U.S. patent application number 14/634298 was filed with the patent office on 2015-07-09 for controlling x-ray imaging based on target motion.
The applicant listed for this patent is ACCURAY INCORPORATED. Invention is credited to Matthew A. Core, Calvin R. Maurer, JR., Sohail Sayeh.
Application Number | 20150190657 14/634298 |
Document ID | / |
Family ID | 42005404 |
Filed Date | 2015-07-09 |
United States Patent
Application |
20150190657 |
Kind Code |
A1 |
Maurer, JR.; Calvin R. ; et
al. |
July 9, 2015 |
CONTROLLING X-RAY IMAGING BASED ON TARGET MOTION
Abstract
An image guided treatment is performed to treat a target. To
perform the image guided treatment, measurement data indicative of
target motion is acquired. A timing of one or more x-ray images is
determined based on the measurement data. Treatment may be
performed on the target using the position of the target.
Inventors: |
Maurer, JR.; Calvin R.; (San
Jose, CA) ; Sayeh; Sohail; (San Ramon, CA) ;
Core; Matthew A.; (San Jose, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
ACCURAY INCORPORATED |
Sunnyvale |
CA |
US |
|
|
Family ID: |
42005404 |
Appl. No.: |
14/634298 |
Filed: |
February 27, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13359365 |
Jan 26, 2012 |
8971490 |
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14634298 |
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12558489 |
Sep 11, 2009 |
8130907 |
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13359365 |
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61096722 |
Sep 12, 2008 |
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Current U.S.
Class: |
378/63 ;
600/439 |
Current CPC
Class: |
A61N 5/1083 20130101;
A61B 6/00 20130101; A61B 6/5217 20130101; A61B 6/5247 20130101;
A61B 2034/2051 20160201; A61B 6/545 20130101; A61B 5/1114 20130101;
A61B 8/085 20130101; A61B 6/12 20130101; A61B 6/542 20130101; A61B
6/541 20130101; A61B 6/486 20130101; A61B 8/0833 20130101; A61B
2034/2055 20160201; A61N 5/1037 20130101; A61B 6/488 20130101; A61N
2005/1061 20130101; A61B 34/20 20160201; A61N 5/1049 20130101 |
International
Class: |
A61N 5/10 20060101
A61N005/10; A61B 6/00 20060101 A61B006/00; A61B 8/08 20060101
A61B008/08; A61B 6/12 20060101 A61B006/12 |
Claims
1. A method, comprising: acquiring measurement data indicative of a
target motion; determining, by a processing device, a timing of one
or more x-ray images based on the target motion; acquiring the one
or more x-ray images according to the determined timing; computing
a position of the target based on the acquired one or more x-ray
images; and directing a radiation treatment beam using the position
of the target.
2. The method of claim 1, wherein the target is a prostrate.
3. The method of claim 1, wherein the measurement data is
ultrasound measurement data.
4. The method of claim 1, further comprising: determining whether
the target motion is within a treatment tolerance; and generating
an x-ray image of the target if the target motion is not within the
treatment tolerance.
5. The method of claim 1, wherein the measurement data includes a
prior x-ray image.
6. The method of claim 5, further comprising: comparing the prior
x-ray image to another image to track the target motion; and
visually presenting the target motion via a display.
7. The method of claim 1, further comprising: acquiring the one or
more x-ray images when the target motion is detected to be above a
threshold.
8. The method of claim 1, wherein the measurement data includes at
least one of ultrasound measurement data or external imaging data
of a patient.
9. The method of claim 1, further comprising: prior to treatment of
a patient, determining a treatment plan that includes a plurality
of radiation treatment beams; receiving selection of an initial
image age threshold; determining that completing delivery of at
least one radiation treatment beam extends beyond the initial image
age threshold; and modifying the treatment plan by splitting the at
least one radiation treatment beam into two or more radiation
treatment beams, wherein delivery of each of the two or more
radiation treatment beams will complete at or before the initial
image age threshold.
10. The method of claim 1, further comprising: adjusting a total
number of x-ray images taken during an image guided treatment
session in response to the target motion.
11. A treatment system, comprising: an imaging apparatus; a motion
detecting apparatus to acquire measurement data indicative of a
motion of a target; a linear accelerator to deliver radiation
treatment beams to the target; and a processing device coupled with
the imaging apparatus, the motion detecting apparatus, and the
linear accelerator, wherein the processing device is to: direct a
radiation treatment beam to the target; and in response to
determining that the motion of the target is not within a treatment
tolerance: cause the imaging apparatus to generate one more x-ray
images of the target, and pause the directing of the radiation
treatment beam to the target.
12. The treatment system of claim 11, wherein the processing device
is further configured to compute a position of the target based on
the one or more x-ray images.
13. The treatment system of claim 11, the linear accelerator is
mounted on a gantry.
14. The treatment system of claim 11, wherein the motion detecting
apparatus and the imaging apparatus are a single system, and
wherein measurement data includes a prior x-ray image.
15. The treatment system of claim 11, further comprising: a
display; wherein the processing device is further configured to
compare the prior x-ray image to another image to track the motion
of the target motion, and to visually present the target motion via
the display.
16. The treatment system of claim 11, wherein the motion detecting
apparatus comprises an ultrasound imaging apparatus, and wherein
the measurement data is ultrasound measurement data.
17. The treatment system of claim 11, wherein the motion detecting
apparatus comprises an optical tracking system, and wherein the
measurement data is generated by at least one of optical tracking
of markers disposed on a patient or optical tracking of a surface
of the patient.
Description
RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 13/359,365, filed on Jan. 26, 2012, which is a
continuation of U.S. patent application Ser. No. 12/558,489, filed
on Sep. 11, 2009, now U.S. Pat. No. 8,130,907, issued Mar. 6, 2012,
which claims priority to U.S. Provisional Patent Application No.
61/096,722, filed Sep. 12, 2008, which are hereby incorporated by
reference in their entirety.
TECHNICAL FIELD
[0002] Embodiments of the present invention relate to the field of
image guided treatment and, in particular, to a system for
determining a timing of diagnostic x-ray images based on
measurement data indicative of target motion.
BACKGROUND
[0003] Radiosurgery and radiotherapy systems are radiation
treatment systems that use external radiation beams to treat
pathological anatomies (e.g., tumors, lesions, vascular
malformations, nerve disorders, etc.) by delivering a prescribed
dose of radiation (e.g., x-rays) to the pathological anatomy while
minimizing radiation exposure to surrounding tissue and critical
anatomical structures (e.g., the spinal cord). Both radiosurgery
and radiotherapy are designed to necrotize the pathological anatomy
while sparing healthy tissue and the critical structures.
Radiotherapy is characterized by a low radiation dose per
treatment, and many treatments (e.g., 30 to 45 days of treatment).
Radiosurgery is characterized by a relatively high radiation dose
in one, or at most a few, treatments.
[0004] In both radiotherapy and radiosurgery, the radiation dose is
delivered to the site of the pathological anatomy from multiple
angles. As the angle of each radiation beam is different, each beam
can intersect a target region occupied by the pathological anatomy,
while passing through different regions of healthy tissue on its
way to and from the target region. As a result, the cumulative
radiation dose in the target region is high and the average
radiation dose to healthy tissue and critical structures is low.
Radiotherapy and radiosurgery treatment systems can be classified
as frame-based or image-guided.
[0005] One challenge facing the delivery of radiation to treat
pathological anatomies, such as tumors or lesions, is identifying
the location of the target (i.e. tumor location within a patient).
The most common technique currently used to identify and target a
tumor location for treatment involves a diagnostic x-ray or
fluoroscopy system to image the patient's body to detect the
position of the tumor. This technique assumes that the tumor does
not move appreciably over the course of a treatment.
