatment couch) allows both the CT scanner device and the treatment couch to rotate about the beam isocenter axis of a typical linear accelerator (e.g., as an integrated unit), also allowing the non-coplanar capability of the linear accelerator to be maintained without requiring any comprehensive or expensive modifications to the linear accelerator (in contrast, for example, to recently proposed advanced treatment machines, which have sacrificed non-coplanar capability by eliminating the couch's rotational capability to improve imaging). Furthermore, the use of an integrated CT scanner device reduces or eliminates the need to deploy and utilize a typical standalone CT scanning system for IGRT purposes. For example, the use of a standalone CT scanner configuration, such as one in which the CT gantry is movable on rails (e.g., an on-rail CT system in a treatment room), may involve additional patient movement in the treatment room (e.g., including rotating a conventional treatment couch toward the CT gantry for CT scanning and then rotating the conventional treatment couch back into alignment with the linear accelerator for patient treatment). This involves manual effort and additional time, such as time due to potential patient movement (e.g., including movement of internal organs and / or the like), which may impact the treatment procedure. In contrast, as described herein, an integrated CT scanner device that remains in line with the treatment table and patient even when the treatment table moves (e.g., as the table is moved) simplifies switching between CT scanning and patient treatment in the treatment room, which shortens treatment time and increases overall patient throughput.

[0041] As pointed out above, Figure 1A-Figure 1N Provided as examples only. Other examples are possible and may be used in conjunction with Figure 1A-Figure 1N For example, although embodiments of the integrated CT treatment couch system are described herein as being configured for radiation therapy and / or proton beam-based therapy, embodiments of the integrated CT treatment couch system can be configured for other forms of therapy, such as neutron-based therapy, charged ion-based therapy, and / or the like.

[0042] Figure 2 is a diagram of an exemplary environment 200 in which the systems and / or methods described herein may be implemented. Figure 2 As shown, the environment 200 may include an integrated CT treatment couch system 205 including various components and / or devices. The devices of the environment 200 may be interconnected via wired connections, wireless connections, or a combination of wired and wireless connections.

[0043] The integrated CT treatment couch system 205 includes one or more devices capable of supporting a patient for interventional procedures and providing online diagnostic CT scans for guiding these procedures.

[0044] Processor 210 includes one or more types of processing components that can be programmed to perform functions, such as one or more operations described elsewhere herein. For example, processor 210 may perform Figure 4 In some embodiments, the processor 210 may include a processor configured to control one or more motors (e.g., motor 270) for controlling a base assembly (e.g., base assembly 240), a treatment couch (e.g., treatment couch 250), and / or a CT scanner device (e.g., CT scanner device 260), as described elsewhere herein. The processor 210 corresponds to the following in conjunction with Figure 3 The processor is described in more detail.

[0045] The memory 220 includes one or more types of memory capable of storing information. In some embodiments, the memory 220 may store information associated with performing one or more operations described elsewhere herein. For example, the memory 220 may store (e.g., used by the processor 210) to perform Figure 4 In some embodiments, the memory 220 may correspond to the following in combination with Figure 3 The memory or storage components are described in more detail.

[0046] The input / output component 230 includes one or more components that can be used to input information into the integrated CT treatment couch system 205 and / or output information from the integrated CT treatment couch system 205. In some embodiments, the input / output component 230 can include one or more touch screen components, one or more keypads, and / or the like. In some embodiments, the input / output component 230 can include one or more user interfaces configured to allow an operator to interact with the integrated CT treatment couch system 205 and / or view CT scans provided by the CT scanner device 260, as described elsewhere herein. In some embodiments, the input / output component 230 can correspond to the following in conjunction with Figure 3 The input components and output components are described in more detail.

[0047] The base assembly 240 includes one or more devices configured to provide support for the treatment couch 250 and / or control the movement of the treatment couch 250. In some embodiments, the base assembly 240 can be compressed and / or expanded (e.g., vertically) to move the treatment couch 250 up and down, as described elsewhere herein. In some embodiments, the base assembly 240 can include a motor 270 for moving the treatment couch 250 in various directions, as described elsewhere herein.

