U.S. patent application number 17/536444 was filed with the patent office on 2022-09-15 for patient shuttle system and irradiation system for particle therapy.
This patent application is currently assigned to B dot Medical Inc.. The applicant listed for this patent is B dot Medical Inc.. Invention is credited to Takuji FURUKAWA, Yousuke HARA, Taishi MASUDA, Yuka MATSUZAKI.
Application Number | 20220288423 17/536444 |
Document ID | / |
Family ID | 1000006560479 |
Filed Date | 2022-09-15 |
United States Patent
Application |
20220288423 |
Kind Code |
A1 |
HARA; Yousuke ; et
al. |
September 15, 2022 |
PATIENT SHUTTLE SYSTEM AND IRRADIATION SYSTEM FOR PARTICLE
THERAPY
Abstract
The invention provides a patient shuttle system and an
irradiation system for particle therapy. A patient shuttle system
of one embodiment of the invention includes: a patient table (110)
adapted to carry a patient; a patient table drive unit (120) that
moves and/or rotates the patient table; and a transfer unit (130)
having a base (131) on which the patient table drive unit is
placed. In a home position state of the patient shuttle system
(100), the patient table and first and second arms of the patient
table drive unit are configured to be folded in the height
direction (Z-axis). A robot arm base connected to the second arm is
fixed at a position off the center of the base in plan view, and
thereby a helper space (135) where a helper may ride is secured on
the base. The robot arm base is fixed in a recess (138) provided in
the base.
Inventors: |
HARA; Yousuke; (Tokyo,
JP) ; MATSUZAKI; Yuka; (Tokyo, JP) ; MASUDA;
Taishi; (Tokyo, JP) ; FURUKAWA; Takuji;
(Tokyo, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
B dot Medical Inc. |
Tokyo |
|
JP |
|
|
Assignee: |
B dot Medical Inc.
Tokyo
JP
|
Family ID: |
1000006560479 |
Appl. No.: |
17/536444 |
Filed: |
November 29, 2021 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61N 5/1081 20130101;
A61N 5/1083 20130101; A61N 5/1048 20130101; A61N 2005/1085
20130101; A61N 5/103 20130101 |
International
Class: |
A61N 5/10 20060101
A61N005/10 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 10, 2021 |
JP |
2021-038059 |
Claims
1. A patient shuttle system comprising: a patient table adapted to
carry a patient; a patient table drive unit that moves and/or
rotates the patient table; and a transfer unit having a base on
which the patient table drive unit is placed; wherein the patient
table drive unit comprises a first rotating mechanism connected to
the patient table and configured to rotate the patient table, a
first arm connected to the first rotating mechanism, a second
rotating mechanism connected to the first arm and configured to
rotate the first arm, a second arm connected to the second rotating
mechanism, a third rotating mechanism connected to the second arm
and configured to rotate the second arm, and a robot arm base
connected to the third rotating mechanism, wherein in a home
position state of the patient shuttle system, the first rotating
mechanism, the first arm, the second rotating mechanism, the second
arm, the third rotating mechanism, and the robot arm base are
configured to overlap the patient table in a height direction
(Z-axis) such that the patient table, the first arm, and the second
arm are in a folded state in the height direction (Z-axis), wherein
the robot arm base is fixed at a position offset from the center of
the base, as seen in a top-down plan view, in order to secure, on
the base, a helper space where a helper is able to ride, and
wherein the robot arm base is fixed in a recess provided in the
base.
2. The patient shuttle system according to claim 1, wherein
rotation about the Z-axis is defined as yaw rotation, an X-axis and
a Y-axis orthogonal to each other are defined on a plane
perpendicular to the Z-axis, rotation about the X-axis is defined
as roll rotation, and rotation about the Y-axis is defined as pitch
rotation, wherein the first rotating mechanism is configured to
apply roll rotation, pitch rotation, and yaw rotation to the
patient table, wherein the second rotating mechanism is configured
to apply roll rotation and yaw rotation to the first arm, and
wherein the third rotating mechanism is configured to apply roll
rotation and yaw rotation to the second arm.
3. The patient shuttle system according to claim 1, wherein three
or more wheels are mounted to the base, and the wheels are
omni-directional drive wheels.
4. A irradiation system for particle therapy comprising: the
patient shuttle system according to claim 1; a particle beam
irradiation apparatus adapted to irradiate a patient with a
particle beam; and a navigation controller that controls traveling
of the patient shuttle system, wherein the navigation controller
includes a path planning unit that plans a plurality of paths
connecting a start point to an end point in a facility in which the
irradiation system for particle therapy is provided, and a traffic
management unit that instructs the patient shuttle system to move
on a path selected from a plurality of paths planned by the path
planning unit.
5. The irradiation system for particle therapy according to claim
4, wherein the transfer unit further has a sensor, wherein while
moving on a path instructed by the navigation controller, the
patient shuttle system acquires, from the sensor, information on a
space including the path and transmits, to the navigation
controller, position information on the patient shuttle system
calculated by matching the information on the space with known map
information, wherein while moving on the path, the patient shuttle
system transmits a detection signal to the navigation controller in
response to the sensor detecting an obstacle, and wherein the
traffic management unit of the navigation controller instructs the
patient shuttle system to move on another path selected from a
plurality of paths planned by the path planning unit.
6. The irradiation system for particle therapy according to claim
4, wherein the start point is a patient positioning room in the
facility, and the end point is a treatment room for particle
therapy in the facility, and wherein the patient shuttle system
moves from the patient positioning room to the treatment room for
particle therapy while maintaining the home position state.
7. The irradiation system for particle therapy according to claim
4, wherein the irradiation system for particle therapy further
includes a patient positioning device and a patient positioning
device provided in a patient positioning room and a treatment room
for particle therapy of the facility, respectively, for positioning
of an affected part of a patient relative to an isocenter of the
particle beam, a patient positioning room management device that
manages the patient positioning device in the patient positioning
room and the patient shuttle system that entered the patient
positioning room, and a treatment room management device that
manages the patient positioning device in the treatment room for
particle therapy and the patient shuttle system that entered the
treatment room for particle therapy, wherein the patient
positioning room management device and the treatment room
management device share, via a network, patient positioning data
generated by using the patient positioning device of the patient
positioning room and the patient positioning device of the
treatment room for particle therapy, wherein the patient shuttle
system further comprises a base lock mechanism that engages with
lock receiving parts provided in the patient positioning room and
the treatment room for particle therapy, respectively, to fix the
patient shuttle system to the patient positioning room and the
treatment room for particle therapy, wherein when the base lock
mechanism engages with each of the lock receiving parts, the
transfer unit enters a standby state, and the patient table drive
unit recovers from a standby state, and wherein when the base lock
mechanism releases engagement with each of the lock receiving
parts, the transfer unit recovers from a standby state, and the
patient table drive unit enters a standby state.