[0006] Current methods track and account for tumor motion during
delivery of radiation treatment using multiple diagnostic x-rays
over the course of treatment, as the skilled artisan will
appreciate. In these current methods and systems a user specifies
how many radiation treatment beams should be delivered between each
diagnostic x-ray image. In such systems, delivery of beams can vary
drastically in time duration. For example, imaging every 3 beams
could result in one pair of images taken 10 seconds apart,
interleaved by 3 short beams, followed by an image taken more than
a minute later after 3 long beams. However, the tumor may have
moved between the two diagnostic x-ray images, thereby resulting in
less than desired accuracy of delivery of treatment radiation beams
to the target, and a larger than desired radiation dose delivered
to healthy tissue surrounding the target.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] The present invention is illustrated by way of example, and
not by way of limitation, in the figures of the accompanying
drawings.
[0008] FIG. 1 illustrates graphs showing example prostate movement
during a radiation treatment session.
[0009] FIG. 2 illustrates a configuration of an image-guided
radiation treatment system, in accordance with one embodiment of
the present invention.
[0010] FIG. 3 illustrates a configuration of an image-guided
radiation treatment system, in accordance with another embodiment
of the present invention.
[0011] FIG. 4 illustrates a method of developing a radiation
treatment plan, in accordance with one embodiment of the present
invention.
[0012] FIGS. 5A-5C illustrate timing diagrams showing a portion of
an example treatment plan, in accordance with one embodiment of the
present invention.
[0013] FIG. 6 illustrates one embodiment for a method of
controlling the timing for x-ray imaging.
[0014] FIG. 7A illustrates another embodiment for a method of
controlling the timing for x-ray imaging.
[0015] FIG. 7B illustrates yet another embodiment for a method of
controlling x-ray imaging.
[0016] FIG. 8 illustrates one embodiment for a method of monitoring
patient radiation exposure.
[0017] FIG. 9 illustrates one embodiment of systems that may be
used in image guided treatment in which features of the present
invention may be implemented.
DETAILED DESCRIPTION
[0018] Described herein is a method and apparatus for providing
image guidance for patient treatment. The following description
sets forth numerous specific details such as examples of specific
systems, components, methods, and so forth, in order to provide an
understanding of several embodiments of the present invention. It
will be apparent to one skilled in the art, however, that at least
some embodiments of the present invention may be practiced without
these specific details. In other instances, well-known components
or methods are not described in detail or are presented in simple
block diagram format in order to avoid unnecessarily obscuring the
present invention. Thus, the specific details set forth are merely
exemplary. Particular implementations may vary from these exemplary
details and still be contemplated to be within the spirit and scope
of the present invention.
[0019] The term "x-ray image" as used herein may mean a visible
x-ray image (e.g., displayed on a video screen) or a digital
representation of an x-ray image (e.g., a file corresponding to the
pixel output of an x-ray detector). Reference to an "x-ray image"
may refer to a single image or a simultaneous or consecutive set of
images (as in a stereoscopic imaging system). Reference to an
"x-ray image" may also refer to x-ray imaging modalities such as
computed tomography (e.g., cone beam CT). The term radiation
treatment, as used herein, is the delivery of a prescribed dose of
radiation to a pathological anatomy (target) of a patient.
Radiation treatment includes radiosurgery (delivery of a few
relatively high dose radiation treatments) and radiotherapy
(delivery of numerous low dose radiation treatments).
[0020] In radiation treatment, often an entire dose of radiation
that is to be delivered to a target is not delivered in a single
treatment session. To maximize the effect of radiation on cancer,
and minimize the effect on healthy tissue, fractionation may be
used. Fractionation is a method of radiation treatment in which the
total dose of radiation to be delivered to the target is divided
into several smaller doses over a period of one or more days. Each
individual dose is referred to as a fraction.
[0021] Unless stated otherwise as apparent from the following
discussion, it will be appreciated that terms such as "processing,"
"computing," "generating," "comparing" "determining," "setting,"
"adjusting" or the like may refer to the actions and processes of a
computer system, or similar electronic computing device, that
manipulates and transforms data represented as physical (e.g.,
electronic) quantities within the computer system's registers and
memories into other data similarly represented as physical within
the computer system memories or registers or other such information
storage, transmission or display devices. Embodiments of the
methods described herein may be implemented using computer
software. If written in a programming language conforming to a
recognized standard, sequences of instructions designed to
implement the methods can be compiled for execution on a variety of
hardware platforms and for interface to a variety of operating
systems. In addition, embodiments of the present invention are not
described with reference to any particular programming language. It
will be appreciated that a variety of programming languages may be
used to implement embodiments of the present invention.
[0022] One clinical area in which it is important to accurately
track the position of a target is radiotherapy or radiosurgery of
the prostate to treat prostate cancer. An average patient will
experience minimal prostate movement during a radiation treatment
session. However, significant prostate motion happens frequently in
some patients. Additionally, nearly all patients, in conventional
fractionation, experience significant prostate motion in at least
some of their fractions. Moderate to significant prostate motion is
experienced in about 15% of fractions over the patient
population.
[0023] FIG. 1 illustrates graphs 100 showing example prostate
movement during a radiation treatment session. The graphs 100
include four separate plots that have time along the horizontal
axis and prostate position (based on a fiducial center of mass)
along the vertical axis. Each plot shows prostate motion in three
different directions (superior-inferior, SI; left-right, LR; and
anterior-posterior, AP), and a total combined prostate motion
(Length).
[0024] The upper left plot shows a fraction with minimal prostate
motion, which is typical in a majority of fractions (approximately
85%). For these fractions, a diagnostic x-ray imaging frequency of
approximately every 1-2 minutes may be sufficient to provide
sub-millimeter tracking of the prostate.
[0025] The upper right, lower right and lower left plots show
typical prostate motion for approximately 15% of fractions. The
upper right plot shows a continuous drift of the prostate, which
may reflect muscles relaxing and/or a bladder filling during a
single fraction. For a relatively slow, steady prostate motion (as
illustrated in the upper right plot), an imaging frequency of
approximately a diagnostic x-ray image every 30-60 seconds may be
sufficient to provide sub-millimeter tracking of the prostate.
[0026] The lower right and lower left plots show irregular movement
and high-frequency excursions, respectively, that may be a result
of, for example, rectal gas. For such rapid prostate motion, it may
be necessary to acquire diagnostic x-ray images at a diagnostic
imaging frequency of approximately every 15-30 seconds to track the
prostate motion with sub-millimeter tracking of the prostate.
[0027] Because the prostate is surrounded by radiosensitive
structures (e.g., bladder and rectum) susceptible to developing
radiation toxicity, it is important to accurately track prostate
motion throughout treatment to ensure that a radiation treatment
beam is not inadvertently being delivered to areas other than the
prostate, and to ensure that adequate doses of radiation are
delivered to the prostate. As described above, the imaging
frequency that is required to accurately track prostate motion
during treatment for different patients can vary dramatically.
Moreover, a single patient may show minimal prostate movement
during one treatment session, and significant prostate movement
during a subsequent treatment session. A patient may also exhibit
minimal prostate motion for some of a treatment session, and
exhibit significant prostate motion for the remainder of the
treatment session. Therefore, it can be important to provide a
mechanism both to set the imaging frequency before radiation
treatment, and to adjust the imaging frequency during radiation
treatment. The general concept is to image as frequently as
necessary to track the target accurately (e.g. within a tolerance
of 1 mm), but not necessarily as frequently as is possible, because
it is desirable to minimize ionizing radiation delivered from the
diagnostic imaging. This can be especially important for treatments
such as hypofractionated prostrate radiosurgery (radiation therapy
that gives larger doses, e.g., up to 14 Gy per fraction, in a
reduced number of treatment sessions) for at least two reasons:
high dose and reduced number of fractions.
[0028] Note that radiation treatment of the prostate is described
herein for purpose of example. Embodiments of the present invention
may equally apply to a broad spectrum of patient anatomies (e.g.,
organs) within the body that can move. For example, embodiments of
the present invention may be applied to treatment of the liver or
pancreas, or any other internal target.
