Radiation irradiation system and control method thereof
Patent Information
- Application Number
- JP2024207890
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2020-08-15
- Filing Date
- 2024-11-29
- Publication Date
- 2025-02-26
Smart Images
Figure 2025027080000001_ABST
Abstract
Description
[Technical field]
[0001] One aspect of the present invention relates to a radiation irradiation system. Another aspect of the present invention relates to a radiation irradiation system. It relates to a method for controlling a stem. [Background technology]
[0002] With the development of atomic science, radiation such as cobalt-60, linear accelerators, and electron beams Radiation therapy has already become one of the main methods of cancer treatment. However, conventional photon or electron The therapy is limited by the physical conditions of the radiation itself, killing tumor cells and The radiation damages many normal tissues. The degree of sensitivity of tumor cells to radiation also varies. Therefore, conventional radiation therapy is not effective against malignant tumors with high radiation resistance (e.g., glioblastoma multiforme). Glioblastoma multiforme, melanoma ) treatment is not very effective.
[0003] To reduce radiation damage to the normal tissue surrounding the tumor, chemotherapy is used. The concept of targeted therapy in the erapy is being used in radiation therapy. Currently, the relative biological effectiveness (RBI) of Radiation sources with high radioactivity effectiveness (RBE) are being actively developed. (For example, proton therapy, heavy particle therapy, neutron capture therapy, etc.). Of these, neutron capture therapy is a combination of the above two concepts. For example, in boron neutron capture therapy, Uranium-containing drugs can be specifically concentrated in tumor cells, and this can be combined with highly precise control of neutron beams. offers a better cancer treatment option compared to traditional radiation.
[0004] In radiation therapy, the beam is aligned with tumor cells inside the patient on the treatment couch This allows for highly accurate treatment and reduces the damage to the normal tissue surrounding the tumor cells in the patient. During clinical treatment, the treatment plan is determined based on the treatment plan. The patient must be positioned precisely according to strict protocols, and positioning errors are likely to occur. If the difference is too large, the center position of the focal target area will change, thereby making it difficult to achieve the desired therapeutic effect. At the same time, for example, in boron neutron capture therapy, one irradiation is approximately It takes half an hour, and during this process the patient's involuntary movements This may cause a shift in the central location of the target area.
[0005] Therefore, it is necessary to provide a new technical means to solve the above problems. Summary of the Invention
[0006] In order to solve the above problems, one aspect of the present invention is a method for generating a therapeutic beam and a beam irradiation device for irradiating a target body with a therapeutic beam to form an irradiated area; A dose simulation calculator is used based on the parameters of the system and the medical image data of the irradiated area. and generating a treatment plan. a treatment planning module for determining a position relative to the beam irradiation device when performing treatment; a control module for controlling irradiation of the beam irradiation device based on the treatment plan; In the preparation room, a laser beam is pre-transmitted to a position of the region to be irradiated that is determined based on the treatment plan. A simulation positioning is performed for the irradiation object, and the irradiation part is a first stereoscopic vision device for acquiring a first image of the position; and the control module for controlling the first image of the position. By comparing the image with the location of the irradiated area determined based on the treatment plan. Ensure that the difference is within the allowable range and perform simulation positioning of the object. a preparation room for determining a posture for simulating the irradiation of the irradiation target, and an irradiation room, Based on the positioning attitude of the irradiation chamber, the irradiation position is determined for the irradiation object. A second stereoscopic vision device is installed in the control module to collect a second image of the irradiated area. before the module corresponds to the second image and the determined simulated positioning attitude. a first image of the irradiated area or a position of the irradiated area determined based on the treatment plan; By comparing the difference, it is ensured that the difference is within the allowable range, and and an irradiation room for controlling the beam irradiation device so as to start irradiation treatment by initiating irradiation of the beam irradiation treatment. The system provides a simulation positioning system in the preparation room for performing radiation treatment in the irradiation room. This reduces the time required to position the target before starting the irradiation, and allows the user to perform preparation work while simultaneously irradiating another target. It can perform radiation therapy on the body, increase the utilization rate of the device, and install a stereoscopic vision device. The imaging of the irradiated body is acquired before the simulation positioning and irradiation treatment, and the treatment is performed. By comparing with the plan, it is ensured that irradiation treatment is performed on the subject according to the treatment plan. This preserves the radiation dose, achieving the desired therapeutic effect while reducing radiation damage to normal tissue.
[0007] Preferably, the beam irradiation device is a beam irradiation device at least partially installed in the irradiation chamber. The preparation chamber includes a simulation beam outlet that is the same as the beam outlet. A simulation beam outlet is provided, and a positional relationship between the simulation beam outlet and the first stereoscopic vision device is provided. is the same as the positional relationship between the beam outlet and the second stereoscopic vision device, and the preparation room and The same irradiation coordinate system is defined in the irradiation room, and the control module controls the first image and the second image. The irradiated portion can be transformed into a coordinate matrix in the irradiation coordinate system.
[0008] Furthermore, the treatment planning module uses a Monte Carlo simulation program. The treatment planning module performs a dose simulation calculation based on the medical The image data is converted into a voxel prosthesis required for the Monte Carlo simulation program. the medical image data of the irradiated area is converted into a tissue model; the treatment planning module or the control module includes a coordinate matrix in the medical coordinate system; A coordinate transformation matrix between the image coordinate system and the projection coordinate system can be obtained.
[0009] Furthermore, the irradiated area is not only developed into a medical image, but also the first stereoscopic vision device a feature pattern using a material that can be identified by the second stereoscopic vision device; The first stereoscopic vision device and the second stereoscopic vision device collect images of the characteristic pattern. and acquiring an image of the irradiated area by the control module. Based on the position of the irradiated part in the medical image, the image of the characteristic pattern is displayed in front of the irradiated part. The coordinate matrix is converted into the illumination coordinate system. By setting the feature pattern, the stereoscopic vision device Data collected by the device is faster and more accurate.