8. The irradiation system for particle therapy according to claim
6, wherein the irradiation system for particle therapy further
includes a patient positioning device and a patient positioning
device provided in a patient positioning room and a treatment room
for particle therapy of the facility, respectively, for positioning
of an affected part of a patient relative to an isocenter of the
particle beam, a patient positioning room management device that
manages the patient positioning device in the patient positioning
room and the patient shuttle system that entered the patient
positioning room, and a treatment room management device that
manages the patient positioning device in the treatment room for
particle therapy and the patient shuttle system that entered the
treatment room for particle therapy, wherein the patient
positioning room management device and the treatment room
management device share, via a network, patient positioning data
generated by using the patient positioning device of the patient
positioning room and the patient positioning device of the
treatment room for particle therapy, wherein the patient shuttle
system further comprises a base lock mechanism that engages with
lock receiving parts provided in the patient positioning room and
the treatment room for particle therapy, respectively, to fix the
patient shuttle system to the patient positioning room and the
treatment room for particle therapy, wherein when the base lock
mechanism engages with each of the lock receiving parts, the
transfer unit enters a standby state, and the patient table drive
unit recovers from a standby state, and wherein when the base lock
mechanism releases engagement with each of the lock receiving
parts, the transfer unit recovers from a standby state, and the
patient table drive unit enters a standby state.
9. The irradiation system for particle therapy according to claim
7, wherein during particle beam irradiation, in response to
receiving an error signal from the patient table drive unit and/or
the transfer unit, the treatment room management device transmits a
signal to the particle beam irradiation apparatus to stop
irradiation of a particle beam from the particle beam irradiation
apparatus.
Description
BACKGROUND OF THE INVENTION
Field of the Invention
[0001] The present invention relates to a patient shuttle system
and an irradiation system for particle therapy.
Description of the Related Art
[0002] In particle therapy, there have been treatment methods to
irradiate a tumor part or the like such as a lesion or a cancer (a
target) with a particle beam such as a proton beam, a heavy-ion
beam, or a neutron beam extracted from an accelerator. To suppress
a particle beam from affecting a normal tissue while concentrating
the dose of the particle beam into a target, the particle beam is
irradiated to the target at high accuracy.
[0003] Conventionally, before a particle beam is irradiated to a
patient, a patient is placed on a treatment table placed on a room
in which an irradiation nozzle for a particle beam is installed and
particle therapy is performed (hereafter, referred to as "treatment
room for particle therapy"), and the position of a particle beam
irradiated from the irradiation nozzle and a site to be irradiated
with the particle beam are then aligned with each other (referred
to as a patient positioning process or a positioning process). That
is, a particle beam irradiation position and a patient position are
adjusted to each other so that the particle beam irradiated from an
irradiation nozzle is irradiated to a target within a patient at
high accuracy.
[0004] In a patient positioning process, first, to suppress
displacement between a patient and a treatment table, the patient
is secured to a patient table of the treatment table by using an
immobilization device. Next, lasers or the like installed inside
the treatment room for particle therapy are utilized to perform,
from above the patient's skin, coarse alignment between a position
to be irradiated with a particle beam and a site to be irradiated
with a particle beam. An X-ray image, a CT image, or an MRI image
of the patient is then acquired, the position, the posture, or the
like of a patient table on which a patient is placed are adjusted
with view of the acquired image, and a position to be irradiated
with the particle beam is determined at high accuracy (for example,
in the order of mm). After the patient positioning process,
treatment using a particle beam is then started.
[0005] In general, a patient positioning process takes several
minutes to several tens of minutes, and this process occupies most
of irradiation time for particle therapy. A lengthy patient
positioning process in a treatment room for particle therapy also
increases occupancy time of the treatment room for particle therapy
per patient. This results in a limited number of patients treated
per unit time or results in tightened time to perform Quality
Assurance (QA) measurement of a particle beam for ensuring safe
therapy irradiation, which increases the burden on a medical worker
such as a physician, a nurse, a radiologist, or the like.
[0006] Japanese Patent No. 6596679 discloses a technology to
address a problem of displacement caused by transfer of a patient
table on which a patient is placed to a treatment table installed
in a treatment room for particle therapy, a problem of difficulty
in installation of equipment used for QA measurement because a
fixed treatment table stationarily installed in the treatment room
for particle therapy increases the size of a treatment room for
particle therapy, or the like. Japanese Patent No. 6596679
discloses a patient shuttle system having a patient table that
carries a patient, a drive unit that translates and/or rotates the
patient table, a drive control unit that controls translation
and/or rotation of the patient table performed by the drive unit in
accordance with a translation amount and/or a rotation amount of
the patient table received from a patient positioning device
provided in a treatment room for particle therapy, and a base lock
mechanism that engages with a lock receiving part provided in the
treatment room for particle therapy and fixes a patient shuttle
system to the treatment room for particle therapy.
[0007] U.S. Pat. No. 9,554,953 discloses an omni-directional
chassis that can move a medical device in any directions on a
motion plane. The chassis of U.S. Pat. No. 9,554,953 has a
configuration for changing the orientation of the medical device in
some predetermined directions without rotating the same in order to
change the moving direction of the medical device. Japanese Patent
Application Laid-Open No. 2018-122013 discloses a technology that,
for a treatment table having a conventional robot arm used for a
patient positioning process and fixed to a treatment room, realizes
a movable range of a patient table position where a patient easily
gets on and off the patient table.
[0008] In the technology disclosed in Japanese Patent 6596679, an
occupancy time of a treatment room for particle therapy is reduced,
and the treatment efficiency is improved. However, since a patient
is transferred to a treatment room for particle therapy while being
secured on a patient table of a patient shuttle system, a helper
such as a nurse may move together with the patient shuttle system
for safety. In a hospital, a patient shuttle system is required to
travel stably under circumstances where there are various
obstacles, consideration for other patients or the like has to be
taken, and there are slopes or the like. Further, the technology
disclosed in Japanese Patent Application Laid-Open No. 2018-122013
relates to a fixed type treatment table embedded under the floor of
a treatment room and requires a large-scale apparatus.
SUMMARY OF THE INVENTION
[0009] In view of such circumstances, the present invention intends
to provide a patient shuttle system and an irradiation system for
particle therapy.