[0029] FIGS. 2 and 3 illustrate configurations of image-guided
radiation treatment systems 200 and 300, in accordance with
embodiments of the present invention. In the illustrated
embodiments, the radiation treatment systems 200 and 300 include a
linear accelerator (LINAC) 201 that acts as a radiation treatment
source. The LINAC 201 is mounted on the end of a robotic arm 202
having multiple (e.g., 5 or more) degrees of freedom in order to
position the LINAC 201 to irradiate a pathological anatomy (e.g.,
target 220) with beams delivered from many angles, in many planes,
in an operating volume around a patient. Treatment may involve beam
paths with a single isocenter, multiple isocenters, or with a
non-isocentric approach. Alternatively, the LINAC 201 may be
mounted on a gantry to provide isocentric beam paths.
[0030] The LINAC 201 may be positioned at multiple different nodes
(predefined positions at which the robot stops and radiation may be
delivered) during treatment by moving the robotic arm 202. At the
nodes, the LINAC 201 can deliver one or more radiation treatment
beams to a target. The nodes may be arranged in an approximately
spherical distribution about a patient. The particular number of
nodes and the number of treatment beams applied at each node may
vary as a function of the location and type of pathological anatomy
to be treated. For example, the number of nodes may vary from 50 to
300, or more preferably 15 to 100 nodes and the number of beams may
vary from 200 to 3200, or more preferably 50 to 300.
[0031] Referring to FIG. 2, radiation treatment system 200, in
accordance with one embodiment of the present invention, includes
an imaging system 210 having a processor 230 connected with x-ray
sources 203A and 203B and fixed x-ray detectors (imagers) 204A and
204B. Alternatively, the x-ray sources 203A, 203B and/or x-ray
detectors 204A, 204B may be mobile, in which case they may be
repositioned to maintain alignment with the target 220, or
alternatively to image the target from different orientations or to
acquire many x-ray images and reconstruct a three-dimensional (3D)
cone-beam CT. In one embodiment the x-ray sources are not point
sources, but rather x-ray source arrays, as would be appreciated by
the skilled artisan. In one embodiment, LINAC 201 serves as an
imaging source (whether gantry or robot mounted), where the LINAC
power level is reduced to acceptable levels for imaging.
[0032] Imaging system 210 may perform computed tomography (CT) such
as cone beam CT, and images generated by imaging system 201 may be
two-dimensional (2D) or three-dimensional (3D). The two x-ray
sources 203A and 203B may be mounted in fixed positions on the
ceiling of an operating room and may be aligned to project x-ray
imaging beams from two different angular positions (e.g., separated
by 90 degrees) to intersect at a machine isocenter (which provides
a reference point for positioning the patient on a treatment couch
206 during treatment) and to illuminate imaging planes of
respective detectors 204A and 204B after passing through the
patient. Imaging system 210, thus, provides stereoscopic imaging of
the target 220 and the surrounding volume of interest (VOI). In
other embodiments, imaging system 210 may include more or less than
two x-ray sources and more or less than two detectors, and any of
the detectors may be movable rather than fixed. In yet other
embodiments, the positions of the x-ray sources and the detectors
may be interchanged. Detectors 204A and 204B may be fabricated from
a scintillating material that converts the x-rays to visible light
(e.g., amorphous silicon), and an array of CMOS (complementary
metal oxide silicon) or CCD (charge-coupled device) imaging cells
that convert the light to a digital image that can be compared with
a reference image during an image registration process that
transforms a coordinate system of the digital image to a coordinate
system of the reference image, as is well known to the skilled
artisan. The reference image may be, for example, a digitally
reconstructed radiograph (DRR), which is a virtual x-ray image that
is generated from a 3D CT image based on simulating the x-ray image
formation process by casting rays through the CT image.
[0033] Imaging system 210 can generate diagnostic x-ray images at a
pre-defined imaging frequency for updating a current location of
the target. Each diagnostic x-ray image may be compared to the
reference image (e.g., corresponding DRR) and/or to previous
diagnostic x-ray images to determine present target location and a
rate of target movement. If target movement is higher than a
predefined tolerance (e.g., 1 mm/min.), the imaging system may
increase the imaging frequency to update target location and more
accurately direct radiation to the moving target. If target
movement is lower than the predefined tolerance, the imaging system
210 may decrease the imaging frequency, as fewer images are
necessary to track target movement within the desired tolerances.
It will be appreciated that upper and lower predefined tolerances
may be selected, thereby defining a range of movement where the
imaging frequency is satisfactory, and where the frequency is
increased or decreased if movement is above or below (respectively)
the upper and lower predefined tolerances. Changing the imaging
frequency in response to target movement is discussed in greater
detail below with reference to FIGS. 7A and 7B.
[0034] Referring to FIG. 3, in alternative embodiments an imaging
system 310 includes a motion detection device 312 to determine
target motion, the motion detecting device 312 having a detection
field 340. If the motion detecting device 312 detects motion that
exceeds a treatment tolerance, x-ray imaging device 313 may be
directed to generate a new diagnostic x-ray image at a region
within an imaging field 350. The motion detecting device 312 can be
any sensor or other device capable of identifying target movement.
The motion detecting device 312, may be, for example an ultrasound
scanner, an optical sensor such as a camera, a pressure sensor, an
electromagnetic sensor, or some other sensor that can provide
motion detection without delivering ionizing radiation to a user
(e.g., a sensor other than an x-ray imaging system). In one
embodiment, the motion detecting device 312 acquires measurement
data indicative of target motion in real-time. Alternatively, the
measurement data may be acquired at a frequency that is higher
(potentially substantially higher) than can be achieved or than is
desirable with x-ray imaging (due to ionizing radiation delivered
to the patient with each x-ray image). In one embodiment, the
motion detecting device 312 does not provide a high absolute
position accuracy. Instead, the motion detecting device 312 may
provide sufficient relative position accuracy to detect patient
movement and/or target movement. Such motion detection may trigger
the acquisition of an image having high position accuracy (e.g., an
x-ray image).
[0035] In one embodiment, the motion detecting device 312 is an
ultrasound scanner. The ultrasound scanner may include a
one-dimensional (1D) array of transducer elements that produces
two-dimensional (2D) ultrasound images, or that is mechanically
rotated to produce a series of 2D images that are compounded into a
3D image, or a 2D array of transducer elements that produces 3D
images. While patient 225 is lying on treatment couch 206, a
transducer of the ultrasound scanner may be held in place on the
skin surface of patient 225 (or alternatively placed in the rectum,
i.e., transrectal ultrasound). The location of the target 220 may
be determined as a positional offset between the target 220 and the
transducer of the ultrasound scanner. In one embodiment, a
transducer or transducers of the ultrasound scanner can be tracked
such that detected motion is in the treatment room coordinate
system.
[0036] In another embodiment, the motion detecting device 312 is an
optical system, such as a camera. The optical system may track the
position of light-emitting diodes (LEDs) situated on patient 225.
Alternatively, the optical system may directly track a surface
region of patient 225, as distinguished from tracking LEDs on the
patient. There may be a correlation between movement of the target
and movement of the LEDs and/or surface region of the patient 225.
Based on the correlation, when motion of the LEDs and/or surface
region is detected, it can be determined that the target 220 has
also moved sufficiently to require another diagnostic x-ray image
to precisely determine the location of the target.
[0037] In another embodiment, the motion detecting device 312
includes a radio frequency identification (RFID) system having an
interrogator that tracks a location of a transponder located on or
in patient 225 based on time of flight of a radio frequency (RF)
signal. Alternatively, motion detecting device 312 may be some
other type of device that is capable of locating a target, such as
an electromagnetic coil array or a laser range finder. Other
examples of motion detecting devices 312 include strain gauges,
piezoelectric sensors, respirometers, etc.