[0010] Furthermore, the preparation chamber and the irradiation chamber are both the same and have the same positional relationship. A laser positioning device is provided, and the treatment planning module is configured to The position where the generated laser hits the irradiated part can be simulated. The worker puts a mark on the object based on the position, and performs a measurement based on the mark. In the case of performing simulation positioning for the irradiated object in the preparation room and irradiating in the irradiation room, By adjusting the position and posture when positioning, the laser positioning device can The position where the laser strikes the object coincides with the mark, and a laser positioning device is set up. By placing the device in the position shown in FIG. 1, it is more convenient and quicker for the operator to position the device manually. The laser generated by the laser positioning device is aligned with the beam exit and the simulation. The laser positioning system determines the position that coincides with the central axis of the radiation beam exit. The position where the generated laser hits the irradiated object is determined by the central axis of the beam coming out of the beam exit. The beam central axis is simulated based on the treatment plan and represents the position where the beam enters the projectile. By marking the subject based on the point of incidence of the voxel prosthesis into the tissue model, The beam injection position determined when performing simulation positioning and irradiation treatment is It will become more accurate.
[0011] More preferably, the radiation irradiation system includes a treatment table and The present invention further includes a treatment table positioning device, and when performing irradiation treatment on the subject using the treatment table, In this case, the control module controls the treatment table to move by the treatment table positioning device. Control.
[0012] More preferably, the second stereoscopic vision device is adapted to obtain a third image of the irradiated area during irradiation treatment. and the control module collects the third image and initiates radiation treatment. At the same time, a corresponding second image of the irradiated area or the determined simulated positioning is displayed. a first image of the irradiated area corresponding to a pre-treatment position, or a pre-treatment position determined based on the treatment plan; and comparing the position of the irradiated portion to ensure that it is within an acceptable range of difference; The beam irradiation device is controlled so as to continue irradiation treatment on the subject. When performing radiation therapy, a body vision device is installed to collect images of the irradiated body in real time, and By comparing the treatment plan with the actual treatment plan, the patient is always treated according to the treatment plan during the treatment. To ensure that radiation therapy is performed and to obtain a higher therapeutic effect.
[0013] More preferably, the radiation irradiation system is a neutron capture therapy system. The beam irradiation device includes a neutron generating device, a beam shaping body, and a treatment table. The apparatus includes an accelerator and a target, the accelerator accelerating charged particles to generate a charged particle beam. and interacting with the target to generate a neutron beam, and the beam shaper is The neutron beam generated by the neutron generating device can be adjusted to a predetermined beam quality. The neutron beam generated by the neutron generator is shaped by the beam shaper. The light is irradiated onto the object to be irradiated.
[0014] Another aspect of the present invention provides a method for controlling a radiation irradiation system, the method comprising: The system includes a beam irradiation device, a treatment planning module, a control module, a preparation room, and an irradiation room. The beam irradiation device generates a treatment beam and irradiates the treatment beam to an object to be irradiated. a first stereoscopic vision device and a second stereoscopic vision device are provided in the preparation room and the irradiation room, respectively. a stereoscopic vision device is provided, and the control method includes: The parameters of the treatment beam generated by the irradiation device and the medical image data of the irradiated area are stored. A dose simulation calculation is performed based on the data, and a treatment plan is created. When performing irradiation treatment on the irradiated area based on the position of the beam irradiation device, determining a treatment plan location and corresponding irradiation time; retrieving the treatment plan corresponding to the current irradiated object from a module; In the preparation room, the position of the part to be irradiated determined based on the treatment plan is applied to the subject. and performing simulation positioning using the first stereoscopic vision device. acquiring a first image of the site, and the control module determining a treatment plan based on the first image and the treatment plan; The position of the irradiated portion determined by the above method is compared with the position of the irradiated portion determined by the above method. and determining a simulated positioning orientation of the object. and, in the irradiation room, the irradiated object is positioned based on the determined simulation positioning attitude. A step of determining irradiation position with respect to a projectile, and the second stereoscopic vision device and acquiring a second image of the simulated saturation of the subject, the control module comparing the second image with the determined simulated saturation. Based on a first image of the irradiated area corresponding to the orientation position or the treatment plan, The position of the irradiated portion is compared with the determined position of the irradiated portion to determine that the difference is within an allowable range. and controlling the beam irradiation device to start irradiation treatment on the irradiation subject. and when the irradiation time determined based on the treatment plan is reached, the control A module controls the beam irradiation device to stop irradiation of the irradiation target. This includes the step.
[0015] Preferably, the control method further comprises the step of: causing the beam irradiation device to perform irradiation treatment on the irradiation target. After the irradiation treatment is started, the second stereoscopic vision device displays a third image of the irradiated area in real time during the irradiation treatment. and the control module acquires the third image at a time corresponding to the start of radiation treatment. a second image of the irradiated portion corresponding to the determined simulation positioning orientation; a first image of the irradiated area corresponding to the first image of the irradiated area determined based on the treatment plan; and comparing the location of the site to ensure that it is within an acceptable range of difference; and controlling the beam irradiation device so as to continue irradiation treatment on the subject. Including etc.
[0016] Preferably, the control method defines the same irradiation coordinate system in the preparation room and the irradiation room, The treatment planning module converts the medical image data of the irradiated area into a voxel prosthesis tissue model. The position of the irradiated area determined based on the treatment plan is converted into a digital representation of the irradiated area. a coordinate matrix of the voxel prosthetic tissue model in the irradiation coordinate system; Further includes:
[0017] Further, the control method further comprises: the control module converting the first image and the second image into the irradiation coordinate system. The method further includes converting to a standard system and comparing.
[0018] The control method further includes providing a characteristic pattern on the irradiated portion, and The method further includes acquiring a position of the irradiated portion of the beam in a medical image. The control method further comprises the steps of: An image is acquired and transmitted to the control module, and the control module The position of the irradiated part of the beam in the medical image is expressed as the coordinate of the irradiated part in the irradiation coordinate system. The method further includes converting the data into a standard matrix and comparing the data.
[0019] In the radiation irradiation system and the control method thereof of the present invention, a stereoscopic vision device is installed to detect spots. Before performing the irradiation treatment, images of the irradiated body are acquired and compared with the treatment plan. By comparing, it is ensured that irradiation treatment is performed on the irradiated body according to the treatment plan; The desired therapeutic effect is achieved while reducing radiation damage to normal tissue. [Brief description of the drawings]
[0020] [Figure 1] 1 is a modular schematic diagram of a boron neutron capture therapy system according to an embodiment of the present invention. [Diagram 2] 1 is a schematic configuration diagram of a boron neutron capture therapy system according to an embodiment of the present invention. [Diagram 3] 1 is a schematic diagram of a boron neutron capture therapy system according to an embodiment of the present invention, showing a case where an irradiated object is positioned. [Figure 4] 1 is a flowchart of an operation process of a boron neutron capture therapy system according to an embodiment of the present invention. [Diagram 5] 11 is a flowchart showing a treatment plan generated by a treatment planning module of a boron neutron capture therapy system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0021] The present invention will now be described in more detail with reference to the accompanying drawings, which will enable those skilled in the art to If so, the invention can be implemented by reference to the text of the specification.