[0048] The treatment couch 250 includes one or more devices that provide one or more surfaces on which a patient can lie during a treatment procedure (e.g., radiation therapy). In some embodiments, the treatment couch 250 can be configured to move in 6 degrees of freedom, as described elsewhere herein. In some embodiments, the treatment couch 250 can be integrated with one or more external devices, such as an ultrasound imaging assembly that can provide information about the patient's internal features during treatment, where the beam (e.g., from a CT scan) may or may not interfere with the operation of such external devices.

[0049] The CT scanner device 260 includes one or more devices capable of producing a CT scan. For example, the CT scanner device 260 may include a support structure configured to be coupled to the base assembly 240 (and / or a base platform on which the base assembly 240 may be disposed), and a rotating CT gantry including one or more emitters (e.g., x-ray emitters) and detectors (e.g., x-ray detectors) for obtaining a CT scan, as described elsewhere herein.

[0050] The motor 270 comprises one or more devices capable of controlling movement of the base member 240 and / or the treatment couch 250, as described elsewhere herein. In some embodiments, the motor 270 can comprise any suitable type of motor, such as, for example, a DC-based motor, a synchronous-based motor, an induction-based motor, and / or the like, which can be controlled by the processor 210 to move the base member 240 and / or the treatment couch 250, as described elsewhere herein.

[0051] The sensors 280 include one or more devices capable of sensing motion, position, and / or the like associated with the base assembly 240, the treatment couch 250, and / or a patient lying on the treatment couch 250. For example, the sensors 280 may include one or more motion sensors (e.g., accelerometers, gyroscopes, and / or the like), position sensors, weight sensors, and / or the like. In some embodiments, the sensors 280 may provide sensor signals to the processor 210 to facilitate control of the base assembly 240 and / or the treatment couch 250, as described elsewhere herein.

[0052] Figure 2 The number and arrangement of devices and components shown are provided as examples. Figure 2 There may be additional devices and / or components, fewer devices and / or components, different devices and / or components, or differently arranged devices and / or components compared to those shown. Figure 2 Two or more devices or components shown may be implemented in a single device or component, or Figure 2 A single device or component shown may be embodied as multiple distributed devices or components. Additionally or alternatively, one set of devices or components of environment 200 may perform one or more functions described as being performed by another set of devices or components of environment 200.

[0053] Figure 3 300 is a diagram of exemplary components of the apparatus 300. The apparatus 300 may correspond to the integrated CT treatment couch system 205. In some embodiments, the integrated CT treatment couch system 205 may include one or more apparatuses 300 and / or one or more components of the apparatus 300. Figure 3 As shown, device 300 may include a bus 310 , a processor 320 , a memory 330 , a storage component 340 , an input component 350 , an output component 360 , and a communication interface 370 .

[0054] The bus 310 includes components that allow communication among the components of the device 300. The processor 320 is implemented in hardware, firmware, or a combination of hardware and software. The processor 320 is a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), a microprocessor, a microcontroller, a digital signal processor (DSP), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), or other types of processing components. In some embodiments, the processor 320 includes one or more processors that can be programmed to perform functions. The memory 330 includes a random access memory (RAM), a read-only memory (ROM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic memory, and / or optical memory) that stores information and / or instructions for use by the processor 320.

[0055] The storage component 340 stores information and / or software related to the operation and use of the device 300. For example, the storage component 340 may include a hard disk (e.g., a magnetic disk, an optical disk, a magneto-optical disk, and / or a solid-state disk), a compact disk (CD), a digital versatile disk (DVD), a floppy disk, a cartridge, a magnetic tape, and / or another type of non-transitory computer-readable medium, along with a corresponding drive.

[0056] Input components 350 include components that allow device 300 to receive information, for example, via user input (e.g., a touch screen display, a keyboard, a keypad, a mouse, buttons, switches, and / or a microphone). Additionally or alternatively, input components 350 may include sensors for sensing information (e.g., a global positioning system (GPS) component, an accelerometer, a gyroscope, and / or an actuator). Output components 360 include components that provide output information from device 300 (e.g., a display, a speaker, and / or one or more LEDs).