[0038] Before a patient undergoes radiation treatment, a radiation
treatment plan is typically developed. A radiation treatment plan
is a plan for the delivery of radiation treatment beams to the
pathological anatomy of the patient from a number of treatment
nodes, with one or more beams (having one or more shapes, angles or
orientations) being applied from each node. A radiation treatment
plan may also call for acquisition of a number and/or timing of
intra-treatment diagnostic x-ray images, which are used to track
the location of the target; diagnostic x-ray images are one example
of intra-treatment data collected to track the position of the
target. For example, and without limitation, diagnostic x-ray
images are registered (as known by the skilled artisan) with
pretreatment 3D image data (e.g., CT image, cone-beam CT image, or
MR image). Moreover, a radiation treatment plan may include an
imaging protocol that identifies, for example, an imaging modality
to use (e.g., single x-ray projections, multiple x-ray projections,
etc), an imaging algorithm or algorithms to use, whether to track
fiducials or patient anatomy, etc.
[0039] As noted, the diagnostic image data are used to track the
location of the pathological anatomy during the course of
delivering radiation thereto. The location of the pathological
anatomy is well known immediately after diagnostic image data is
obtained and analyzed. As time passes following acquisition and
analysis of the diagnostic image data, the location of the
pathological anatomy becomes less certain. The pathological anatomy
may remain relatively stationary, it may move slightly or it may
have dramatic movements, such as the prostate example previously
described. The movements can be caused for any of a number of
reasons including, without limitation, patient movement, natural
shifting due to non-rigidness of the anatomy, or movement of an
adjacent piece of anatomy (e.g., bladder filling, rectal gas etc.).
In any event, less certainty in the location of the pathological
anatomy results in less certainty that the radiation delivered
based on the last diagnostic image data is being delivered as
planned with the desired accuracy. The amount of time from
diagnostic image data acquisition and analysis to the approximate
time after completing the delivery of the latest treatment beam is
defined as the image age. To better understand image age within the
context of this description, one may consider an image age of zero
as that time where the system has the most up to date data on
target location. As the image age increases, the target location
data ages, and may become less reliable depending on how fast the
target is moving or how much the target has moved during that time
period. In one embodiment, a radiation treatment plan includes an
image age threshold that specifies the maximum allowable image age
(e.g., at the end of beam delivery) for a diagnostic x-ray
image.
[0040] FIG. 4 illustrates a method 400 of developing a radiation
treatment plan, in accordance with one embodiment of the present
invention. Method 400 may also adjust a preexisting radiation
treatment plan during the treatment. For example, if a clinician
selects an image age threshold (maximum allowable image age) before
treatment begins or during treatment, method 400 may adjust a
preexisting radiation treatment plan based on the image age
threshold. In one embodiment, method 400 is performed by a
radiation treatment system (e.g., radiation treatment system 200 or
300). Alternatively, method 400 may be performed by a treatment
planning system, or by other types of image guided treatment
systems.
[0041] At block 405, a treatment planning system (or treatment
delivery system) determines multiple radiation treatment beams to
be delivered to a target (e.g., a pathological anatomy of a
patient). Each radiation treatment beam may be delivered from one
of many possible nodes. Moreover, each radiation treatment beam may
be delivered from a particular orientation at a selected node. For
example, a radiation treatment beam may be delivered by a LINAC 201
that is oriented such that it is not aiming at the isocenter.
[0042] At block 410, a selection of an image age threshold (maximum
allowable image age) is received. Selection of the image age
threshold may be received from a clinician, or calculated based on
predicted target movement. The selected image age threshold may be
based on an expected amount of target movement, based for example
on a statistically significant historical sample of patients
undergoing the same or similar procedure. For example, a prostate
may move a clinically insignificant amount over a period of 10
seconds. Therefore, a maximum image age of 10 seconds may be
selected to ensure that movement of the patient/target will not
result in unwanted radiation beam delivery to healthy tissue
surrounding the prostate. An x-ray imaging frequency and x-ray
imaging period may be calculated based on the image age threshold.
For example, if the image age threshold is 10 seconds, the
calculated x-ray imaging period may be 10 seconds or less. The
x-ray imaging frequency dictates the minimum frequency at which
diagnostic x-ray images will be taken. The x-ray imaging period
dictates the maximum length of time between sequential diagnostic
x-ray images, and is the reciprocal of the x-ray imaging frequency.
In a further embodiment, the image age threshold defines the x-ray
imaging frequency and the x-ray imaging period.
[0043] In one embodiment, the imaging system has an inherent
maximum sustainable imaging frequency that cannot be exceeded. In a
further embodiment, if a diagnostic x-ray image is to be taken at a
frequency that is greater than the maximum sustainable imaging
frequency, then a delay is introduced so that the maximum
sustainable imaging frequency requirement is satisfied. For
example, if the maximum sustainable imaging frequency indicates
that the diagnostic x-ray images cannot be taken more frequently
than every 5 seconds, and a new diagnostic x-ray image is to be
taken 2 seconds after a previous x-ray, the new x-ray and treatment
may be delayed such that it is taken 5 seconds after the previous
x-ray. This may prevent damage to the imaging system.
[0044] At block 412, the treatment planning system (or a treatment
delivery system) schedules a diagnostic x-ray image to be
generated. During treatment, the diagnostic x-ray image may be
compared to a previously generated image, such as a DRR or a
previous diagnostic x-ray image, to determine a target location
before delivering radiation treatment beams. At block 415, the
treatment planning system (or the treatment delivery system)
determines whether completion of the next radiation treatment beam
exceeds the image age threshold, in which case the method proceeds
to block 420.
[0045] At block 420, the radiation treatment beam is divided into
multiple radiation treatment beams. Each of the multiple radiation
treatment beams can have an equivalent power level, node position
and orientation as the original radiation treatment beam, but have
a shorter duration such that each of the multiple treatment beams
can be completed within an image age threshold. In one embodiment,
the duration of each of the multiple radiation treatment beams is
less than the image age threshold. Alternatively, durations of the
multiple radiation treatment beams can be selected such that on
average the radiation treatment beams are approximately less than
or equal to the image age threshold. In such an embodiment, a
maximum radiation treatment beam duration may be set such that no
radiation treatment beam is longer than the image age threshold by,
for example, 20% of the length of the image age threshold.
Radiation treatment beams may then have durations of up to 120% of
the image age threshold. Radiation treatment beams that would not
be completed before 120% of the image age threshold would,
therefore, be preceded by a diagnostic x-ray image to ensure a
sufficiently low image age, and, therefore, sufficiently high
confidence of target location prior to delivery of radiation.
Accordingly, a diagnostic x-ray image will not become too old upon
which to rely for target location information before delivery of
radiation treatment beams.
[0046] At block 425, the system determines whether the amount of
time that has elapsed since a last diagnostic x-ray image was taken
will exceed the image age threshold before a next treatment beam is
completed, in which case then a diagnostic x-ray image may become
too old to rely upon for determination of a location of the target
before delivery of the next radiation treatment beam. If delivery
of a treatment beam extends beyond the image age threshold, the
target may move beyond a tolerated amount during delivery of the
radiation treatment beam, and a portion of the radiation treatment
beam may be unintentionally delivered to healthy tissue. If the
image age threshold will be exceeded before the next treatment beam
is completed, the method proceeds to block 430. Otherwise, the
method proceeds to block 435. At block 430, a diagnostic x-ray
image is scheduled to be taken before beginning delivery of the
next radiation treatment beam. The method then proceeds to block
435. In one embodiment, the duration of the radiation treatment
beam includes time that elapses before the treatment beam is
actually delivered due to preparation of the treatment beam. Such
time is referred to herein as targeting correction overhead, and
includes the time that it takes to position the LINAC into a
predetermined position and/or orientation (e.g., due to LINAC
reposition between nodes and/or within nodes).
[0047] At block 435, the treatment planning system (or treatment
delivery system) determines whether there are any additional
radiation treatment beams included in the treatment plan. If there
are additional radiation treatment beams, the method returns to
block 415, and the next radiation treatment beam is compared to the
image age threshold. Otherwise, the method ends, and the treatment
plan may be completed.
[0048] Treatment plans may be modified according to method 400
without significantly increasing the duration of patient treatment.