[0022] As shown in FIG. 1, the radiation irradiation system in this embodiment is a boron neutron capture therapy system. The system includes a neutron beam irradiation device, a treatment planning module, and a control module. The neutron beam irradiation device 10 generates a therapeutic neutron beam N and The neutron beam N is irradiated to the subject 200 to form an irradiated area. The neutron beam irradiation device 10 generates a therapeutic neutron beam N. The neutron beam irradiation device 20 controls the parameters of the therapeutic neutron beam N. Dose simulation calculations are performed based on the data and medical image data of the irradiated area, and When a treatment plan is created and radiation treatment is performed on the target area based on the treatment plan, neutron beam irradiation is performed. The position of the treatment object 200 relative to the beam irradiation device 10 and the corresponding irradiation time are determined. After being positioned in the planned location, treatment can begin and the control module The treatment planning module 30 receives a treatment plan corresponding to the current irradiated object 200 from the treatment planning module 20. and controls the irradiation of the neutron beam irradiation device 10 based on the treatment plan. The module 30 also receives other data information, such as data on the neutron beam irradiation device 10, the irradiated The data of the body 200 and the like can be further received.
[0023] As shown in FIG. 2, in one embodiment, the neutron beam irradiation device 10 is a neutron generating device. 11, a beam shaper 12, a collimator 13 and a treatment table 14. The neutron generator 11 The accelerator 111 includes a target T, and the accelerator 111 is configured to irradiate charged particles (protons, deuterium oxide, etc.). The charged particle beam P is generated by accelerating charged particles (such as uranium nuclei) into a proton beam. -Irradiated to target T, it interacts with target T to generate neutrons (neutron beam) N , the target T is preferably a metal target. The energy and current of the accelerated charged particles that can be provided, and the physics and chemistry of the metal target The most well-studied nuclear reactions are: 7 Li(p,n) 7 Be and 9 Be(p,n) 9 B, and both of these reactions are endothermic. These two types of nuclear reactions have energy thresholds of 1.881 MeV and 2. 055 MeV. The ideal neutron source for boron neutron capture therapy is at the keV energy level. Since these are epithermal neutrons, theoretically, metallic lithium can be detonated by protons with energies slightly higher than the threshold. The bombardment of the target produces neutrons of relatively low energy, without much deceleration. However, lithium (Li) and beryllium (B e) The two types of targets do not have a large cross section for interacting with protons of the threshold energy, so In order to ensure a sufficient neutron flux, nuclear reaction is generally performed using protons with relatively high energy. An ideal target would have a high neutron yield and the energy of the neutrons produced would be The energy distribution is close to the epithermal neutron energy region (described in detail below), and the strong penetrating It has many advantages, such as not generating much radiation, being safe, cheap, easy to operate, and resistant to high temperatures. However, in reality, no nuclear reaction that satisfies all the requirements has been found, so In the present embodiment, a target made of lithium metal is used. As is well known to those in the industry, the material of the target T is gold, lithium, beryllium, etc. It may be made of a metallic material, for example tantalum (Ta) or tungsten (W). The target T may be a disk or other solid shape, and may be a liquid material ( The accelerator 111 may be a linear accelerator, a cyclotron, a synchrotron, or the like. The neutron generating device 11 may be an accelerator and a thoron, or a synchrocyclotron. The neutron source for boron neutron capture therapy may be a nuclear reactor without using a target. Although the nuclear reaction between the reactor or accelerator charged particles and the target occurred, the actual In both cases, they are mixed radiation fields, i.e. the beams are composed of intermediate energies ranging from low to high. Boron neutron capture therapy for deep tumors is more effective than other neutron capture therapy methods, except for epithermal neutrons. The higher the radiation content, the greater the proportion of normal tissues that will cause nonselective dose deposition. Therefore, it is necessary to reduce the radiation that causes these unnecessary doses as much as possible. In addition, the normal tissues of the patient may receive too much radiation, resulting in unnecessary dose sinks. The cause of adhesion should be avoided.
[0024] The neutron beam N generated by the neutron generator 11 is sequentially passed through the beam shaper 12 and the collimator. The light passes through a meter 13 and is irradiated onto a subject 200 on a treatment table 14. The beam shaper 12 The beam quality of the neutron beam N generated by the neutron generator 11 can be adjusted. The collimator 13 collects the neutron beam N and provides the neutron beam N with high targeting ability during treatment. As can be appreciated, the present invention does not require a collimator and the beam is After coming out of the treatment body 12, the radiation is directly irradiated onto the subject 200 on the treatment table 14.
[0025] The beam shaper 12 includes a reflector 121, a moderator 122, a thermal neutron absorber 123, and a radiation shield. The neutron generating device 11 further includes a body 124 and a beam exit 125. The wide energy spectrum of the neutrons allows other types of neutrons to meet the needs of treatment. The amount of neutrons and photons that can cause damage to workers or irradiated objects should be reduced as much as possible. Therefore, the neutrons emitted from the neutron generator 11 pass through the moderator 122. Throughout, the fast neutron energy (>40keV) is included in the epithermal neutron energy range (0 It is necessary to adjust the energy range to 0.5 eV ~ 40 keV and reduce thermal neutrons (< 0.5 eV) as much as possible. The moderator 122 has a large cross section with fast neutrons and a small cross section with epithermal neutrons. In the preferred embodiment, the moderator 122 is made of D2O, AlF3, Fl uental (registered trademark), CaF2, Li2CO3, MgF2 and Al2O3 The reflector 121 is manufactured from at least one type of material, and the reflector 121 surrounds the decelerator 122 and passes through the decelerator 122. The neutrons that pass through and diffuse to the surrounding area are reflected back into the neutron beam N, improving the utilization rate of the neutrons. The reflector 121 is made of a material with high neutron reflectivity. In a preferred embodiment, the reflector 121 is made of Pb or The moderator 122 is made of at least one of the following materials: The thermal neutron detector is preferably made of a material having a large cross section with thermal neutrons. The neutron absorber 123 is made of Li-6 and absorbs the thermal neutrons that have passed through the moderator 122. The content of thermal neutrons in the neutron beam N is reduced, and unnecessary radiation to superficial normal tissue during treatment is prevented. To avoid the bulky structure, as can be seen, the thermal neutron absorber may be integral with the moderator. The material of the moderator contains Li-6, and the radiation shield 124 is made of a material other than the beam exit 125. The material of the radiation shield 124 is a photon shielding material and a neutron shielding material. In a preferred embodiment, the radiation shield 124 includes at least one of the neutron shielding materials. The materials include the photon shielding material lead (Pb) and the neutron shielding material polyethylene (PE). The collimator 13 is installed behind the beam outlet 125, and the epithermal neutral The electron beam is irradiated to the irradiated body 200, passes through the superficial normal tissue, and is then decelerated to thermal neutrons. As can be seen, the beam shaper 12 further includes other structures. It is okay to have one, as long as we can obtain the epithermal neutron beam necessary for treatment. For ease of explanation, When the collimator 13 is installed, the exit of the collimator 13 is a beam exit 125 which will be described later. In this embodiment, between the irradiation object 200 and the beam exit 125, A radiation shielding device 15 is further installed to prevent the beam exiting from the beam outlet 125 from reaching the target. In order to shield radiation from tissue and make it understandable, the radiation shielding device 15 is not required to be installed. good.