[0010] The present invention includes the following aspects. [0011]
[1] A patient shuttle system (100) comprising:
[0012] a patient table (110) adapted to carry a patient;
[0013] a patient table drive unit (120) that moves and/or rotates
the patient table; and
[0014] a transfer unit (130) having a base (131) on which the
patient table drive unit is placed;
[0015] wherein the patient table drive unit comprises
[0016] a first rotating mechanism (121) connected to the patient
table and configured to rotate the patient table,
[0017] a first arm (124) connected to the first rotating
mechanism,
[0018] a second rotating mechanism (122) connected to the first arm
and configured to rotate the first arm,
[0019] a second arm (125) connected to the second rotating
mechanism,
[0020] a third rotating mechanism (123) connected to the second arm
and configured to rotate the second arm, and
[0021] a robot arm base (126) connected to the third rotating
mechanism,
[0022] wherein in a home position state of the patient shuttle
system, the first rotating mechanism, the first arm, the second
rotating mechanism, the second arm, the third rotating mechanism,
and the robot arm base are configured to overlap the patient table
in a height direction (Z-axis) such that the patient table, the
first arm, and the second arm are in a folded state in the height
direction (Z-axis),
[0023] wherein the robot arm base is fixed at a position off the
center of the base in plan view to secure, on the base, a helper
space (135) where a helper is able to ride, and
[0024] wherein the robot arm base is fixed in a recess (138)
provided in the base. [0025] [2] The patient shuttle system
according to [1], wherein rotation about the Z-axis is defined as
yaw rotation, an X-axis and a Y-axis orthogonal to each other are
defined on a plane perpendicular to the Z-axis, rotation about the
X-axis is defined as roll rotation, and rotation about the Y-axis
is defined as pitch rotation,
[0026] wherein the first rotating mechanism is configured to apply
roll rotation, pitch rotation, and yaw rotation to the patient
table,
[0027] wherein the second rotating mechanism is configured to apply
roll rotation and yaw rotation to the first arm, and
[0028] wherein the third rotating mechanism is configured to apply
roll rotation and yaw rotation to the second arm. [0029] [3] The
patient shuttle system according to [1] or [2], wherein three or
more wheels (132) are mounted to the base, and the wheels are
omni-directional drive wheels. [0030] [4] A irradiation system for
particle therapy (200) comprising:
[0031] the patient shuttle system according to any one of [1] to
[3];
[0032] a particle beam irradiation apparatus (210) adapted to
irradiate a patient with a particle beam; and
[0033] a navigation controller (260) that controls traveling of the
patient shuttle system,
[0034] wherein the navigation controller includes
[0035] a path planning unit (261) that plans a plurality of paths
connecting a start point to an end point in a facility in which the
irradiation system for particle therapy is provided, and
[0036] a traffic management unit (262) that instructs the patient
shuttle system to move on a path selected from a plurality of paths
planned by the path planning unit. [0037] [5] The irradiation
system for particle therapy according to [4],
[0038] wherein the transfer unit further has a sensor (136),
[0039] wherein while moving on a path instructed by the navigation
controller, the patient shuttle system acquires, from the sensor,
information on a space including the path and transmits, to the
navigation controller, position information on the patient shuttle
system calculated by matching the information on the space with
known map information,
[0040] wherein while moving on the path, the patient shuttle system
transmits a detection signal to the navigation controller in
response to the sensor detecting an obstacle, and
[0041] wherein the traffic management unit of the navigation
controller instructs the patient shuttle system to move on another
path selected from a plurality of paths planned by the path
planning unit. [0042] [6] The irradiation system for particle
therapy according to [4] or [5],
[0043] wherein the start point is a patient positioning room in the
facility, and the end point is a treatment room for particle
therapy in the facility, and
[0044] wherein the patient shuttle system moves from the patient
positioning room to the treatment room for particle therapy while
maintaining the home position state. [0045] [7] The irradiation
system for particle therapy according to any one of [4] to [6],
[0046] wherein the irradiation system for particle therapy further
includes
[0047] a patient positioning device (220) and a patient positioning
device (230) provided in a patient positioning room and a treatment
room for particle therapy of the facility, respectively, for
positioning of an affected part of a patient relative to an
isocenter of the particle beam,
[0048] a patient positioning room management device (240) that
manages the patient positioning device (220) in the patient
positioning room and the patient shuttle system that entered the
patient positioning room, and
[0049] a treatment room management device (250) that manages the
patient positioning device (230) in the treatment room for particle
therapy and the patient shuttle system that entered the treatment
room for particle therapy,
[0050] wherein the patient positioning room management device and
the treatment room management device share, via a network (270),
patient positioning data generated by using the patient positioning
device of the patient positioning room and the patient positioning
device of the treatment room for particle therapy,
[0051] wherein the patient shuttle system further comprises a base
lock mechanism (137) that engages with lock receiving parts (225,
235) provided in the patient positioning room and the treatment
room for particle therapy, respectively, to fix the patient shuttle
system to the patient positioning room and the treatment room for
particle therapy,
[0052] wherein when the base lock mechanism engages with each of
the lock receiving parts, the transfer unit enters a standby state,
and the patient table drive unit recovers from a standby state,
and
[0053] wherein when the base lock mechanism releases engagement
with each of the lock receiving parts, the transfer unit recovers
from a standby state, and the patient table drive unit enters a
standby state. [0054] [8] The irradiation system for particle
therapy according to [7], wherein during particle beam irradiation,
in response to receiving an error signal from the patient table
drive unit and/or the transfer unit, the treatment room management
device transmits a signal to the particle beam irradiation
apparatus to stop irradiation of a particle beam from the particle
beam irradiation apparatus.
BRIEF DESCRIPTION OF THE DRAWINGS
[0055] FIGS. 1a and 1b illustrate schematic diagrams of a
configuration of a patient shuttle system according to one
embodiment of the present invention.
[0056] FIGS. 2a to 2d illustrate diagrams illustrating motion and
rotation of a patient table of the patient shuttle system.
[0057] FIG. 3 is a block diagram of a drive control unit of the
patient shuttle system.
[0058] FIG. 4 is a block diagram of a transfer control unit of the
patient shuttle system.
[0059] FIG. 5 is a schematic diagram of an irradiation system for
particle therapy in a facility.
[0060] FIGS. 6a and 6b illustrate schematic diagrams of a patient
positioning room in the irradiation system for particle
therapy.
[0061] FIG. 7 is a schematic diagram of a treatment room for
particle therapy in the irradiation system for particle
therapy.
[0062] FIG. 8 is a control block diagram of the irradiation system
for particle therapy.
[0063] FIG. 9 is a diagram illustrating paths of the patient
shuttle system.
[0064] FIG. 10 is a flowchart illustrating a series of flows of
particle therapy using the irradiation system for particle
therapy.
DESCRIPTION OF THE EMBODIMENTS
Patient Shuttle System
[0065] A patient shuttle system 100 according to one embodiment of
the present invention will be described. FIG. 1a is a schematic
diagram of a configuration of the patient shuttle system 100, and
FIG. 1B is a plan view thereof.
[0066] In the present invention, the height direction of the
patient shuttle system 100 is defined as a Z-axis, and axes
orthogonal to each other in a plane perpendicular to the Z-axis are
defined as an X-axis and a Y-axis. Rotation about the X-axis is
defined as roll rotation, rotation about the Y-axis is defined as
pitch rotation, and rotation about the Z-axis is yaw rotation. In
the example of FIGS. 1a and 1b, a shorter-side direction of a
patient table 110 that is rectangular in plan view is defined as
the X-axis, the longer-side direction of the patient table 110 is
defined as the Y-axis, and the height direction of the patient
shuttle system 100 is defined as the Z-axis. Note that, when the
patient table 110 is elliptical, the shorter axis may be the
X-axis, the longer axis may be the Y-axis, and the axis
perpendicular to both the axes may be the Z-axis.
[0067] The patient shuttle system 100 includes the patient table
110 that carries a patient, a patient table drive unit 120 that
moves and rotates the patient table 110, and a transfer unit 130
that carries the patient table 110 and the patient table drive unit
120 thereon and moves.
[0068] The patient table 110 is not limited to be of a rectangular
shape (a rectangle or a square) in plan view and may be of an
elliptical shape (including a circle). The patient table 110 is
stable (does not deflect) even when a patient is carried thereon
and has a shape and a size such that a patient can be secured
thereon so as not to move.
[0069] The patient table 110 has an immobilization device (not
illustrated) for securing a patient body. The immobilization device
may be a tool to secure a head of a patient, a tool to secure arms
and legs of a patient, a tool to secure a trunk of a patient,
and/or a cushioning material or the like formed along a shape of a
patient body. Further, the patient table 110 may be configured such
that a part of the patient table 110, such as a portion that comes
into contact with a head, a leg, and/or a trunk of a patient may be
inclined. Further, respiratory holes or the like may be provided in
the patient table 110 so that a patient can be secured even when
the patient lies face down on the patient table 110.