[0057] The communication interface 370 includes transceiver-like components (e.g., a transceiver and / or a separate receiver and transmitter) that enable the device 300 to communicate with other devices, for example, via a wired connection, a wireless connection, or a combination of a wired connection and a wireless connection. The communication interface 370 can allow the device 300 to receive information from another device and / or provide information to another device. For example, the communication interface 370 can include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a wireless local area network interface, a cellular network interface, and / or the like.

[0058] Device 300 can perform one or more processes described herein. Device 300 can perform these processes based on processor 320 executing software instructions stored by non-transitory computer-readable media (e.g., memory 330 and / or storage component 340). Computer-readable media is defined herein as non-transitory memory devices. Memory devices include storage space within a single physical storage device or storage space spread across multiple physical storage devices.

[0059] The software instructions may be read into the memory 330 and / or storage component 340 from another computer-readable medium or from another device via the communication interface 370. When executed, the software instructions stored in the memory 330 and / or storage component 340 may cause the processor 320 to perform one or more processes described herein. Additionally or alternatively, hardwired circuitry may be used in place of or in combination with software instructions to perform one or more processes described herein. Thus, the embodiments described herein are not limited to any specific combination of hardware circuitry and software.

[0060] Figure 3 The number and arrangement of components shown are provided as examples. Figure 3 Device 300 may include additional components, fewer components, different components, or differently arranged components than those shown. Additionally or alternatively, one or more components of device 300 may perform one or more functions described as being performed by another group of components of device 300.

[0061] Figure 4 is a flow chart of an exemplary process 400 for controlling an integrated CT couch system. In some embodiments, Figure 4 One or more process blocks of can be performed by an integrated CT treatment couch system (e.g., the integrated CT treatment couch system 205). In some embodiments, Figure 4 One or more process blocks of the method may be performed by another device or a group of devices separate from or including the integrated CT treatment couch system. In some embodiments, the integrated CT treatment couch system may include a base platform, a base assembly mounted to the base platform, a treatment couch table disposed on the base assembly, and a CT scanner device. In some embodiments, the CT scanner device may include a support structure and a CT gantry. In some embodiments, the support structure may be coupled to the base platform or the base assembly. In some embodiments, the CT gantry may have a bore and may be oriented such that the bore is aligned with the treatment couch table. In some embodiments, the CT gantry may be configured to provide image guidance for radiation therapy. In some embodiments, the integrated CT treatment couch system may include one or more sensors configured to generate positional information.

[0062] like Figure 4 As shown, process 400 may include monitoring position information associated with the integrated CT treatment couch system and / or associated with a patient using the integrated CT treatment couch system (block 410). For example, the integrated CT treatment couch system (e.g., using the processor 210, the memory 220, the sensor 280, the processor 320, the memory 330, the storage component 340, and / or the like) may monitor position information associated with the integrated CT treatment couch system and / or associated with a patient using the integrated CT treatment couch system, as described above in conjunction with Figure 1A-Figure 1N As stated.

[0063] like Figure 4 As further shown, the process 400 may include controlling, by the integrated CT treatment couch system, movement of the treatment couch based on the position information (block 420). For example, the integrated CT treatment couch system (e.g., using the processor 210, the memory 220, the motor 270, the processor 320, the memory 330, the storage component 340, the communication interface 370, and / or the like) may control movement of the treatment couch based on the position information, as described above in conjunction with Figure 1A-Figure 1N As stated.

[0064] Process 400 may include additional implementations, such as any single implementation or any combination of implementations described below and / or in combination with one or more other processes described elsewhere herein.

[0065] In some embodiments, the CT scanner device can be configured to provide spiral CT scans based on continuous movement of the treatment couch through the aperture of the CT gantry. In some embodiments, the CT scanner device can be configured to provide axial-based CT scans based on step-by-step movement of the treatment couch through the aperture of the CT gantry. In some embodiments, the CT scanner device can be configured to provide four-dimensional (4D) respiratory-based CT scans and / or 4D cardiac-based CT scans. In some embodiments, the CT scanner device can be configured to facilitate CT angiography. In some embodiments, the CT scanner device can be configured to provide dual-energy CT scans.