[0026] The subject 200 is administered a boron (B-10)-containing drug or injected with it, and then the boron The boron-containing drug is selectively collected in tumor cells M, and then the boron (B-10)-containing drug is absorbed by thermal neutrons. Taking advantage of the high capture cross section of 10 B(n,α) 7 Li neutron capture and Nuclear fission reactions cause 4 He and 7 Two types of charged particles are generated: Li. The average energy of the neutron is about 2.33 MeV, which is a high linear energy transfer. It is characterized by its short range and low energy transfer (LET). The energy deposition and range are 150 keV / μm and 8 μm, respectively. 7 Li heavy charged particles In the case of the child, the energy levels are 175 keV / μm and 5 μm, respectively, and the total range of the two particles is 100 keV / μm. Since the size of the particles is close to that of a living organism, radiation damage to the body can be limited to the cellular level, with no significant damage to normal tissue. The goal of partially killing tumor cells without causing any damage can be achieved.
[0027] The entire boron neutron capture therapy system 100 is housed in a concrete building. Specifically, the boron neutron capture therapy system 100 includes an irradiation chamber 101 and a charged particle beam The irradiation chamber 101 further includes a generation chamber 102, and the irradiation subject 200 on the treatment table 14 is The charged particle beam generating chamber 102 is at least partially The beam shaper 12 at least partially houses the irradiation chamber 101 and The charged particle beam generating chamber 102 is housed within a partition 103. As can be seen, the partition 10 3 may completely separate the irradiation chamber 101 and the charged particle beam generation chamber 102, The irradiation chamber 101 and the charged particle beam generation chamber 102 may be partially separated. The chamber 101 communicates with the charged particle beam generating chamber 102. The target T may be one or more. The charged particle beam P may be directed to one or several targets T One or more therapeutic neutron beams can be delivered to a target T or multiple targets T simultaneously. Depending on the number of targets T, a beam shaper 12, a collimator 13, The treatment table 14 may be one or more, and multiple treatment tables may be installed in the same irradiation room. Alternatively, a separate irradiation room may be provided for each treatment unit. The chamber 102 is a space surrounded by a concrete wall W (including a partition wall 103). The base structure is designed to absorb neutrons and other neutrons that may leak during the operation of the boron neutron capture therapy system 100. It can block radiation from other sources.
[0028] The boron neutron capture therapy system 100 includes a preparation room 103, a control room (not shown), and a treatment room. Each irradiation room 101 may further include other spaces to assist in the above. The preparation room 103 can store a simulation position for the subject 200 before the irradiation treatment. The simulation is carried out in the preparation room 103, including the determination of the concentration of boron and the injection of a boron-containing drug. The positioning is a task of positioning the irradiated object 200 in the irradiation room 101 before performing irradiation treatment. This reduces the time required for preparatory work to be performed while another patient is receiving radiation therapy. This increases the utilization rate of the equipment. The operator can check the irradiation status of the neutron beam irradiation equipment 10 in the control room. As shown in FIG. 3, the beam outlet 125 of the neutron beam irradiation device 10 is A neutron beam irradiation device is installed at least partially in the chamber 101 and in the preparation chamber 103. The simulated beam exit 125′ is the same as the beam exit 125 of FIG. The stereoscopic imaging device can display multiple images of the same object at different positions. By collecting images, 3D information of the object is constructed, and the posture of the object is accurately monitored and corrected. It is possible to ensure that irradiation treatment is performed according to the treatment plan. 3, images of the object 200 are collected and calculated to generate image data, e.g. The position of the object 200 is calculated by acquiring the coordinate matrix of the object 200 in the coordinate system of the stereoscopic vision device. In one embodiment, two stereoscopic vision devices 40, 40' may be installed to determine the position of the object. As can be understood by constructing a binocular stereoscopic vision device using a CCD camera, a CCD camera is Other image acquisition devices may be substituted, and the number of image acquisition devices may be two or more. The present invention is not particularly limited thereto. The positional relationship between the 5 and the stereoscopic vision device 40 is the simulation beam exit 12 in the preparation room 103. Since the positional relationship between the 3D vision device 40' and the 5' is the same as that between the 3D vision device 40', the same irradiation coordinates are set in the preparation room and the irradiation room. The control module 30 defines the projection coordinate system and the stereoscopic vision device coordinate system. The coordinate transformation matrix of the coordinate system is acquired, and the coordinate matrix of the illuminated object 200 in the stereoscopic vision device coordinate system is reflected. In other words, the control module 30 can convert the coordinate matrix in the projection coordinate system into a stereoscopic vision system. The images of the object 200 collected by the apparatus 40, 40' are stored in the illumination coordinate system of the object 200. As shown in FIG. 4, the radiation irradiation system according to the embodiment of the present invention is The operation process of the system and the positioning process of the object to be irradiated will now be described in detail.
[0029] In S301, the treatment planning module 20 creates a treatment plan and assigns irradiation to the area to be irradiated. When performing radiotherapy, the position relative to the neutron beam irradiation device 10 and the corresponding irradiation time are determined. do.
[0030] In S302, the control module 30 receives the current irradiation target 2 from the treatment planning module 20. Call up the treatment plan corresponding to 00.
[0031] In S303, in the preparation room 103, the beam is placed at the position of the area to be irradiated that is determined based on the treatment plan. The simulation treatment table 14' and the subject 200 on the simulation treatment table 14' Simulation positioning is performed for the target object.