[0070] The patient table drive unit 120 includes a first rotating
mechanism 121 connected to the patient table 110 and configured to
rotate the patient table 110, a first arm 124 connected to the
first rotating mechanism 121, a second rotating mechanism 122
connected to the first arm 124 and configured to rotate the first
arm 124, a second arm 125 connected to the second rotating
mechanism 122, and a third rotating mechanism 123 connected to the
second arm 125 and configured to rotate the second arm 125.
[0071] The first to third rotating mechanisms 121 to 123 include
drive motors (references 121a to 123a in FIG. 3) that move and
rotate the patient table 110, the first arm 124, and the second arm
125 in response to receiving power from a battery (not illustrated)
mounted on the patient shuttle system 100, encoders (references
121b to 123b in FIG. 3) that calculate moving amounts and rotating
amounts (rotating direction) and output the calculated amounts to
the drive control unit 133, and the like.
[0072] The first arm 124 is connected to the first and second
rotating mechanisms 121 and 122, and the second arm 125 is
connected to the second and third rotating mechanisms 122 and 123.
The first and second arms 124 and 125 may be configured to expand
and contract. In such a case, the first and second arms 124 and 125
have drive motors (references 124a and 125a in FIG. 3) that expand
and contract the first and second arms 124 and 125 in response to
receiving power from a battery (not illustrated) mounted on the
patient shuttle system 100, encoders (references 124b and 125b in
FIG. 3) that calculate amounts of expansion and contraction and
output the calculated amounts to the drive control unit 133, and
the like. The first and second arms 124 and 125 do not have these
drive motors and encoders when not configured to expand or
contract.
[0073] In one implementation, the first rotating mechanism 121 is
configured to perform roll rotation, pitch rotation, and yaw
rotation on the patient table 110. The second rotating mechanism
122 is configured to perform roll rotation and yaw rotation on the
first arm 124. The third rotating mechanism 123 is configured to
perform roll rotation and yaw rotation on the second arm 125.
Further, the first and second arms 124 and 125 do not expand or
contract.
[0074] The third rotating mechanism 123 is supported by a robot arm
base 126, and the robot arm base 126 is fixed to a recess 138
provided in a base 131 of a transfer unit 130. The recess 138 is a
portion recessed from the surface of the base 131 and preferably
formed in a size such that the whole robot arm base 126 can be
embedded in the base 131. As illustrated in FIG. 1B, the robot arm
base 126 is arranged at a position off the center of the base 131
in plan view. Accordingly, the patient table 110, the first to
third rotating mechanisms 121 to 123, the first and second arms 124
and 125, and the robot arm base 126 overlapped with each other in
the height direction (Z-axis) are arranged at a position off the
center in plan view, and a helper space 135 where a helper may ride
on the base 131 is thus secured. When the base 131 is rectangular
in plan view, the center of the base 131 is an intersection point
of diagonal lines, and when the base 131 is circular (or elliptical
in plan view), is the center of a circle (or an intersection point
of the shorter axis and the longer axis). The helper space 135 can
be any space as long as it has an area sufficient for at least one
helper to stand (or sit down) therein and can be, for example, 0.1
m.sup.2 or larger, 0.3 m.sup.2 or larger, 0.5 m.sup.2 or larger,
0.7 m.sup.2 or larger, 1 m.sup.2 or larger, 1.2 m.sup.2 or larger,
1.5 m.sup.2 or larger, or 2 m.sup.2 or larger.
[0075] As illustrated in FIG. 1a, the patient table 110, the first
to third rotating mechanisms 121 to 123, and the first and second
arms 124 and 125 are configured to be able to be accommodated after
folded so as to overlap each other in the height direction
(Z-axis). This state is referred to as the patient shuttle system
100 being in a home position state. That is, when the patient
shuttle system 100 is in the home position state, the patient table
110, the first arm 124, and the second arm 125 are in a state of
being folded in the height direction (Z-axis).
[0076] In further description, when the patient shuttle system 100
is in the home position state, the first rotating mechanism 121
connected to one end of the patient table 110, the second rotating
mechanism 122 arranged under the other end of the patient table
110, and the first arm 124 connected to the first and second
rotating mechanisms 121 and 122 are configured to overlap the
patient table 110 in the height direction (Z-axis). Further, when
the patient shuttle system 100 is in the home position state, the
second arm 125 and the third rotating mechanism 123 are configured
to overlap the second rotating mechanism 122 and the first arm 124
(and the first rotating mechanism 121) in the height direction
(Z-axis).
[0077] When the patient shuttle system 100 is in the home position
state in such a way, the extent of the patient table 110 and the
patient table drive unit 120 in the plane direction (XY plane) can
be suppressed. The patient shuttle system 100 carries a patient on
the patient table 110 while being in the home position state and
moves in a facility such as a hospital.
[0078] The patient table drive unit 120 uses the first to third
rotating mechanisms 121 to 123 to move and rotate the patient table
110 and the first and second arms 124 and 125 (and also to expand
and contract the first and second arms 124 and 125 when configured
to expand and contract) to move the patient table 110 to any
position.
[0079] As illustrated in FIGS. 1a and 1b, the robot arm base 126 is
installed so as to be embedded in the recess 138 of the base 131
and makes the height of the patient table in the home position as
low as possible, the third rotating mechanism 123 maintains a space
to the floor in the height direction, and thereby the second arm
125 can lower the patient table in the height direction. For
example, as illustrated in FIG. 2a, the patient table drive unit
120 can lower the patient table 110 to come closer to the floor,
and this makes it easier for a patient to get on and off the
patient table 110. Further, as illustrated in FIG. 2b to FIG. 2d,
the patient table drive unit 120 can move and rotate the patient
table 110 during particle therapy to move the patient to any
posture.
[0080] The rotating directions (roll rotation, pitch rotation,
and/or yaw rotation) of the patient table 110, the first arm 124,
and the second arm 125 and the amounts of rotation provided by the
first to third rotating mechanisms 121 to 123 are suitably adjusted
for specific implementation. When the first and second arms 124 and
125 are configured to expand and contract, the amounts of expansion
and contraction of the first and second arms 124 and 125 are also
suitably adjusted for specific implementation.
[0081] The transfer unit 130 includes the base 131, a plurality of
(three or more) wheels 132 mounted to the base 131, a drive control
unit 133 and a transfer control unit 134 placed on the base 131,
one or a plurality of sensors 136 provided to the base 131, and a
base lock mechanism 137 provided to the base 131. The sensor 136
has a spatial recognition sensor and an obstacle sensor. The
spatial recognition sensor is a 2D, 3D laser range finder (3D laser
range scanner (LiDAR)) or the like, for example, and recognizes the
surrounding environment and generates three-dimensional point group
data (spatial information), for example, in order to estimate the
position of the patient shuttle system 100. The spatial information
from the spatial recognition sensor is matched with known map
information, thereby the position of the patient shuttle system 100
is estimated, and position information is generated. The sensor 136
is provided at a position (a front area, a rear area, one or more
of four corners, or the like) where the sensor 136 is able to
perform spatial recognition and detect an obstacle when the patient
shuttle system 100 is moving, and the base lock mechanism 137 is
provided on the side facing the floor or any one or more side faces
of the front, rear, left, or right of the base 131. The patient
shuttle system 100 acquires information on a space including a path
by using the sensor 136 while moving on the path instructed by a
navigation controller 260 described later, matches the information
on the space with known map information prestored in the patient
shuttle system 100, thereby calculates its position information (on
the patient shuttle system 100), and transmits the calculated
position information to the navigation controller. This enables the
navigation controller 260 to recognize the position of the patient
shuttle system 100.