Moreover, the final number of diagnostic x-ray images taken of a
patient may not be significantly increased over other imaging
methodologies (e.g., as compared to a methodology in which a set
number of treatment beams are delivered between each diagnostic
x-ray image). Consequently, overall radiation exposure to a patient
may not increase significantly as a result of implementing method
400, but treatment delivery accuracy is increased. Radiation
exposure due to x-ray imaging is discussed in greater detail below
with reference to FIG. 8.
[0049] FIGS. 5A-5C illustrate timing diagrams showing a portion of
an example treatment plan, in accordance with one embodiment of the
present invention. In FIG. 5A, the example treatment plan 500 has
not been adjusted by method 400. Treatment plan 500 calls for a
diagnostic x-ray image 502 that takes 3 seconds to acquire,
followed by LINAC reposition 504 (e.g., motion of the robotic arm
that aims a LINAC) that takes 1 second. After the LINAC reposition,
a first treatment beam 506 is scheduled to be delivered for 12
seconds, followed by LINAC reposition 508 for another 1 second. A
second treatment beam 510 is then to be delivered for six
seconds.
[0050] FIG. 5B illustrates an example treatment plan 520
corresponding to example treatment plan 500 after it has been
adjusted by method 400 based on an image age threshold of 10
seconds, in accordance with one embodiment of the present
invention. As shown, the first diagnostic x-ray image 502 and LINAC
reposition 504 are unchanged. However, the first treatment beam 506
had a duration that exceeded the image age threshold, and was split
into treatment beam 1A 526 and treatment beam 1B 534. Treatment
beam 1A 526, having a duration of 6 seconds, is scheduled to be
delivered after a first diagnostic x-ray image 502 is taken. If
delivery of treatment beam 1B 534 took place immediately after
completing delivery of treatment beam 1A 526, then completing
delivery of treatment beam 1B 534 would exceed the image age
threshold. Therefore, a second diagnostic x-ray image 530 is
scheduled to be taken before delivery of treatment beam 1B 534. A
third diagnostic x-ray image 538 is scheduled to be taken before
delivery of second treatment beam 510 is scheduled to be
delivered.
[0051] Before the second diagnostic x-ray image 530 and the third
diagnostic x-ray image 538 are taken, additional LINAC repositions
528 and 536 are indicated to reposition the LINAC to aim at a
treatment isocenter. Such LINAC repositions 528, 536 are a
precaution to ensure that the LINAC does not interfere with (e.g.,
block a portion of) the diagnostic x-ray image. In one embodiment,
it may be known which LINAC positions will interfere with x-ray
imaging, and motion of the robot may be planned in conjunction with
the acquisition of new diagnostic x-ray images to reduce overall
treatment time. The skilled artisan will appreciate that all time
and time durations provided herein are by way of explanation and
not limitation. Longer or shorter times or time durations may be
used without exceeding the scope of the present teachings.
[0052] FIG. 5C illustrates an example treatment plan 540
corresponding to example treatment plan 500 after it has been
adjusted by method 400 based on an image age threshold of 10
seconds, in accordance with another embodiment of the present
invention. In FIG. 5C, the first treatment beam 506 has been
separated into treatment beam 1A 546, having a duration of 10
seconds, and treatment beam 1B 554, having a duration of 2 seconds.
After treatment beam 1A 546 is delivered, a second diagnostic x-ray
image 550 is taken. However, unlike the example shown in FIG. 5B,
in FIG. 5C both treatment beam 1B 554 and second treatment beam 510
can be delivered before 10 seconds have passed from the time of the
second diagnostic x-ray 550. As shown in FIG. 5C, the treatment
planning system may divide treatment beams in such a way so as to
minimize the number of diagnostic x-ray images needed, which can
reduce overall x-ray exposure to a patient.
[0053] FIG. 6 illustrates one embodiment for a method 600 of
controlling the timing for x-ray imaging. In one embodiment, method
600 is performed by radiation treatment system 200 of FIG. 2 or
radiation treatment system 300 of FIG. 3. At block 605, a radiation
treatment plan that includes predicted target movement, multiple
radiation treatment beams, and an initial x-ray imaging
frequency/period is received. The initial x-ray imaging
frequency/period may be based on an image age threshold. In one
embodiment, the x-ray imaging frequency and x-ray imaging period
reflect a target x-ray imaging frequency and target x-ray imaging
period based on the image age threshold. The actual timing of some
diagnostic x-ray images may cause those diagnostic x-ray images to
be taken sooner than the x-ray imaging period or later than the
x-ray imaging period. Therefore, the actual timing of diagnostic
x-ray images may average to the initial x-ray imaging
frequency/period. For examples of how a treatment beam may be
divided, and when diagnostic x-ray images may be scheduled refer
back to FIGS. 5A-5C.
[0054] Image guided radiation treatment may be initiated using the
received treatment plan. At block 610, a diagnostic x-ray image of
the target is acquired. The diagnostic x-ray image may be used to
compute a location of the target so as to accurately deliver
radiation treatment beams to the target, preferably while avoiding
delivering radiation treatment beams to nearby sensitive
structures. One or more radiation treatment beams may be delivered
subsequent to acquiring the x-ray image of the target.
[0055] If the age of the x-ray image will exceed an image age
threshold, then an additional diagnostic x-ray image may be
acquired prior to delivering any more radiation treatment beams.
This can ensure that radiation treatment beams are precise and
accurate. At block 615, an additional x-ray image is acquired of
the target. At block 620, the imaging system compares the first
diagnostic x-ray image to the additional diagnostic x-ray images to
track target movement. Differences between the sequential images
may be used to register a patient coordinate system with a
treatment coordinate system to ensure that the treatment beams are
accurately positioned with respect to the pathological anatomy.
Differences between the sequential images may be measured using
methods known in the art such as feature recognition, pattern
intensity matching, etc.
[0056] At block 625, it is determined whether the target movement
is within a treatment tolerance that is based on a predicted target
movement. For example, a certain amount of target movement may be
expected and accounted for by the treatment plan. However, if the
differences between sequential diagnostic x-ray images indicate an
amount of target movement that is different from the expected or
planned amount of movement, it may be necessary to adjust the x-ray
imaging frequency to better target the radiation beams.
Accordingly, if target movement is not within the treatment
tolerance (e.g., if the target movement indicated by the
differences between the sequential diagnostic x-ray images is
greater than the planned or expected target movement during the
time interval), the method may proceed to block 630, and the x-ray
imaging frequency may be increased (the image age threshold may
also be decreased). For example, it may be expected that a
patient's prostate will move at a rate of 1 mm per minute, and the
x-ray imaging frequency may be initially set such that the prostate
will not move more than 1 mm between sequential diagnostic x-ray
images. However, if the prostate is detected to have moved more
than 1 mm between sequential diagnostic x-ray images, then the
x-ray imaging frequency may be increased to ensure that the
prostate does not move more than 1 mm between subsequent diagnostic
x-ray images. If the time intervals between subsequent diagnostic
x-ray images have been decreased, then the total number of
diagnostic x-ray images may be increased in response to greater
than expected target movement.
[0057] In one embodiment, if the target movement is approximately
equal to the predicted target movement, then the method proceeds to
block 660. If the target movement is less than the predicted target
movement the method proceeds to block 635, then the x-ray imaging
frequency may be decreased (the image age threshold may also be
increased), after which the method proceeds to block 645. If the
time intervals between subsequent diagnostic x-ray images have been
increased in response to less than expected target movement, then
the total number of x-ray images may be decreased.