[0032] In S304, images of the irradiated area are collected by the stereoscopic vision device 40' in the preparation room 103. The image is transmitted to the control module 30 and compared with the position of the irradiated area determined based on the treatment plan. Compare.
[0033] If the comparison result is within the allowable difference range, step S305 is executed. In S305, the simulation positioning attitude is determined, and the comparison result is within the range of allowable differences. If the range is exceeded, the process returns to step S303 and performs simulation positioning based on the result of the comparison. Adjust the brightness.
[0034] In S306, the irradiation chamber 101 is heated in accordance with the determined simulation positioning posture. Irradiation positioning is performed for the treatment table 14 and the subject 200 on the treatment table 14 .
[0035] In S307, the image of the irradiated area collected by the stereoscopic vision device 40 in the irradiation room 101 is The control module 30 transmits the signal to the control module 30 and compares it with the position of the area to be irradiated determined based on the treatment plan. do.
[0036] If the comparison result is within the allowable difference range, step S308 is executed. In S308, irradiation treatment is started, and if the comparison result exceeds the allowable difference range, step Returning to step S306, the irradiation positioning is adjusted based on the results of the comparison.
[0037] In S309, when the irradiation time determined based on the treatment plan is reached, the irradiation treatment is stopped. do.
[0038] In one embodiment, after starting the radiation treatment in step S308, a further step S31 In step S310, the stereoscopic vision device 40 in the irradiation room 101 Images of the irradiation site are collected in real time and transmitted to the control module 30, and are displayed based on the treatment plan. The position of the irradiated area determined by the method is compared with that determined by the method.
[0039] If the comparison result is within the allowable difference range, step S311 is executed. In S311, the irradiation treatment is continued and the comparison is continued by returning to step S310. If the result exceeds the allowable difference range, execute step S312. Then, the treatment is paused and the irradiation positioning is adjusted based on the results of the comparison, and step S Return to 310.
[0040] As shown in FIG. 5, step S301 further includes the following steps S401 to S403. include.
[0041] In S401, medical image data of the irradiated area is processed by a Monte Carlo simulation program. The tissue model is converted to a voxel prosthesis model required for the simulation and a Monte Carlo simulation process is performed. Get the data you need for the gram input level.
[0042] In one embodiment, the medical image data is computed tomography (CT). The medical image data of the irradiated area is Including the coordinate matrix in the medical image coordinate system and the CT value matrix of the medical image voxel model of the irradiation area The treatment planning module converts the CT number matrix into a tissue type information matrix. The tissue boron concentration information can be further defined, i.e., tissue type and tissue boron concentration. A voxel prosthesis assembly required for a Monte Carlo simulation program with degree information As will be appreciated, other medical image data may also be used, If the medical image data can be converted into a three-dimensional voxel prosthetic tissue model, the present invention The present invention may be applied to a radiotherapy system and a treatment plan generation method thereof. The detailed process of establishing a voxel prosthesis tissue model based on the data was published in March 2017. The publication number is CN106474634A, and the invention title is "Medical image data-based Please refer to the patent application "Method for establishing a geometric model based on a method for forming ... will be incorporated into the subsection.
[0043] In S402, Monte Carlo simulation programs (e.g., MCNP, Mon In the Carlo N Particle Transport Code Define beam parameters and sample different irradiation angles to perform dose simulation calculations. Do the following.
[0044] After establishing a voxel prosthetic tissue model with tissue type and tissue boron concentration information, The Monte Carlo simulation program was used to determine whether the irradiated object in BNCT is a neutron-beam ionizer. The collision trajectory and energy distribution of nuclear particles in the three-dimensional space inside the shell were simulated. The beam parameters (e.g. By defining the beam energy, intensity, radius, etc. and sampling different irradiation angles, By using this method, the dose distribution at different irradiation angles of the 3D voxel prosthesis tissue model was simulated. Ration and calculate.
[0045] In S403, the irradiation angle is suitably selected based on the calculation result to generate a treatment plan, and the irradiated Determine the optimal irradiation angle for the area.
[0046] After obtaining the dose distribution, the dose index (e.g., prescription dose), dose limit value (e.g., mean dose, The treatment plan, i.e., optimal irradiation, is created by selecting different irradiation angles based on the maximum dose, etc. The incidence angle and the corresponding exposure time are evaluated and determined. As can be seen, step S420 When sampling the irradiation angle in step S430, or when the irradiation angle is set to a desired value in step S440, When appropriately selected and evaluated, the beam path can be further evaluated, and the present application is There are no particular restrictions on the method of evaluation of the degree of disclosure. For example, if a disclosure was made on June 16, 2017, and the disclosure number was Patent application for "Method for evaluating beam irradiation angle" with the number CN106853272A and the invention title The treatment planning module calculates the optimal irradiation angle obtained and The position of the irradiation site is determined relative to the neutron beam irradiation device 10. In one embodiment, The planning module 20 determines the preparation room and lighting conditions in a Monte Carlo simulation program. The irradiation coordinate system can be defined as being the same as the irradiation room, and the treatment planning module 20 can The coordinate matrix of the part in the medical image coordinate system is converted to a coordinate matrix in the irradiation coordinate system, and the treatment planning module The treatment plan data calculated by the CT scanner is a voxel profile of the irradiated area at the optimal irradiation angle. Thesis: The tissue model includes the coordinate matrix in the irradiation coordinate system, and is understood by Monte Carlo simulation. In the simulation program, it is not necessary to convert the coordinate matrix of the irradiation coordinate system. The treatment planning module 20 or the control module 30 converts the irradiation coordinate system into a medical image coordinate system. Calculate the coordinate transformation matrix for the corresponding point, and in the subsequent step, convert the point using the coordinate transformation matrix and compare the results. .