[0066] In some embodiments, an integrated computed tomography (CT) treatment couch system may include: a base platform configured to couple to a rotatable floor member associated with a medical accelerator; a base member mounted to the base platform; a treatment couch table disposed on the base member; and a CT scanner device. In some embodiments, the CT scanner device may include a support structure and a CT gantry. In some embodiments, the CT gantry may have a bore and may be oriented so that the bore is aligned with the treatment couch table. In some embodiments, the CT gantry may be configured to generate an online CT scan to guide radiation therapy delivered by the medical accelerator. In some embodiments, the support structure can be mounted to a base platform or base assembly, wherein a volumetric CT scan of a patient on a treatment couch is obtained via translational movement of the treatment couch along an axis passing through a hole in the CT gantry, or the support structure can be configured to pass through a guide path coupled to or contained in the base platform, wherein a volumetric CT scan is obtained via translational movement of the treatment couch along the axis (without translational movement of the CT gantry along the axis), translational movement of the CT gantry along the axis via the guide path (without translational movement of the treatment couch along the axis), or combined translational movement of the treatment couch along the axis and the CT gantry via the guide path along the axis.

[0067] In some embodiments, the base member can be mounted to a first portion of the base platform, and the support structure can be mounted to a second portion of the base platform proximate the first portion. In some embodiments, a bridge structure can be coupled to the base member. In some embodiments, the support structure can be mounted to the base member via the bridge structure.

[0068] In some embodiments, when the base platform is coupled to and rotated by the rotatable floor member, the CT scanner device and the treatment couch can be rotated about the beam isocenter of the medical accelerator.

[0069] In some embodiments, the base assembly can include a plurality of motors coupled to the treatment couch. In some embodiments, the plurality of motors can be configured to allow the treatment couch to move with six degrees of freedom (DOF).

[0070] In some embodiments, an integrated CT treatment couch system may include at least one sensor configured to monitor the position of a treatment couch and / or the position of a patient on the treatment couch, and to generate a sensor signal based on the monitored position of the treatment couch and / or the patient. In some embodiments, the integrated CT treatment couch system may include: one or more memories; and one or more processors communicatively coupled to the one or more memories and the at least one sensor, the one or more processors configured to control movement of the treatment couch and / or base component based on the sensor signal. In some embodiments, the at least one sensor may be configured to monitor the position of the treatment couch by detecting the weight of the patient on the treatment couch. In some embodiments, the at least one sensor may be configured to monitor the position of the patient by detecting the position of one or more body parts of the patient and / or the posture of at least a portion of the patient.

[0071] In some embodiments, the treatment couch can be configured to move about a pitch axis, a roll axis, and / or a yaw axis. In some embodiments, the treatment couch can be configured to move along an axis of a bore of a CT scanner device, vertically relative to the axis, and / or laterally.

[0072] In some embodiments, an integrated computed tomography (CT) treatment couch system may include a robotic arm assembly comprising a base structure and an adjustable arm mounted to a portion of the base structure. In some embodiments, the integrated CT treatment couch system may include a treatment couch disposed on and coupled to the adjustable arm. In some embodiments, the treatment couch may be configured to support a patient for a particle therapy procedure. In some embodiments, the integrated CT treatment couch system may include a spiral CT scanner device comprising a support structure and a CT gantry. In some embodiments, the support structure may be coupled to the base structure at or near a portion of the base structure. In some embodiments, the CT gantry may have a bore and may be oriented such that the bore is aligned with the treatment couch. In some embodiments, the CT gantry may be configured to provide online CT scanning for image guidance associated with the particle therapy procedure.

[0073] In some embodiments, the particle therapy procedure can include a proton-based therapy procedure and / or a charged ion-based therapy procedure. In some embodiments, the base structure can be configured to traverse one or more rails to enable the CT scanner apparatus to move at least partially around the area where the particle therapy procedure is being performed.