[0082] The patient shuttle system 100 travels by itself in a
facility by using a known technology. The patient shuttle system
100 is preferably of an autonomous mobile type having a
self-positioning estimation function and a traveling control
function but may be of a magnetic guide type, an electromagnet
guide type, an image recognition scheme such as for a
two-dimensional code, or a laser guide type. Further, the patient
shuttle system 100 may be of a follow type that follows or moves in
cooperation with a helper or the like or may be of a combination
type that can switch the traveling mode in accordance with a
situation.
[0083] The wheels 132 each are a drive wheel that can move in all
the directions (omni-directional drive wheel) and preferably a
mecanum wheel or an omni wheel. The wheel 132 is rotated in
response to receiving force of a wheel drive motor (not
illustrated) under the control of the transfer control unit 134 and
causes the patient shuttle system 100 to travel. Although the
patient shuttle system 100 travels by itself, a helper or the like
may move the patient shuttle system 100 manually.
[0084] The patient shuttle system 100 may have an operation panel
(not illustrated) or an emergency stop button as a safety function
(not illustrated) so that a helper on the helper space 135 can
manually drive the patient shuttle system 100 during traveling and
may apply emergency stop of the patient shuttle system 100 in the
event of emergency. The patient shuttle system 100 may be provided
with a pendant (remote controller) that communicates with the drive
control unit 133 in a wired or wireless manner so that, from the
pendant, a helper or the like can instruct the patient table drive
unit 120 to move. The patient shuttle system 100 may be configured
such that a patient is allowed to get on or off the patient table
110 anywhere in a facility or get on or off the patient table 110
via the helper space 135 in the event of a sudden change in the
patient's condition or the like, for example. Further, an
obstruction guard (not illustrated) that repels small obstacles may
be provided to the base 131 so that, for example, a small obstacle
on the floor does not get caught in the wheel 132 when the patient
shuttle system 100 is moving. Further, the patient shuttle system
100 may have a light emitting unit or a voice unit (both not
illustrated) as a safety function during traveling. The light
emitting unit is formed of an LED light or the like and displays
the current status (traveling/standby/slowing down and
stopping/abnormal state, or the like) of the patient shuttle system
100 by colors or manners of turning on and off of light so that the
current status can be easily confirmed. Further, a winker function
may be employed. The voice unit notifies persons therearound of a
traveling direction or a direction indication by a melody or
voice.
[0085] The drive control unit 133 is a computer having an interface
such as an antenna to wirelessly communicate with a management
device (a patient positioning room management device 240 and a
treatment room management device 250 described later) for an
irradiation system for particle therapy 200 described later, a
program and a processor (or ASIC or the like) used for controlling
the patient table drive unit 120 based on an instruction (control
signal) from the management device described above, a memory used
for storing the program or various information, and the like. The
drive control unit 133 controls driving of the first to third
rotating mechanisms 121 to 123 and the first and second arms 124
and 125 to control motion, rotation, and posture of the patient
table 110 in accordance with an instruction received from the
management device described above through wireless
communication.
[0086] FIG. 3 is a function block diagram of the drive control unit
133. The drive control unit 133 includes a transceiver unit 133a,
which transmits and receives information to and from the management
device described above, and a first rotating mechanism control unit
133b, a second rotating mechanism control unit 133c, and a third
rotating mechanism control unit 133d, which control the first to
third rotating mechanisms 121 to 123, respectively, as a function
unit implemented by cooperation of the program stored in the memory
and the processor or the like.
[0087] The first rotating mechanism control unit 133b controls the
drive motor 121a of the first rotating mechanism 121 to control
rotation (roll rotation, pitch rotation, and/or yaw rotation) of
the patient table 110 based on an instruction received from the
management device described above. A rotation amount (a rotation
amount of roll rotation, a rotation amount of pitch rotation,
and/or a rotation amount of yaw rotation) is calculated by the
encoder 121b and output to the first rotating mechanism control
unit 133b. The first rotating mechanism control unit 133b transmits
information on the rotation amount to the management device
described above via the transceiver unit 133a. Based on the
information, the management device described above recognizes the
rotation amount of the first rotating mechanism 121.
[0088] The second rotating mechanism control unit 133c controls the
drive motor 122a of the second rotating mechanism 122 to control
rotation (roll rotation, pitch rotation, and/or yaw rotation) of
the first arm 124 based on an instruction received from the
management device described above. A rotation amount (a rotation
amount of roll rotation, a rotation amount of pitch rotation,
and/or a rotation amount of yaw rotation) is calculated by the
encoder 122b and output to the second rotating mechanism control
unit 133c. The second rotating mechanism control unit 133c
transmits information on the rotation amount to the management
device described above via the transceiver unit 133a. Based on the
information, the management device described above recognizes the
rotation amount of the second rotating mechanism 122.
[0089] Similarly, the third rotating mechanism control unit 133d
controls the drive motor 123a of the third rotating mechanism 123
to control rotation (roll rotation, pitch rotation, and/or yaw
rotation) of the second arm 125 based on an instruction received
from the management device described above. A rotation amount (a
rotation amount of roll rotation, a rotation amount of pitch
rotation, and/or a rotation amount of yaw rotation) is calculated
by the encoder 123b and output to the third rotating mechanism
control unit 133d. The third rotating mechanism control unit 133d
transmits information on the rotation amount to the management
device described above via the transceiver unit 133a. Based on the
information, the management device described above recognizes the
rotation amount of the third rotating mechanism 123.
[0090] When the first and second arms 124 and 125 are configured to
be able to expand and contract, the drive control unit 133 further
includes a first arm control unit 133e and a second arm control
unit 133f The first arm control unit 133e controls the drive motor
124a of the first arm 124 to control expansion and contraction of
the first arm 124 based on an instruction received from the
management device described above. The amount of expansion and
contraction is calculated by the encoder 124b and output to the
first arm control unit 133e. The first arm control unit 133e
transmits information on the amount of expansion and contraction to
the management device described above via the transceiver unit
133a. Based on the information, the management device described
above recognizes the amount of expansion and contraction of the
first arm 124. The same applies to the second arm control unit
133f, and the description thereof will be omitted.
[0091] The transfer control unit 134 is a computer having an
interface such as an antenna to wirelessly communicate with a
management device (the patient positioning room management device
240, the treatment room management device 250, and the navigation
controller 260 described later) for the irradiation system for
particle therapy 200 described later, a program and a processor (or
ASIC or the like) used for controlling the transfer unit 130 based
on an instruction from the management device described above, a
memory used for storing the program or various information, and the
like.
[0092] FIG. 4 is a function block diagram of the transfer control
unit 134. The transfer control unit 134 includes a transceiver unit
134a that transmits and receives a signal to and from the
management device described above, a wheel control unit 134b that
controls the wheels 132, and a base lock mechanism control unit
134c that controls the base lock mechanism 137, as a function unit
implemented by cooperation of the program stored in the memory and
the processor or the like.
[0093] The wheel control unit 134b controls the drive motor 132a to
control the rotation and the orientation of the wheel 132 based on
an instruction received from the management device described above.