[0047] If radiation treatment is to be started, step S302 is executed, and the control module 30 Then, the treatment plan corresponding to the current irradiated object 200 is retrieved from the treatment planning module 20. The position of the irradiated area can be obtained from the treatment plan, and the man-machine interface of the control module 30 can be used. The position of the model of the irradiated area relative to the virtual beam exit is displayed or related to the interface. If the position parameters are displayed, step S303 can be performed. The simulation treatment table 14 and the simulation 15 are placed at the position of the area to be irradiated, which is determined based on the treatment plan. A simulation positioning is performed for the subject 200 on the simulation treatment table 14'. This process is performed manually by a doctor or other operator, and is then compared with the treatment plan for confirmation. In one embodiment, in step S304, a stereoscopic image of the preparation room 103 is obtained. The image of the irradiated area collected by the sensor 40' is transmitted to the control module 30, and the control module The module 30 converts it into the irradiation coordinate system and calculates the irradiation target determined based on the treatment plan data. By comparing the coordinate matrix of the voxel prosthesis tissue model of the irradiation site in the irradiation coordinate system, Determine the simulated positioning attitude, ensuring that the difference is within the allowable range. If not, return to step S303 and perform the simulation. The positioning attitude is adjusted, for example, by calculating the deviation amount based on the result of the comparison, and the calculated The simulation positioning attitude may be adjusted based on the deviation amount obtained, but it is not necessary to adjust the simulation positioning attitude. The deviation amount is taken into consideration when positioning the object 200 to be irradiated in the irradiation chamber 101. In the process of positioning, the actual situation of the patient should be taken into account and the treatment plan should be adjusted as much as possible. The irradiation position corresponds to the irradiation position determined based on the above.
[0048] In one embodiment, to make the data collected by the stereoscopic vision device faster and more accurate, To achieve this, a characteristic pattern 201 is placed on the irradiated area, and the medical device of the irradiated area of the characteristic pattern 201 is The position in the medical image is collected, and the feature pattern 201 is not only developed in the medical image. The material is easily identifiable by a stereoscopic vision device, and the shape of the characteristic pattern 201 is limited. 3. As can be seen, this process is This may be performed before step S304 (for example, before the medical examination of the irradiated area in step S401). Before acquiring image data, a feature pattern 201 is set, i.e., a medical image of the irradiated area is The data and the position of the feature pattern 201 in the medical image of the irradiated area are simultaneously obtained. The stereoscopic vision device 40' may be configured to perform the above-mentioned steps in step S304. The image of the characteristic pattern 201 is collected and transmitted to the control module 30, which , the position of the feature pattern in the medical image of the irradiated part is expressed as the coordinates in the irradiation coordinate system of the irradiated part. The voxel prosthesis group of the irradiated area is determined based on the treatment planning data. By comparing the coordinate matrix in the irradiation coordinate system of the weave model, it is confirmed that the difference is within the allowable range. and determine the simulation positioning attitude.
[0049] After the simulation positioning is completed, step S306 can be performed, and the determined In the irradiation room 101, the treatment table 14 and the treatment table 1 4, the irradiation position is determined for the irradiation object 200 on the irradiation chamber 101 in one embodiment. The treatment table positioning device 50 is further installed on the treatment table 20. The control module 30 controls the treatment table positioning device 50. By controlling the device 50, the treatment table 14 can be controlled to move, and as can be understood, A treatment table positioning device is further installed in the preparation room 103, so that the treatment table can be moved. The simulation treatment table 14' is controlled to perform simulation positioning with respect to the irradiated object. This process can also be performed manually by an operator such as a doctor, and further in the irradiation chamber 101. The image of the irradiated area collected by the stereoscopic vision device 40 and the The simulated positioning posture is compared with the image or treatment plan of the irradiated area corresponding to the simulated positioning posture. For example, step S307 is performed. The image of the characteristic pattern collected by the stereoscopic vision device 40 in the shooting room 101 is subjected to a control model. The module 30 calculates the position of the characteristic pattern in the medical image of the irradiated part by the irradiation of the irradiated part. The voxel of the irradiated area is determined based on the treatment planning data and converted into a coordinate matrix in the coordinate system. The allowable difference is calculated by comparing the coordinate matrix of the prosthetic tissue model with the irradiation coordinate system. By ensuring that the radiation is within range, radiation treatment can be started (step S308) and the control The control module 30 controls the neutron generator 11 to generate a neutron beam, i.e. That is, the beam irradiation device 10 is controlled so as to start irradiation treatment on the irradiated body 200, If not, the process returns to step S306 to adjust the irradiation attitude, for example, based on the result of the comparison. The deviation amount is calculated based on the calculated deviation amount, and adjustment is made based on the calculated deviation amount.
[0050] During irradiation treatment, the stereoscopic vision device 40 in the irradiation room 101 continuously and The information can be collected in real time and transmitted to the control module 30 in step S308. When starting irradiation treatment in step S305, an image of the corresponding irradiated area is The image or treatment plan of the irradiated area corresponding to the simulation positioning orientation determined by the simulation In one embodiment, the standing temperature in the irradiation chamber 101 is compared with the standing temperature in the irradiation chamber 101, for example, step S310 is executed. The control module is then used to measure the image of the characteristic pattern collected in real time by the visual device 40. The module 30 converts the position of the feature pattern in the medical image of the irradiated part into the irradiation coordinate of the irradiated part. The voxels of the irradiated area are determined based on the treatment plan data and converted into a coordinate matrix in the reference system. The range of allowable differences is determined by comparing the coordinate matrix of the prosthetic tissue model with the irradiation coordinate system. It is ensured that the radiation treatment is within the range, and the radiation treatment is continued (step S311), and step S3 Return to step S30 and continue the comparison. If not, execute step S312 and pause the treatment. The irradiation position and orientation are adjusted based on the result of the comparison, and then the process returns to step S310. During the radiation treatment, the control module 30 may further adjust the treatment plan so that The treatment plan may be adjusted or other control may be performed based on other information received from the When the control module 30 determines that the irradiation time determined based on the treatment plan has arrived, Then, step S309 is executed, and the control module stops irradiation of the irradiation target 200. For example, the neutron generator 10 is controlled to stop the generation of the neutron beam. The control circuit 11 controls the image forming apparatus 11.
[0051] In one embodiment, both the irradiation chamber 101 and the preparation chamber 103 have the same and similarly positioned The laser positioning devices 60, 60' are provided with a relative positional relationship, and the treatment planning module 20 The laser generated by the laser positioning device 60, 60' is determined based on the treatment plan. This allows the operator to simulate the position where the selected irradiation angle will hit the target area. A mark is attached to the irradiated object 200 based on the position, and the irradiated object is When performing simulation positioning for the body 200 in the preparation room 103 and in the irradiation room 101 By adjusting the position and posture when performing irradiation positioning (steps S303 and Step S306) The laser generated by the laser positioning device 60, 60' is irradiated The position where the laser hits the body 200 coincides with the mark. Therefore, it is more convenient and quicker for the operator to position the device manually.