[0074] Although Figure 4 Example blocks of process 400 are shown, but in some implementations, Figure 4Process 400 may include additional blocks, fewer blocks, different blocks, or differently arranged blocks compared to those depicted in FIG. Additionally or alternatively, two or more blocks of process 400 may be performed in parallel.

[0075] In this way, in the treatment room, diagnostic-quality CT scans (or spiral CT-quality scans) can be obtained for IGRT and / or treatment planning during treatment via the capabilities of a CT scanner located on the treatment couch. Integrating a CT scanner device capable of providing spiral CT scans, rather than CBCT-based scans (which are typically used in treatment rooms), results in higher-quality CT scans and allows for faster CT scan speeds. Furthermore, providing an integrated CT scanner device on the treatment couch system reduces or eliminates the need to include or use a CBCT-based scanner on the linear accelerator's treatment gantry, reduces or eliminates the need to fold such a CBCT-based scanner during treatment (which may be required if the linear accelerator's beam alignment needs to be tilted or non-coplanar for treatment purposes), and / or allows for the use of a smaller imaging panel solely for kilovolt (kV) radiographic or fluoroscopic imaging. This saves costs, improves IGRT procedures, shortens treatment times, and increases overall patient throughput. Furthermore, integrating the CT scanner device and treatment couch (e.g., which can simply replace an existing treatment couch) allows both the CT scanner device and the treatment couch to rotate about the beam isocenter axis of a typical linear accelerator (e.g., as an integrated unit), also allowing the non-coplanar capability of the linear accelerator to be maintained without requiring any comprehensive or expensive modifications to the linear accelerator (in contrast, for example, to recently proposed advanced treatment machines, which have sacrificed non-coplanar capability by eliminating the couch's rotational capability to improve imaging). Furthermore, the use of an integrated CT scanner device reduces or eliminates the need to deploy and utilize a typical standalone CT scanning system for IGRT purposes. For example, the use of a standalone CT scanner configuration, such as one in which the CT gantry is movable on rails (e.g., an on-rail CT system in a treatment room), may involve additional patient movement in the treatment room (e.g., including rotating a conventional treatment couch toward the CT gantry for CT scanning and then rotating the conventional treatment couch back into alignment with the linear accelerator for patient treatment). This involves manual effort and additional time, such as time due to potential patient movement (e.g., including movement of internal organs and / or the like), which may impact the treatment procedure. In contrast, as described herein, an integrated CT scanner device that remains in line with the treatment table and patient even when the treatment table moves (e.g., as the table is moved) simplifies switching between CT scanning and patient treatment in the treatment room, which shortens treatment time and increases overall patient throughput.

[0076] The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the embodiments to the precise form disclosed. Modifications and variations are possible in light of the above disclosure or may be acquired from practice of the embodiments.

[0077] As used herein, the term component is intended to be broadly interpreted as hardware, firmware, or a combination of hardware and software.

[0078] Some embodiments are described herein in conjunction with threshold values. As used herein, satisfying a threshold value may refer to a value greater than a threshold value, more than a threshold value, higher than a threshold value, greater than or equal to a threshold value, less than a threshold value, less than a threshold value, lower than a threshold value, less than or equal to a threshold value, equal to a threshold value, and / or the like.

[0079] It will be apparent that the systems and / or methods described herein can be implemented in various forms of hardware, firmware, and / or a combination of hardware and software. The actual dedicated control hardware or software code used to implement these systems and / or methods is not a limitation of the embodiments. Thus, the operation and behavior of the systems and / or methods are described herein without reference to specific software code, with the understanding that software and hardware can be designed to implement the systems and / or methods based on the description herein.

[0080] Although particular combinations of features are recited in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of possible implementations. In fact, many of these features can be combined in ways not specifically recited in the claims and / or disclosed in the specification. Although each dependent claim listed below may be directly dependent on only one claim, the disclosure of possible implementations includes each dependent claim in combination with every other claim in the claim set.