[0058] At block 645, it is determined whether any radiation
treatment beams having the same node and orientation can be
combined and still complete delivery within the x-ray imaging
period (which may be based on the image age threshold). For
example, a treatment plan may identify that a particular dose of
radiation is to be delivered to the target from a specified
position and orientation of the LINAC. Due to the initial x-ray
imaging frequency/period, that dose of radiation may be delivered
in multiple treatment beams, so that no treatment beam is being
delivered to the patient after the image age threshold. Once the
x-ray imaging frequency has been decreased, some of these multiple
treatment beams may be combined, and still satisfy the image age
threshold. To provide an illustration, if the image age threshold
were adjusted to 12 seconds in the example described with reference
to FIGS. 5A-5C, then the treatment plans 520 and 540 could be
revised to resemble treatment plan 500. If treatment beams can be
combined the method proceeds to block 655, otherwise the method
proceeds to block 660.
[0059] At block 640, it is determined whether any radiation
treatment beam will complete delivery outside of the x-ray imaging
period (extends beyond the image age threshold). If a radiation
treatment beam will not complete delivery within the x-ray imaging
period, the method proceeds to block 650. Otherwise the method
proceeds to block 660.
[0060] At block 650, any radiation treatment beam that will
complete delivery outside of the x-ray imaging period (extend
beyond the image age threshold) is divided into multiple radiation
treatment beams. For example, if a radiation treatment beam has a
duration that is greater than the x-ray imaging period, it may be
divided.
[0061] At block 660, the imaging system computes a target location
based on the x-ray image or the additional x-ray image. At block
665, the treatment system directs radiation treatment beams using
the target location.
[0062] At block 670, it is determined whether the treatment has
been completed. If the treatment is not yet complete, the method
continues to block 675. If the treatment is complete, the method
ends.
[0063] At block 675, the treatment system determines whether the
age of the diagnostic x-ray image will exceed the image age
threshold before the time to completion. If the diagnostic x-ray
image age will exceed the image age threshold before the time to
completion, the method proceeds to block 615, and a new diagnostic
x-ray image may be obtained. Otherwise the method proceeds to block
665, and another radiation treatment beam is delivered to the
patient.
[0064] In one embodiment, rather than computing target movement
based on sequential x-ray images, in method 600 target movement may
instead be inferred based on detected patient motion. Such patient
motion may be detected by an optical scanner that collects image
data, a laser range finder, an RFID system, etc. Alternatively, the
motion detecting device may measure target motion directly, but may
not have a resolution that is high enough to accurately identify
the target location for purposes of delivering a radiation
treatment beam. For example, the motion detecting device may be an
ultrasonic imager that takes ultrasonic images of the target. In
such embodiments, at block 615 data other than an x-ray image that
is indicative of target motion may be acquired instead of, or in
addition to, the x-ray image. In such an embodiment, Block 620 may
be skipped, and the data indicative of target motion may be used to
determine an amount of target motion.
[0065] FIG. 7A illustrates another embodiment for a method 700 of
controlling the timing for x-ray imaging. Method 700 may control
the timing of a single diagnostic x-ray image or of multiple
diagnostic x-ray images taken at different times. Where the timing
of multiple diagnostic x-ray images is controlled, such control may
include controlling an x-ray imaging frequency (and an x-ray
imaging period). In one embodiment, method 700 is performed by
radiation treatment system 300 or radiation treatment system
200.
[0066] At block 705, a diagnostic x-ray image is acquired of a
target. At block 710, measurement data indicative of target
movement (e.g., a diagnostic x-ray, ultrasound sensor readings,
camera readings, etc.) is acquired. The measurement data may be
acquired by monitoring the patient with a motion detecting device
313 as described with reference to FIG. 3. Alternatively, the
measurement data may be acquired by an imaging system that uses
comparisons of sequential diagnostic x-ray images and/or a
comparison of current diagnostic x-ray images with pretreatment
images to determine whether larger than expected target movement
has occurred.
[0067] At block 715, target movement is analyzed, and compared to a
movement threshold, which may be user selected or predetermined.
The target movement may result from a sudden patient movement, such
as those due to muscle twitches, spasms (e.g., a cough, sneeze,
shudder, etc.), voluntary patient movement (e.g., patient shifting
body), or gradual movement (e.g., bladder filling or muscles
relaxing). Such patient/target movement may cause enough movement
in the target to make the radiation treatment beam to miss the
target and hit surrounding healthy tissues and critical structures.
If target movement exceeds a movement threshold, then the method
proceeds to block 720, and an additional diagnostic x-ray image of
the target is acquired. Moreover, if an x-ray imaging frequency is
used to control the timing of x-ray imaging, the x-ray imaging
frequency may be modified to account for the increased target
motion. If the target movement is within the target threshold, the
method proceeds to block 725, where the imaging system computes a
target position based on the diagnostic x-ray image and/or the
additional diagnostic x-ray image. At block 730, a treatment system
performs image guided treatment using the target position.
[0068] FIG. 7B illustrates yet another embodiment for a method 750
of controlling x-ray imaging. Method 750 may control the timing of
a single diagnostic x-ray image or of multiple diagnostic x-ray
images taken at different times. Where the timing of multiple
diagnostic x-ray images is controlled, such control may include
controlling an x-ray imaging frequency (and an x-ray imaging
period). In one embodiment, method 750 is performed by radiation
treatment system 300 or radiation treatment system 200.
[0069] At block 755, a diagnostic x-ray image is acquired of a
target. The x-ray image can be one or more 2D projection x-ray
images, a 3D CT image, etc. of the target. At block 760, a position
of the target is computed based on the x-ray image. The computed
position can be used to accurately determine where to place a
radiation treatment beam. At block 765, radiation treatment is
begun or resumed based on the computed position of the target.
[0070] At block 770, measurement data indicative of target movement
is acquired. While treatment is in progress, measurement data
indicative of target movement may be continually or periodically
acquired. The measurement data may be acquired by an ultrasound
sensor, an optical sensor such as a camera, a pressure sensor, a
laser range finder, an electromagnetic sensor, or some other sensor
that can provide motion detection without delivering ionizing
radiation to a user (e.g., a sensor other than an x-ray imaging
system). In one embodiment, the measurement data is acquired in
real-time by the sensor. Alternatively, the measurement data may be
acquired at a frequency that is higher (potentially substantially
higher) than can be achieved or than is desirable with x-ray
imaging (due to radiation dose delivered to the patient with each
x-ray image). In one embodiment, the measurement data does not
provide a high absolute position accuracy. Instead, the measurement
data may provide sufficient relative position accuracy to detect
patient movement and/or target movement.
[0071] At block 775, the measurement data is analyzed to determine
or estimate a target motion. The measurement data may be a direct
measurement of the target motion, or may be a measurement of
movement of an external or internal landmark that is indicative of
target motion. Examples of external landmarks include, for example,
the chest or head of the patient. The target motion is compared to
a specified motion threshold, which may be user selected or
predetermined. If the target motion exceeds the motion threshold
(is outside the specified treatment tolerance), then the method
proceeds to block 780. If the target motion does not exceed the
motion threshold (is within the specified treatment tolerance), the
method proceeds to block 785.
[0072] At block 780, the radiation treatment may be paused, or a
current radiation treatment beam that is being delivered to the
patient may be completed, after which treatment is paused. The
method then returns to block 755 to acquire a new x-ray image.
[0073] At block 785, the system determines whether radiation
treatment has completed. Radiation treatment is complete when all
radiation treatment beams for a treatment session have been
delivered to the patient. If the radiation treatment has not
completed, the method proceeds to block 790, and the radiation
treatment continues using the target position that was computed
based on the last x-ray image. The method then continues to block
770 to continue acquiring measurement data indicative of target
motion. If the radiation treatment has completed, the method
ends.
[0074] Each diagnostic x-ray image taken of a patient exposes the
patient to an amount of radiation. The amount of radiation that a
diagnostic x-ray image exposes the patient to depends on the power
level of the x-ray source and on the duration of a diagnostic x-ray
beam used to generate the diagnostic x-ray image. During image
guided treatment, multiple diagnostic x-ray images are typically
taken. Therefore, image guided treatment (which may include a
single treatment session and/or multiple treatment sessions) may
expose the patient to increased levels of radiation. In one
embodiment, the amount of radiation that is delivered and that will
be delivered to a patient is monitored. If total radiation exposure
for a treatment will exceed a radiation exposure threshold, a
treatment plan may be adjusted to reduce the total radiation
delivered to the patient.