[0052] The laser generated by the laser positioning device 60, 60' has beam exits 125, 12 The position of the central axis X of the 5′, which coincides with X′, can be further determined, as shown in FIG. The position where the laser generated by the laser positioning device 60, 60' hits the object 200 to be irradiated is determined. The position of the beam exits 125 and 125′ is such that the central axis of the beam enters the object 200. The voxel projection of the beam central axis is based on the treatment plan. Thesis By marking the subject 200 based on the point of incidence on the tissue model, More accurate beam injection position determination during simulation positioning and radiation treatment become.
[0053] Based on the treatment plan, multiple irradiation angles can be determined and irradiated sequentially. For example, the applicant filed a patent application with the State Intellectual Property Office on June 11, 2020, bearing application number 20201 0528551.0, the invention title is "Radiation therapy system and its treatment plan generation method" After the first irradiation angle was completed, the second irradiation angle was examined in the preparation room. It is necessary to perform the simulation positioning again, that is, the above steps S303 to S31. Repeat step 2.
[0054] As can be seen, some simple transformations of the calculation methods in the above steps, e.g. Simple transformations such as back and forth transformations of the various coordinate systems are still within the scope of the present invention. The concrete wall in this embodiment is made of concrete with a thickness of 1m or more and a density of 3g / cc. The boron-containing barite concrete wall is a concrete wall containing boron, which has better neutron absorption. It has the ability to absorb radiation and improve the radiation shielding effect of concrete, and also reduces the amount of metal in concrete. As can be appreciated, other thicknesses or thicknesses may be used to reduce the amount of neutron exposure received by the metal material. The thickness of the concrete wall in different sections may be changed to other materials with different densities. As can be appreciated, the present invention also includes other types of It can be applied to proton irradiation systems and other radiation irradiation systems, e.g., proton therapy systems. The neutron generating device can be used in a variety of applications, including a nuclear power station, a nuclear power generation system, a heavy ion therapy system, etc. Other radiation generating devices may be substituted, and the concrete material may be replaced as required. The treatment table may be replaced with another table for placing an object to be irradiated.
[0055] As can be seen, there is no need to install a stereoscopic vision device in the preparation room and in the irradiation treatment room. Before starting treatment, the irradiation room is irradiated with light at the position of the area to be irradiated, which is determined based on the treatment plan. The system directly performs irradiation positioning and compares it with the treatment plan. A beam irradiating a subject with a therapeutic beam to form an irradiated area. Based on the parameters of the treatment beam and medical image data of the irradiated area, Dose simulation calculation is performed, a treatment plan is created, and the irradiated area is selected based on the treatment plan. A treatment planning module that determines the position of the beam irradiation device when performing radiation treatment on the position. a control module for controlling irradiation of the beam irradiation device based on a treatment plan; In the irradiation room, the position of the irradiation site determined based on the treatment plan is irradiated with radiation. The irradiation position is determined for the projectile, and a stereoscopic vision system is installed in the irradiation room to collect images of the irradiated area. The device is installed and the control module records the images and the area to be irradiated based on the treatment plan. By comparing the position with the allowable difference, and an irradiation room for controlling the beam irradiation device to start irradiation treatment on the patient. The method of controlling the system includes: a treatment planning module that generates a treatment plan for a beam irradiation device; Dose simulation based on beam parameters and medical image data of the irradiated area Calculations are made, a treatment plan is created, and irradiation treatment is carried out on the irradiated area based on the treatment plan. determining a position and corresponding irradiation time for the beam irradiation device when the The module retrieves a treatment plan corresponding to the current patient from the treatment planning module. The beam is then inserted into the irradiation chamber at the location of the target area determined based on the treatment plan. and a step of controlling the irradiation position by using a stereoscopic vision device to collect images of the irradiated area and The module compares the image with the location of the area to be irradiated, which is determined based on the treatment plan. and ensure that the difference is within the allowable range, and begin irradiation treatment for the subject. and controlling the beam irradiation device to start the irradiation based on the treatment plan. When the time is reached, the control module controls the beam irradiation device to stop irradiation of the object. and controlling the
[0056] The above describes exemplary specific embodiments of the present invention, and is intended to help those skilled in the art to understand the present invention. It will be readily apparent to those skilled in the art that the present invention is not limited in scope to specific embodiments, and that the present invention is not limited in scope to specific embodiments. It will be apparent to those skilled in the art that various modifications may be made to the present invention in accordance with the spirit and scope of the present invention as defined and defined by the appended claims. These variations are obvious and within the scope of the present invention. .
Claims
1. A treatment beam is generated, and the treatment beam is irradiated onto an irradiated body to form an irradiated area. A beam irradiation device; A dose simulation is performed based on the parameters of the treatment beam and the medical image data of the irradiated area. A simulation calculation is performed, a treatment plan is created, and the irradiated subject is treated based on the treatment plan. A treatment plan for determining a position relative to the beam irradiation device when performing radiation treatment on a region. A module, a control module for controlling irradiation of the beam irradiation device based on the treatment plan; a preparation room, in which the irradiation area determined based on the treatment plan is A simulation positioning is performed for the irradiation object at the position, and the preparation room has a a first stereoscopic vision device for acquiring a first image of the irradiated area; and a control module for: Comparing the first image with the location of the irradiated area determined based on the treatment plan. This ensures that the difference is within the allowable range and that the simulation of the object is performed. a preparation room for determining the orientation of the motion; an irradiation room, in which the irradiation room is placed on the basis of the determined simulation positioning attitude; Based on the above, irradiation positioning is performed for the irradiated object, and the irradiated portion is A second stereoscopic vision device is provided to capture a second image, and the control module is adapted to receive the second image and A first image of the irradiated portion corresponding to the determined simulation positioning attitude or is allowed by comparing the position of the irradiated area determined based on the treatment plan. and determining whether the radiation dose is within a range of the difference set forth above and to commence radiation treatment for the subject. and an irradiation chamber for controlling the beam irradiation device as described above. Hmm.
2. The beam delivery system includes a beam outlet located at least partially within the delivery chamber. In addition, a simulation beam outlet that is the same as the beam outlet is installed in the preparation room. The positional relationship between the simulation beam outlet and the first stereoscopic vision device is The positional relationship between the exit of the imaging device and the second stereoscopic vision device is the same as that between the preparation room and the irradiation room. An illumination coordinate system is defined, and the control module maps the first image and the second image to the illuminated coordinate system.