[0081] Unless explicitly described as such, any element, action or instruction used herein should not be interpreted as key or necessary. In addition, as used herein, the articles "a" and "an" are intended to include one or more items and can be used interchangeably with "one or more". In addition, as used herein, the term "set" is intended to include one or more items (e.g., related items, unrelated items, combinations of related items and unrelated items, etc.), and can be used interchangeably with "one or more". In the case of being specified as only one item, the term "one" or similar language is used. In addition, as used herein, the term "has", "have", "having" and / or the like are intended to be open-ended terms. In addition, unless explicitly stated otherwise, the phrase "based on" is intended to mean "based at least in part on".

Claims

1. An integrated CT treatment couch system, comprising: a base platform configured to couple to a rotatable floor member associated with the medical accelerator; a base member mounted to the base platform; a treatment bed, which is arranged on the base component; and CT scanner equipment, The CT scanner device includes a support structure and a CT gantry, The CT scanner device is configured to rotate around the beam isocenter of the medical accelerator based on the rotatable floor member, The treatment couch is configured to move horizontally and independently of the base assembly to move a subject past the CT gantry and toward the beam isocenter, When the treatment couch is moved horizontally to bring the subject to the beam isocenter, the base member and the base platform are not below the beam isocenter, and The CT scanner apparatus is configured to move horizontally and independently of the base member from one end of the base member through the base member to an opposite end of the base member, The CT gantry has a bore and is oriented so that the bore is in line with the treatment couch, The CT gantry is configured to generate online CT scans to guide radiation therapy provided by the medical accelerator, and The supporting structure: mounted to the base platform or the base member, wherein an axial CT scan, a spiral CT scan and / or a volumetric CT scan of a patient on the treatment couch is obtained via translational movement of the treatment couch along an axis passing through the aperture of the CT gantry, or is configured to traverse a guide pathway coupled to or contained on the base platform, wherein a volumetric CT scan is obtained via: The treatment couch moves in translation along the axis without the CT gantry moving in translation along the axis, translational movement of the CT gantry along the axis via the guide path without translational movement of the treatment couch along the axis, or The treatment couch table and the CT gantry are moved along the axis by a resultant translation via the guide path.

2. The integrated CT treatment couch system according to claim 1, wherein the base member is mounted to a first portion of the base platform, and the support structure is mounted to a second portion of the base platform adjacent to the first portion.

3. The integrated CT treatment couch system according to claim 1, wherein the support structure is mounted to the base platform and / or the base component via one or more coupling mechanisms.

4. The integrated CT treatment couch system of claim 1 , wherein when the base platform is coupled to and rotated by the rotatable floor member, the CT scanner device and the treatment couch table rotate about the beam isocenter of the medical accelerator. 5 . The integrated CT treatment couch system of claim 1 , wherein the base assembly comprises a plurality of motors coupled to the treatment couch table. 6 . The integrated CT treatment couch system of claim 5 , wherein the plurality of motors are configured to allow the treatment couch table to move with six degrees of freedom (DOF).

7. The integrated CT treatment couch system according to claim 1, further comprising: At least one sensor configured to: monitoring the position of the treatment couch and / or the position of a patient on the treatment couch, and generating sensor signals based on monitoring the position of the treatment couch and / or the position of the patient; one or more memories; and one or more processors communicatively coupled to the one or more memories and the at least one sensor, the one or more processors configured to: The movement of the treatment couch and / or the base component is controlled based on the sensor signal. 8 . The integrated CT treatment couch system according to claim 7 , wherein the at least one sensor is configured to monitor the position of the treatment couch by detecting the weight of the patient on the treatment couch.

9. The integrated CT treatment couch system according to claim 7, wherein the at least one sensor is configured to monitor the position of the patient by detecting the position of one or more body parts of the patient and / or the posture of at least a portion of the patient.

10. The integrated CT treatment couch system according to claim 1, wherein the treatment couch table is configured to move around the following axis: Pitch axis, Roll axis, and / or Swing axis.

11. The integrated CT treatment couch system of claim 1 , wherein the CT gantry is configured to tilt and the treatment couch table is configured to move along any one of three orthogonal axes, the three orthogonal axes comprising: y-axis, x-axis, or z-axis line.