In accordance with the instruction from the management device
described above, the transfer control unit 134 controls the wheel
132, and the patient shuttle system 100 travels by itself in a
facility. Rotation amounts (such as a speed and a traveling
distance) of the wheel 132 are calculated by the encoder 132b and
output to the wheel control unit 134b. The wheel control unit 134b
transmits information on the rotation amounts to the management
device described above via the transceiver unit 134a.
[0094] The base lock mechanism control unit 134c controls the drive
motor 137a to control the base lock mechanism 137 into a locked
state (to project from the base 131 and engage with a lock
receiving part) or an unlocked state (to release engagement with
the lock receiving part for storage in the base 131) based on an
instruction received from the management device described
above.
[0095] The obstacle sensor included in the sensor 136 is of a
contactless type, which detects a nearby obstacle within a
predetermined range from the patient shuttle system 100 (for
example, several centimeters to several meters), and may be, for
example, a two-dimensional or three-dimensional optical sensor, a
laser measurement sensor, an acoustic sensor, a magnetic field
sensor, an electric field sensor, an induction sensor, a radio wave
sensor, or a combination thereof. Once detecting an obstacle, the
sensor 136 transmits a detection signal to the transfer control
unit 134 and a navigation controller described later, and in
response thereto, the transfer control unit 134 and the navigation
controller 260 control the patient shuttle system 100 to stop or
avoid the obstacle. Note that a contact type sensor may be provided
as a sensor that detects an obstacle. Such contact type sensor is
provided around a portion where an expanded part may be the largest
in the plane direction (XY plane), such as the base 131 or the
patient table 110, and in response to the sensor coming into
contact with an obstacle, the transfer control unit slows down and
stops the patient shuttle system 100.
[0096] The base lock mechanism 137 is a mechanism that mechanically
engages with a lock receiving part (225 in FIGS. 6a and 6b, 235 in
FIG. 7) provided on the floor or a wall of a treatment room for
particle therapy and a patient positioning room (locked state) and
fixes the patient shuttle system 100 so as not to move with respect
to the floor. The base lock mechanism 137 and the lock receiving
part may be an air clamp using an air pressure or a mechanism using
magnetic force for fixing instead of or in addition to a mechanism
for mechanical engagement. Even when the patient shuttle system 100
is fixed in a room and the patient table drive unit is moved to an
asymmetrical position with respect to the base 131 by using the
base lock mechanism 137 and the lock receiving part provided on the
floor, the wall, or the like of a treatment room for particle
therapy and a patient positioning room, it is possible to maintain
a desired lying position of a patient and hold the position
stationary. Note that the mechanism to engage the base lock
mechanism 137 and the lock receiving part to each other may be
provided on the lock receiving part side instead of on the base
lock mechanism 137 side.
[0097] The base lock mechanism 137 may be configured to be stored
inside the base 131 so as not to be an obstacle during movement of
the patient shuttle system 100 when not engaged with the lock
receiving part (unlocked state) and to project from the base 131
and engage with the lock receiving part when engaged with the lock
receiving part provided in a treatment room for particle therapy or
the like. Note that, when the lock receiving part is provided on
the wall face or the like of a treatment room for particle therapy
or the like, the base lock mechanism 137 is also provided on the
side or the like of the base 131 accordingly.
[0098] Note that, as a modified example of the base lock mechanism
137, the base lock mechanism may be stored in the wall or the floor
of a treatment room for particle therapy or the like instead of
being installed in the patient shuttle system 100. In such a case,
the base lock mechanism may be configured to be stored in the wall
or the floor of the treatment room for particle therapy or the like
so as not to be an obstacle during movement of the patient shuttle
system 100 when not engaged with the lock receiving part provided
to the base 131 (unlocked state) and may be configured to project
from the wall or the floor and engage with the lock receiving part
when engaged with the lock receiving part. Further, an XYZ stage
may be provided to the base lock mechanism to enable selection of a
position for fixing. Accordingly, the position of engagement
between the patient shuttle system 100 and the base lock mechanism
can be a desired position without being fixed. Further, the
distance between the patient shuttle system 100 and the base lock
mechanism may be measured by a displacement sensor (not
illustrated) installed to the base lock mechanism, and based on the
proximity amount thereof, the transfer control unit 134 may operate
the wheel 132 of the transfer unit 130 so as to be guided to a
fixing position fixed to the lock receiving part. The displacement
sensor is a sensor that detects force received when the patient
shuttle system 100 comes into contact with the base lock mechanism
installed at a fixed position or detects a change in a field or the
like caused because the patient shuttle system 100 comes closer to
the base lock mechanism installed at a fixed position, and the
displacement sensor is a contact type sensor, an optical type
sensor, an eddy current type sensor, or a combination thereof, for
example.
[0099] A battery mounted on the patient shuttle system 100 may be
charged through an auto-connector (not illustrated) provided to the
base lock mechanism 137 or the like.
[0100] As described above, the patient shuttle system 100 according
to the present embodiment is characterized in mainly including the
following features. The patient shuttle system 100 includes the
patient table 110 adapted to carry a patient, the patient table
drive unit 120 that moves and rotates the patient table 110 to any
position, and the transfer unit 130 that moves the patient shuttle
system 100.
[0101] The patient table drive unit 120 moves and rotates the first
and second arms 124 and 125 by using the first to third rotating
mechanisms 121 to 123 (and when the first and second arms 124 and
125 are configured to expand and contract, also expands and
contracts the same) to move the patient table 110 to any position.
This enables the patient table drive unit 120 to move the patient
table 110 closer to the floor, for example, and this makes it
easier for a patient to get on and off the patient table 110.
[0102] When the patient shuttle system 100 is in the home position
state, the first to third rotating mechanisms 121 to 123 and the
first and second arms 124 and 125 are configured to overlap the
patient table 110 in the height direction (Z-axis) such that the
patient table 110, the first arm 124, and the second arm 125 are in
a state of being folded in the height direction (Z-axis).
Accordingly, it is possible to suppress the patient table 110 and
the patient table drive unit 120 from extending in the plane
direction (XY plane), and the patient table 110 and the patient
table drive unit 120 are less likely to be an obstacle when the
patient shuttle system 100 is moving. Further, since the robot arm
base 126 is installed so as to be embedded in the recess 138 of the
base 131, the height of the patient table at the home position can
be as low as possible, the patient table 110 can be lowered to the
floor as close as possible when a patient is getting on and off the
patient table 110, and this makes it easier for the patient to get
on and off the patient table 110.
[0103] Further, the robot arm base 126 that supports the third
rotating mechanism 123 is fixed at a position off the center of the
base 131 in plan view, and accordingly, the helper space 135 on
which a helper can ride is secured on the base 131. Irradiation
System for Particle Therapy
[0104] The irradiation system for particle therapy 200 using the
patient shuttle system 100 according to the present embodiment will
be described. The irradiation system for particle therapy 200
includes one or a plurality of patient shuttle systems 100 and a
particle beam irradiation apparatus 210, patient positioning
devices 220 and 230, the patient positioning room management device
240, the treatment room management device 250, and the navigation
controller 260.
[0105] FIG. 5 illustrates an example of the irradiation system for
particle therapy 200 provided in a facility (for example, a
hospital) in which particle therapy is performed. The facility in
which particle therapy is performed includes at least: one or a
plurality of treatment rooms for particle therapy in which the
particle beam irradiation apparatus 210 that irradiates a patient
with a particle beam is arranged; and one or a plurality of patient
positioning rooms in which a patient positioning process to match
the position of an affected part of a patient to an irradiation
position (isocenter IC) of the particle beam irradiation apparatus
210 is performed.