2. The method according to claim 1, wherein the coordinate matrix of the region can be converted into a coordinate matrix in the irradiation coordinate system. The radiation irradiation system according to claim 1 .
3. The treatment planning module uses a Monte Carlo simulation program to calculate the dose schedule. The treatment planning module performs a simulation calculation, and the treatment planning module uses medical image data of the irradiated area. The data is then converted into a voxel prosthesis tissue model required for the Monte Carlo simulation program. The medical image data of the irradiated area is converted into a medical image coordinate system of the irradiated area. coordinate matrix, and the treatment planning module or the control module 3. The method according to claim 2, wherein the coordinate transformation matrix between the projection coordinate system and the projection coordinate system can be obtained. The radiation irradiation system according to claim 1 .
4. The irradiated area is not only developed into a medical image, but also the first stereoscopic vision device and A feature pattern using a material that can be identified by a second stereoscopic vision device is provided, and the first stereoscopic The vision device and the second stereoscopic vision device collect images of the feature pattern to image the subject. and acquiring an image of the irradiated area, the control module determining a feature pattern of the irradiated area. The image of the characteristic pattern is compared with the irradiation spot of the irradiated part based on the position in the medical image.
3. The radiation irradiation system according to claim 2, wherein the coordinate matrix is converted into a coordinate matrix in a reference system.
5. The preparation chamber and the irradiation chamber are both provided with the same laser positioning and having the same positional relationship. A positioning device is provided, and the treatment plan module is generated by the laser positioning device. It is possible to simulate the position where the laser hits the irradiated part.
3. The radiation irradiation system according to claim 2 .
6. The laser generated by the laser positioning device is aligned with the beam exit and the simulator.
6. The method according to claim 5, further comprising: determining a position coincident with a central axis of the exit of the excitation beam. The radiation delivery system described herein.
7. The treatment table and the treatment table positioning device are further included in the irradiation room. When performing radiation therapy on the subject, the control module 2. The method of claim 1, wherein the device controls the treatment table to move. Radiation exposure system.
8. The second stereoscopic vision device collects a third image of the irradiated area in real time during radiation treatment. and the control module collects the third image and the corresponding A second image of the irradiated area, or a previous image corresponding to the determined simulation positioning orientation. a first image of the irradiated area, or a position of the irradiated area determined based on the treatment plan; and ensure that the difference is within an allowable range, and and controlling the beam irradiation device so as to continue irradiation treatment on the target object. Item 2. A radiation irradiation system according to item 1.
9. The radiation irradiation system is a neutron capture therapy system, and the beam irradiation device includes: The neutron generating device includes an accelerator and a treatment table. The accelerator accelerates the charged particles to generate a charged particle beam, and the target The beam shaper interacts with the target to generate a neutron beam generated by the neutron generating device. The generated neutron beam can be adjusted to a predetermined beam quality by the neutron generating device. The generated neutron beam is irradiated to the subject on the treatment table by the beam shaper.
2. The radiation irradiation system according to claim 1 .
10. A method for controlling a radiation irradiation system, comprising: The radiation irradiation system includes a beam irradiation device, a treatment planning module, a control module, The beam irradiation device generates a treatment beam and irradiates the treatment beam. The target object is irradiated with the target beam to form an irradiated portion, and the preparation chamber and the irradiation chamber are provided with a first stereoscopic vision device and a second stereoscopic vision device are provided; and the control method includes: The treatment planning module is a beam delivery device for delivering the treatment beam to the treatment target. A dose simulation calculation is performed based on the parameters and the medical image data of the irradiated area. and forming a treatment plan, and performing irradiation treatment on the irradiated area based on the treatment plan. determining a position and corresponding exposure time for said beam application device when performing and, Before the control module receives the current treatment plan corresponding to the patient from the treatment planning module, Recalling the treatment plan; In the preparation room, the irradiated portion is placed at a position determined based on the treatment plan. performing a simulated positioning of the projectile; the first stereoscopic vision device acquires a first image of the illuminated area, and the control module comparing the first image with the location of the irradiated area determined based on the treatment plan; By doing so, it is ensured that the difference is within the allowable range, and the simulation of the object is performed. determining a positioning orientation; In the irradiation chamber, the irradiated object is positioned based on the determined simulation positioning attitude. positioning the irradiation relative to the body; the second stereoscopic vision device acquires a second image of the illuminated area, and the control module , the second image, and the illuminated object corresponding to the determined simulation positioning attitude. and comparing the location of the irradiated area to the first image of the area or the location of the irradiated area determined based on the treatment plan. By doing so, it is ensured that the difference is within the allowable range, and the irradiation is performed on the irradiation object. controlling the beam delivery device to initiate treatment; When the irradiation time determined based on the treatment plan is reached, the control module and controlling the beam irradiation device to stop irradiation of the irradiation target. A method for controlling a radiation irradiation system, comprising:
11. After the beam irradiation device starts irradiation treatment on the object, the second stereoscopic vision The device acquires a third image of the irradiated area in real time during the radiation treatment, and the control module The module then compares the third image with the corresponding second image of the irradiated area when starting the radiation treatment. or a first image of the irradiated portion corresponding to the determined simulation positioning orientation. By comparing the position of the irradiated area determined based on the image or the treatment plan, and ensure that the difference is within a more acceptable range and continue radiation treatment on the subject. The method further comprises controlling the beam irradiation device to connect the beam irradiation device to the Item 11. The control method according to item 10.
12. The same irradiation coordinate system is defined for the preparation room and the irradiation room, and the treatment planning module The medical image data of the irradiated area is converted into a voxel prosthetic tissue model and the treatment plan is The position of the irradiated area determined based on the above is calculated based on a voxel prosthesis tissue model of the irradiated area. The method further comprises converting the coordinate matrix of the projection coordinate system of the image sensor into a coordinate matrix of the projection coordinate system of the image sensor. The control method according to claim 10.
13. The control module converts the first image and the second image into the projection coordinate system and compares them. The method of claim 12, further comprising the step of:
14. A characteristic pattern is placed on the irradiated area, and the characteristic pattern is medically detected on the irradiated area.
13. The method of claim 12, further comprising the step of collecting positions in a target image. How to control.
15. The first stereoscopic vision device and the second stereoscopic vision device collect images of the feature pattern, and transmitting the characteristic pattern to the control module, Transforming the position of the part in the medical image into a coordinate matrix in the irradiation coordinate system of the irradiated part.
15. The method of claim 14, further comprising the step of comparing.