12. A method for controlling an integrated CT treatment couch system, comprising: monitoring, by the integrated CT treatment couch system, position information related to the integrated CT treatment couch system and / or related to a patient using the integrated CT treatment couch system, The integrated CT treatment bed system includes: a rotatable base platform configured to couple to a rotatable floor member associated with the medical accelerator, a base member mounted to the rotatable base platform, a treatment bed, which is arranged on the base component, CT scanner equipment, The CT scanner device includes a support structure and a CT gantry, The CT scanner device is configured to rotate around the beam isocenter of the medical accelerator based on the rotatable floor member, the support structure being coupled to the rotatable base platform or the base member, The treatment couch is configured to move horizontally and independently of the base assembly to move a subject past the CT gantry and toward the beam isocenter, When the treatment couch is moved horizontally to bring the subject to the beam isocenter, the base assembly and the rotatable base platform are not below the beam isocenter, and The CT scanner apparatus is configured to move horizontally and independently of the base member from one end of the base member through the base member to an opposite end of the base member, The CT gantry has a bore and is oriented so that the bore is in line with the treatment couch, The CT gantry is configured to provide image guidance for radiation therapy; and one or more sensors configured to generate the position information; and The integrated CT treatment couch system controls movement of the treatment couch based on the position information.

13. The method of claim 12, wherein the CT scanner device is configured to provide a spiral CT scan based on continuous movement of the treatment couch through the bore of the CT gantry.

14. The method of claim 12, wherein the CT scanner device is configured to provide an axial-based CT scan based on step-by-step movement of the treatment couch through the bore of the CT gantry.

15. The method of claim 12, wherein the CT scanner device is configured to provide a four-dimensional (4D) respiratory-based CT scan and / or a 4D cardiac-based CT scan via a spiral CT scan and / or an axial-based CT scan based on gating information obtained from the one or more sensors, from the one or more respiratory-based sensors, from the one or more cardiac-based sensors and / or from the one or more motion sensors.

16. The method of claim 12, wherein the CT scanner device is configured to facilitate CT angiography via spiral CT scanning and / or axial-based CT scanning.

17. The method of claim 12, wherein the CT scanner device is configured to provide at least dual-energy CT scanning and / or spectral CT scanning via spiral CT scanning and / or axial-based CT scanning.

18. A CT scanner device, used in an integrated CT treatment couch system, the integrated CT treatment couch system comprising: A CT scanner apparatus configured to be coupled to a rotatable floor member associated with a medical accelerator, a base member mounted to the base platform, and a treatment couch disposed on the base member, the CT scanner apparatus comprising: Support structures; and CT gantry, The CT gantry includes a bore and is oriented so that the bore is in line with the treatment couch, The CT gantry is configured to rotate around the beam isocenter of the medical accelerator based on the rotatable floor member, The treatment couch is configured to move horizontally and independently of the base assembly to move a subject past the CT gantry and toward the beam isocenter, When the treatment couch is moved horizontally to bring the subject to the beam isocenter, the base member and the base platform are not below the beam isocenter, and The CT scanner apparatus is configured to move horizontally and independently of the base member from one end of the base member through the base member to an opposite end of the base member, The CT gantry is configured to generate online CT scans to guide radiation therapy provided by the medical accelerator, and The supporting structure: mounted to the base platform or the base member, wherein an axial CT scan, a spiral CT scan and / or a volumetric CT scan of a patient on the treatment couch is obtained via translational movement of the treatment couch along an axis passing through the aperture of the CT gantry, or is configured to traverse a guide pathway coupled to or contained on the base platform, wherein a volumetric CT scan is obtained via: The treatment couch moves in translation along the axis without the CT gantry moving in translation along the axis, translational movement of the CT gantry along the axis via the guide path without translational movement of the treatment couch along the axis, or The treatment couch table and the CT gantry are moved along the axis by a resultant translation via the guide path.

19. The CT scanner apparatus according to claim 18, wherein the support structure is mounted to the base platform and / or the base member via one or more coupling mechanisms.

20. The CT scanner apparatus according to claim 18, wherein when the base platform is coupled to and rotated by the rotatable floor member, the CT scanner apparatus and the treatment couch rotate about the beam isocenter of the medical accelerator.

Images