[0106] The particle beam irradiation apparatus 210 includes an
accelerator 211 that generates a particle beam, a particle beam
guide 212 including a vacuum duct through which a particle beam
passes inside and various electromagnet units which adjust the
direction, the intensity, the size, and the like of the particle
beam, an irradiation nozzle 213 that irradiates a particle beam to
an irradiation-target site of a patient, and an irradiation control
unit 214 that controls the overall particle beam irradiation
apparatus 210.
[0107] The accelerator 211 is a device that generates a particle
beam, which is a proton beam, a neutron beam, or a heavy-ion beam,
and is a synchrotron, a cyclotron, a synchrocyclotron, or a linear
accelerator, for example. A particle beam generated by the
accelerator 211 is guided to the irradiation nozzle 213 by the
particle beam guide 212. The various electromagnet units of the
particle beam guide 212 include a quadrupole magnet unit, a
steering magnet unit, a bending magnet unit, a focusing magnet
unit, a superconducting magnet unit, and/or the like disclosed in
Japanese Patent No. 6364141, Japanese Patent No. 6387476, and
Japanese Patent No. 6734610. Further, the various electromagnet
units of the particle beam guide 212 may further include a beam
slit unit that adjusts the shape and/or dose of a particle beam or
a steering magnet unit that finely tunes a beam position of a
particle beam. The contents disclosed in Japanese Patent No.
6364141, Japanese Patent No. 6387476, and Japanese Patent No.
6734610 are incorporated in the present invention by reference.
[0108] The irradiation nozzle 213 is provided inside a treatment
room for particle therapy and irradiates a particle beam from the
particle beam guide 212 to an affected part. The irradiation nozzle
213 has a scanning magnet 213a, a beam monitor 213b, and an energy
modulation unit 213c (FIG. 7). The irradiation nozzle 213 is, for
example, the irradiation nozzle disclosed in Japanese Patent No.
6387476.
[0109] The scanning magnet 213a is an electromagnet used for
adjusting the flowing current amount or the current direction to
adjust the traveling direction of a particle beam irradiated from
the irradiation nozzle 213 and enable a scan within a predetermined
range. The beam monitor 213b is a monitor that monitors a particle
beam and measures the dose or the position and flatness of the
beam. The measured information is fed back from the beam monitor
213b to the irradiation control unit 214 of the particle beam
irradiation apparatus 210 and utilized for control of the scanning
magnet 213a or for accurate irradiation of a particle beam. The
energy modulation unit 213c adjusts the energy of a particle beam
to adjust the depth inside a patient that the particle beam reaches
and is a range modulator, a scatterer, a ridge filter, a patient
collimator, a patient bolus, an applicator, or the like, for
example.
[0110] The irradiation control unit 214 is a computer that
communicates with the treatment room management device 250 of the
treatment room for particle therapy, receives an instruction for
the particle beam irradiation apparatus 210 from the treatment room
management device 250, and based on the instruction, controls the
accelerator 211, the particle beam guide 212, and the irradiation
nozzle 213 of the particle beam irradiation apparatus 210.
[0111] In each patient positioning room, the patient positioning
device 220 and the lock receiving part 225 configured to engage
with the base lock mechanism 137 of the patient shuttle system 100
are installed (FIG. 6). The patient shuttle system 100 on which a
patient is placed is transferred to a patient positioning room
through inside of the facility, fixed by engagement of the base
lock mechanism 137 to the lock receiving part 225 provided in the
patient positioning room, and then directly used as a positioning
table for patient positioning. It is not required to transfer a
patient from a carriage, which is used for transferring a patient,
to a positioning table, which is used for patient positioning, and
this reduces the burden on the patient. Further, it is not required
to install a fixed positioning table in a patient positioning room,
and this contributes to a reduction in the space of the patient
positioning room.
[0112] Although the lock receiving part 225 is formed on the floor
in the configuration of FIG. 6, when the base lock mechanism 137 is
provided to another portion such as a side face (or another part)
of the base 131, the lock receiving part 225 is installed at a
position corresponding thereto. Further, when a plurality of base
lock mechanisms 137 are provided in the patient shuttle system 100,
the corresponding number of lock receiving parts 225 are installed
in a patient positioning room.
[0113] The patient positioning device 220 has a plurality of X-ray
tubes 221 (221a, 221b in FIGS. 6a and 6b) and a plurality of
detectors 222 (222a, 222b in FIGS. 6a and 6b) that detects an
X-ray, such as a CCD area image sensor, a CMOS area image sensor,
or a flat panel detector. The patient positioning device 220 is an
X-ray image acquiring device or an X-ray CT device, for example. An
MRI device may be used as the patient positioning device 220, and
in such a case, a magnetic field generator (such as an
electromagnet) will be used instead of the X-ray tube 221, and a
magnetic field detector (such as an RF receiving coil) will be used
as the detector 222.
[0114] Although FIGS. 6a and 6b depicts two pairs of the X-ray
tubes 221a, 221b and the corresponding detectors 222a, 222b, the
number of these pairs may be one or may be three or greater. Since
a larger number thereof improves accuracy but makes the process
complex, the number of pairs is preferably two to four.
[0115] In the patient positioning room, positioning of an affected
part relative to the position of the particle beam irradiation
position (isocenter IC) is performed by using the patient
positioning device 220 (FIG. 6a). The isocenter coordinate data
(XYZ coordinates) and X-ray image data and further positioning data
on the first to third rotating mechanisms 121 to 123 and the first
and second arms 124 and 125 of the patient table drive unit 120
(that is, various data used for reproducing, in a treatment room
for particle therapy, the three-dimensional positions and posture
of the patient table 110 and the patient table drive unit 120 that
have been taken in patient positioning) are transmitted to the
patient positioning room management device 240 and then transmitted
from the patient positioning room management device 240 to the
treatment room management device 250 via a network 270. After
completion of positioning of the particle beam irradiation position
in the patient positioning room, the patient shuttle system 100
returns to the home position state while carrying a patient on the
patient table 110 (FIG. 6b) and directly moves to a treatment room
for particle therapy.
[0116] Each treatment room for particle therapy is surrounded by a
shield of thick concrete or the like in order to prevent leakage of
unnecessary radiation to the outside (FIG. 5). The entrance of the
treatment room for particle therapy has maze structure having a
crank, and this serves as a countermeasure against particle beam
leakage.
[0117] In each treatment room for particle therapy, the particle
beam irradiation apparatus 210 (in particular, the irradiation
nozzle 213), the patient positioning device 230 that performs
positioning of the particle beam irradiation position, and a lock
receiving part 235 that engages with the base lock mechanism 137 of
the patient shuttle system 100 are installed (FIG. 7). The patient
shuttle system 100 on which a patient is placed is transferred into
a treatment room for particle therapy through inside of the
facility, fixed by engagement of the base lock mechanism 137 to the
lock receiving part 235 provided in the treatment room for particle
therapy, and then directly used as a table for particle therapy. It
is not required to transfer a patient from a carriage, which is
used for transferring a patient, to a table, which is used for
treatment, and this reduces the burden on the patient. Further, it
is not required to install a fixed treatment table in a treatment
room for particle therapy, and the space of the treatment room for
particle therapy can thus be reduced.