[0075] FIG. 8 illustrates a method 800 of monitoring patient x-ray
exposure, in accordance with one embodiment of the present
invention. Method 800 may be performed whenever an x-ray imaging
frequency or an image age threshold is modified for a radiation
treatment plan. Alternatively, method 800 may be performed
periodically or continuously to ensure that a patient is not
exposed to excessive radiation. In one embodiment, method 800 is
performed by radiation treatment system 300 or by radiation
treatment system 200.
[0076] At block 805, a current radiation treatment exposure of a
patient is determined. The current radiation treatment exposure can
be determined based on the number of x-rays that the patient has
received, and the power and duration of each of the x-rays (i.e.,
dose delivered to the patient via x-ray imaging). Each of these
values may be recorded as diagnostic x-ray images are taken, and/or
may be included in a radiation treatment plan for the patient. At
block 810, a number of expected future diagnostic x-ray images are
identified, and may include all x-rays images that will be
delivered to the patient during treatment. Treatment may occur over
a period of days or weeks, or may occur in a single day. The number
of future x-rays images may be determined by analyzing the number
of images scheduled in a radiation treatment plan. Alternatively,
the number of future images may be determined based on an x-ray
imaging frequency. At block 815, an amount of radiation to be
delivered by future x-ray imaging is determined, which can be
calculated based on the power level and duration of the future
x-ray images. At block 820, the total amount of radiation exposure
for the patient is determined by adding the current radiation
exposure and the predicted future radiation exposure. At block 825,
the total predicted patient radiation exposure is compared to a
radiation exposure threshold. If the total predicted radiation
exposure exceeds the radiation exposure threshold, the method
proceeds to block 830. Otherwise the method ends.
[0077] At block 830, a radiation treatment plan for the patient is
modified to reduce the amount of radiation to which the patient
will be exposed. An example of a modification that can be made to
reduce radiation exposure is reducing the imaging frequency to
limit the number of x-rays that will be delivered to the patient.
In one embodiment, a maximum imaging frequency is set. If a
clinician attempts to adjust an imaging frequency beyond the
maximum imaging frequency, the clinician may be warned that the
patient may be exposed to unhealthy levels of radiation.
Alternatively, it may not be possible to exceed the maximum imaging
frequency. Another example of a modification that can be made to
the image treatment plan to reduce radiation exposure is reducing
the power level of diagnostic x-ray images. Other adjustments can
also be made, as will be appreciated by the skilled artisan. At
block 835, the predicted and current radiation exposure for the
patient is displayed. The method then ends.
[0078] FIG. 9 illustrates one embodiment of systems that may be
used in performing radiation treatment in which features of the
present invention may be implemented. As described below and
illustrated in FIG. 9, a system 900 may include a diagnostic
imaging system 905, a treatment planning system 910, a treatment
delivery system 915 and a motion detecting system 906. In one
embodiment, the diagnostic imaging system 905 and the motion
detecting system 906 are combined into a single unit.
[0079] Motion detecting system 906 may be any system capable of
detecting patient motion and/or target motion. For example, motion
detecting system 906 may be a computed tomography (CT) system, an
ultrasound system, video camera, or the like. Motion detecting
system 906 includes one or more sensors 908 for detecting patient
and/or target motion. For example, a video camera may include a
lens and array of charge coupled devices (CCDs) for converting
incident light into an electrical signal.
[0080] The sensor (or sensors) 908 may be coupled to a digital
processing system 912 to control the motion detecting operation and
process sensor data. Motion detecting system 906 includes a bus or
other means 982 for transferring data and commands among digital
processing system 912 and sensor 908. Digital processing system 912
may include one or more general-purpose processors (e.g., a
microprocessor), special purpose processor such as a digital signal
processor (DSP) or other type of device such as a controller or
field programmable gate array (FPGA). Digital processing system 912
may also include other components (not shown) such as memory,
storage devices, network adapters and the like. Digital processing
system 912 may compute target motion. Digital processing system 912
may transmit the target motion to treatment delivery system 915
over a data link 984 or to diagnostic imaging system 905 over data
link 988, which may be, for example, direct links, local area
network (LAN) links or wide area network (WAN) links such as the
Internet. In addition, the information transferred between systems
may either be pulled or pushed across the communication medium
connecting the systems, such as in a remote diagnosis or treatment
planning configuration.
[0081] Diagnostic imaging system 905 may be any system capable of
producing medical diagnostic images of a patient that may be used
for subsequent medical diagnosis, treatment planning and/or
treatment delivery. For example, diagnostic imaging system 905 may
be a computed tomography (CT) system, a magnetic resonance imaging
(MRI) system, a positron emission tomography (PET) system, an
ultrasound system or the like. For ease of discussion, diagnostic
imaging system 905 may be discussed below at times in relation to a
CT x-ray imaging modality. However, other imaging modalities such
as those above may also be used.
[0082] In one embodiment, diagnostic imaging system 905 includes an
imaging source 920 to generate an imaging beam (e.g., x-rays,
ultrasonic waves, radio frequency waves, etc.) and an imaging
detector 930 to detect and receive the beam generated by imaging
source 920, or a secondary beam or emission stimulated by the beam
from the imaging source (e.g., in an MRI or PET scan).
[0083] The imaging source 920 and the imaging detector 930 may be
coupled to a digital processing system 925 to control the imaging
operation and process image data. In one embodiment, diagnostic
imaging system 905 receives motion data from motion detecting
system 906, and determines when to acquire images based on the
motion data. In another embodiment, diagnostic imaging system 905
may receive imaging commands from treatment delivery system
915.
[0084] Diagnostic imaging system 905 includes a bus or other means
980 for transferring data and commands among digital processing
system 925, imaging source 920 and imaging detector 930. Digital
processing system 925 may include one or more general-purpose
processors (e.g., a microprocessor), special purpose processor such
as a digital signal processor (DSP) or other type of device such as
a controller or field programmable gate array (FPGA). Digital
processing system 925 may also include other components (not shown)
such as memory, storage devices, network adapters and the like.
Digital processing system 925 may be configured to generate digital
diagnostic images in a standard format, such as the DICOM (Digital
Imaging and Communications in Medicine) format, for example. In
other embodiments, digital processing system 925 may generate other
standard or non-standard digital image formats. Digital processing
system 925 may transmit diagnostic image files (e.g., the
aforementioned DICOM formatted files) to treatment delivery system
915 over a data link 983, which may be, for example, a direct link,
a local area network (LAN) link or a wide area network (WAN) link
such as the Internet. In addition, the information transferred
between systems may either be pulled or pushed across the
communication medium connecting the systems, such as in a remote
diagnosis or treatment planning configuration. In remote diagnosis
or treatment planning, a user may utilize embodiments of the
present invention to diagnose or treat a patient despite the
existence of a physical separation between the system user and the
patient.
[0085] Treatment delivery system 915 includes a therapeutic and/or
surgical radiation source 960 to administer a prescribed radiation
dose to a target volume in conformance with a treatment plan.
Treatment delivery system 915 may also include a digital processing
system 970 to control radiation source 960, receive and process
data from diagnostic imaging system 905 and/or motion detecting
system 906, and control a patient support device such as a
treatment couch 975. Digital processing system 970 may be
configured to register 2D radiographic images received from
diagnostic imaging system 905, from two or more stereoscopic
projections, with digitally reconstructed radiographs (DRRs)
generated by digital processing system 925 in diagnostic imaging
system 905 and/or DRRs generated by processing device 940 in
treatment planning system 910. Digital processing system 970 may
include one or more general-purpose processors (e.g., a
microprocessor), special purpose processor such as a digital signal
processor (DSP) or other type of device such as a controller or
field programmable gate array (FPGA). Digital processing system 970
may also include other components (not shown) such as memory,
storage devices, network adapters and the like.
[0086] In one embodiment, digital processing system 970 includes
system memory that may include a random access memory (RAM), or
other dynamic storage devices, coupled to a processing device, for
storing information and instructions to be executed by the
processing device. The system memory also may be used for storing
temporary variables or other intermediate information during
execution of instructions by the processing device. The system
memory may also include a read only memory (ROM) and/or other
static storage device for storing static information and
instructions for the processing device.
[0087] Digital processing system 970 may also include a storage
device, representing one or more storage devices (e.g., a magnetic
disk drive or optical disk drive) for storing information and
instructions. The storage device may be used for storing
instructions for performing the treatment delivery steps discussed
herein. Digital processing system 970 may be coupled to radiation
source 960 and treatment couch 975 by a bus 992 or other type of
control and communication interface.
[0088] Digital processing system 970 may implement methods (e.g.,
such as methods 300 through 800 described above) to manage timing
of diagnostic x-ray imaging in order to maintain alignment of a
target with a radiation treatment beam delivered by the radiation
source 960.
[0089] In one embodiment, the treatment delivery system 915
includes an input device 978 and a display 977 connected with
digital processing system 970 via bus 992. The display 977 can show
trend data that identifies a rate of target movement (e.g., a rate
of movement of a target volume that is under treatment). The
display can also show a current radiation exposure of a patient and
a projected radiation exposure for the patient. The input device
978 can enable a clinician to adjust parameters of a treatment
delivery plan during treatment. For example, the clinician may
select a new image age threshold or target movement threshold via
input device 978.
[0090] Treatment planning system 910 includes a processing device
940 to generate and modify treatment plans. Processing device 940
may represent one or more general-purpose processors (e.g., a
microprocessor), special purpose processor such as a digital signal
processor (DSP) or other type of device such as a controller or
field programmable gate array (FPGA). Processing device 940 may be
configured to execute instructions for performing treatment
planning operations discussed herein.
[0091] Treatment planning system 910 may also include system memory
935 that may include a random access memory (RAM), or other dynamic
storage devices, coupled to processing device 940 by bus 986, for
storing information and instructions to be executed by processing
device 940. System memory 935 also may be used for storing
temporary variables or other intermediate information during
execution of instructions by processing device 940. System memory
935 may also include a read only memory (ROM) and/or other static
storage device coupled to bus 986 for storing static information
and instructions for processing device 940.
[0092] Treatment planning system 910 may also include storage
device 945, representing one or more storage devices (e.g., a
magnetic disk drive or optical disk drive) coupled to bus 986 for
storing information and instructions. Storage device 945 may be
used for storing instructions for performing the treatment planning
steps discussed herein.
[0093] Processing device 940 may also be coupled to a display
device 950, such as a cathode ray tube (CRT) or liquid crystal
display (LCD), for displaying information (e.g., a 2D or 3D
representation of the VOI) to the user. An input device 955, such
as a keyboard, may be coupled to processing device 940 for
communicating information and/or command selections to processing
device 940. One or more other user input devices (e.g., a mouse, a
trackball or cursor direction keys) may also be used to communicate
directional information, to select commands for processing device
940 and to control cursor movements on display 950.
[0094] Treatment planning system 910 may share its database (e.g.,
data stored in storage 945) with a treatment delivery system, such
as treatment delivery system 915, so that it may not be necessary
to export from the treatment planning system prior to treatment
delivery. Treatment planning system 910 may be linked to treatment
delivery system 915 via a data link 990, which may be a direct
link, a LAN link or a WAN link.
[0095] It should be noted that when data links 983, 984 and 990 are
implemented as LAN or WAN connections, any of diagnostic imaging
system 905, treatment planning system 910, motion detecting system
906 and/or treatment delivery system 915 may be in decentralized
locations such that the systems may be physically remote from each
other. Alternatively, any of diagnostic imaging system 905,
treatment planning system 910, motion detecting system 906 and/or
treatment delivery system 915 may be integrated with each other in
one or more systems.
[0096] It should be noted that the methods and apparatus described
herein are not limited to use only with medical diagnostic imaging
and treatment. In alternative embodiments, the methods and
apparatus herein may be used in applications outside of the medical
technology field, such as industrial imaging and non-destructive
testing of materials (e.g., motor blocks in the automotive
industry, airframes in the aviation industry, welds in the
construction industry and drill cores in the petroleum industry)
and seismic surveying. In such applications, for example,
"treatment" may refer generally to the application of radiation
beam(s).
[0097] It will be apparent from the foregoing description that
aspects of the present invention may be embodied, at least in part,
in software. That is, the techniques may be carried out in a
computer system or other data processing system in response to its
processor, such as digital processing system 970, for example,
executing sequences of instructions contained in a memory. In
various embodiments, hardware circuitry may be used in combination
with software instructions to implement the present invention.
Thus, the techniques are not limited to any specific combination of
hardware circuitry and software or to any particular source for the
instructions executed by the data processing system. In addition,
throughout this description, various functions and operations may
be described as being performed by or caused by software code to
simplify description. However, those skilled in the art will
recognize what is meant by such expressions is that the functions
result from execution of the code by a processor or controller,
such as digital processing system 970.
[0098] A machine-readable medium can be used to store software and
data which when executed by a data processing system causes the
system to perform various methods of the present invention. This
executable software and data may be stored in various places
including, for example, system memory and storage or any other
device that is capable of storing software programs and/or
data.
[0099] Thus, a machine-readable medium includes any mechanism that
provides (i.e., stores and/or transmits) information in a form
accessible by a machine (e.g., a computer, network device, personal
digital assistant, manufacturing tool, any device with a set of one
or more processors, etc.). For example, a machine-readable medium
includes recordable/non-recordable media (e.g., read only memory
(ROM); random access memory (RAM); magnetic disk storage media;
optical storage media; flash memory devices; etc.), as well as
electrical, optical, acoustical or other forms of propagated
signals (e.g., carrier waves, infrared signals, digital signals,
etc.); etc.
[0100] It should be noted that the methods and apparatus described
herein are not limited to use only with medical diagnostic imaging
and treatment. In alternative embodiments, the methods and
apparatus herein may be used in applications outside of the medical
technology field, such as industrial imaging and non-destructive
testing of materials. In such applications, for example,
"treatment" may refer generally to the effectuation of an operation
controlled by the treatment planning system, such as the
application of a beam (e.g., radiation, acoustic, etc.) and
"target" may refer to a non-anatomical object or area.
[0101] Certain embodiments may be implemented as a computer program
product that may include instructions stored on a computer-readable
medium. These instructions may be used to program a general-purpose
or special-purpose processor to perform the described operations. A
computer-readable medium includes any mechanism for storing or
transmitting information in a form (e.g., software, processing
application) readable by a computer. The computer-readable medium
may include, but is not limited to, magnetic storage medium (e.g.,
floppy diskette); optical storage medium (e.g., CD-ROM);
magneto-optical storage medium; read-only memory (ROM);
random-access memory (RAM); erasable programmable memory (e.g.,
EPROM and EEPROM); flash memory; or another type of medium suitable
for storing electronic instructions.
[0102] Additionally, some embodiments may be practiced in
distributed computing environments where the computer-readable
medium is stored on and/or executed by more than one computer
system. In addition, the information transferred between computer
systems may either be pulled or pushed across the communication
medium connecting the computer systems.
[0103] Although the operations of the methods herein are shown and
described in a particular order, the order of the operations of
each method may be altered so that certain operations may be
performed in an inverse order or so that certain operation may be
performed, at least in part, concurrently with other operations. In
another embodiment, instructions or sub-operations of distinct
operations may be in an intermittent and/or alternating manner.
[0104] In the foregoing specification, the invention has been
described with reference to specific exemplary embodiments thereof.
It will, however, be evident that various modifications and changes
may be made thereto without departing from the broader spirit and
scope of the invention as set forth in the appended claims. The
specification and drawings are, accordingly, to be regarded in an
illustrative sense rather than a restrictive sense.
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