[0118] Although the lock receiving part 235 is formed on the floor
in FIG. 7, when the base lock mechanism 137 is provided to a side
face (or another part) of the base 131, the lock receiving part 235
is arranged at a position corresponding thereto. Further, when a
plurality of base lock mechanisms 137 are provided, the
corresponding number of lock receiving parts 235 are installed in a
treatment room for particle therapy.
[0119] In the treatment room for particle therapy, a positioning
process of an affected part relative to the particle beam
irradiation position is again performed based on the patient
positioning data received from the patient positioning room
management device 240. Note that, although the patient positioning
device 230 installed in a treatment room for particle therapy may
have a different configuration from the patient positioning device
220 installed in a patient positioning room, it is preferable that
both the patient positioning devices have the same configuration,
because matching between patient positioning in a treatment room
for particle therapy and patient positioning in a patient
positioning room is facilitated.
[0120] The patient positioning device 220 in a patient positioning
room may be provided such that a part thereof is provided inside
the patient positioning room and the remaining part is provided
outside the patient positioning room. Similarly, the patient
positioning device 230 in a treatment room for particle therapy may
be provided such that a part thereof is provided inside the
treatment room for particle therapy and the remaining part is
provided outside the treatment room for particle therapy. Thus, if
a part of the patient positioning device 220 or 230 is provided
inside a patient positioning room or a treatment room for particle
therapy, this means "a patient positioning device provided in a
patient positioning room" and "a patient positioning device
provided in a treatment room for particle therapy".
[0121] The patient positioning device 220 has various communication
interfaces, a program and a processor (or ASIC or the like) used
for various control, a memory used for calculation of a
displacement or importing of an acquired image during a patient
positioning process, and the like. The patient positioning device
220 includes an X-ray image acquisition and processing control unit
(not illustrated) as a function unit of the patient positioning
device 220 implemented by cooperation of the program stored in the
memory and the processor or the like.
[0122] The X-ray image acquisition and processing control unit
controls the X-ray tube 221 and the detector 222 to generate an
X-ray image of an affected part of a patient and output the X-ray
image to a patient positioning unit in response to an instruction
from the patient positioning room management device 240 or at a
predetermined cycle. The patient positioning unit compares the
input X-ray image with a pre-stored reference X-ray image related
to the affected part of the patient, calculates an error amount
(position error) between both the X-ray images, and outputs the
information thereon to the patient positioning room management
device 240. Further, a proximity amount between the base lock
mechanism and the base 131 (that is, the patient shuttle system
100) detected by a displacement sensor provided in the base lock
mechanism 137 may be transmitted to the patient positioning room
management device 240 as a correction amount relative to a fixed
position of the patient shuttle system 100, and the position error
may be updated by adding a correction amount to the position
error.
[0123] The patient positioning room management device 240
calculates moving amounts and/or rotating amounts of the patient
table 110 and the patient table drive unit 120 of the patient
shuttle system 100 so that the position error described above is
reduced (or becomes zero) and transmits the information thereon to
the drive control unit 133 of the patient shuttle system 100. In
response thereto, the drive control unit 133 moves the patient
table drive unit 120 to adjust the position of the patient table
110. Further, the patient positioning room management device 240
receives information on the actually applied moving amounts and/or
rotating amounts from the patient shuttle system 100.
[0124] The patient positioning room management device 240 transmits
various information to the treatment room management device 250 via
the network 270. The various information includes information on
moving amounts and/or rotating amounts received from the drive
control unit 133 by the patient positioning room management device
240. Further, if there is a failure or the like in the patient
shuttle system 100 or the base lock mechanism 137, an error signal
is transmitted from the patient shuttle system 100 to the patient
positioning room management device 240. The patient positioning
room management device 240 that has received the error signal
performs an operation of causing a warning to be displayed on a
display screen or the like of the patient positioning device 220 to
suggest retry of a patient positioning process, indicating error
display to the operator to urge the operator to ensure safety of a
patient, or the like.
[0125] The same as the patient positioning device 220 and the
patient positioning room management device 240 in a patient
positioning room applies for the patient positioning device 230 and
the treatment room management device 250 in a treatment room for
particle therapy, and the description thereof will be omitted. In
particular, if an error signal due to motion, malfunction, or the
like is received from the patient table drive unit 120 and/or the
transfer unit 130 of the patient shuttle system 100 during particle
therapy (irradiation), the treatment room management device 250
transmits a signal to the particle beam irradiation apparatus 210
to take an emergency action to stop the irradiation of a particle
beam from the particle beam irradiation apparatus 210.
[0126] The navigation controller 260 is a computer that manages
traveling of the patient shuttle system 100. The navigation
controller 260 communicates with the drive control unit 133 and the
transfer control unit 134 of the patient shuttle system 100 to
control these units and transfer various information. Further, the
navigation controller 260 communicates with the patient positioning
room management device 240 and the treatment room management device
250 and transfers various information (FIG. 8).
[0127] The navigation controller 260 is a computer having an
interface, a program and a processor (or ASIC or the like) used for
controlling the overall irradiation system for particle therapy
200, and a memory used for storing a program or various information
or the like. The navigation controller 260 has a path planning unit
261 and a traffic management unit 262 that controls motion of the
patient shuttle system 100 as a function unit implemented by
cooperation of the program stored in the memory and the processor
or the like.
[0128] To increase efficiency of particle therapy, it is required
to shorten a treatment room occupancy time per a patient or,
immediately after completion of particle therapy of a patient,
guide a next patient to enter the treatment room for particle
therapy. There may be a plurality of patient shuttle systems
operated in treatment rooms for particle therapy or a facility
outside treatment rooms for particle therapy, and a management
device that knows the status of each patient shuttle system is
required for operation of the plurality of patient shuttle systems.
In view of such circumstances, the navigation controller 260
manages motion of the patient shuttle systems 100 inside a
facility.
[0129] The path planning unit 261 has a function of generating and
storing a map inside a facility for particle therapy. When one or a
plurality of treatment rooms for particle therapy and one or a
plurality of patient positioning rooms inside a facility for
particle therapy are defined as start points and end points,
respectively, the path planning unit 261 plans a plurality of paths
connecting the start points to the end points. Herein, in general,
in the facility for particle therapy, there may be a plurality of
paths in a facility for particle therapy even between the same
start point and the same end point for preventing patients from
coming across each other or ensuring a traffic line for medical
workers.
[0130] The path planning unit 261 maps in advance the structure
inside the facility by using a known technology before performing
path planning between start points and end points. The path
planning unit 261 preferably uses a natural feature navigation
(NFN) scheme to perform mapping. A plurality of paths planned by
the path planning unit 261 are shared with the traffic management
unit 262.
[0131] The traffic management unit 262 selects an optimal path from
a plurality of motion paths planned by the path planning unit 261
and instructs the transfer control unit 134 of the patient shuttle
system 100 to move along the selected path. The transfer control
unit 134 operates the transfer unit 130 in accordance with an
instruction from the traffic management unit 262 and causes the
patient shuttle system 100 to move along the selected path.
[0132] When a plurality of patient shuttle systems 100 travels
within a facility, there may be a congestion on a path. It is
assumed that a first patient shuttle system 100 moves from a
treatment room for particle therapy A as a start point and another
second patient shuttle system 100 moves to the treatment room for
particle therapy A as an end point. Before the first patient
shuttle system 100 moving from the treatment room A exits the
treatment room A, the second patient shuttle system 100 has to
stand by, and this results in a reduction in the treatment
efficiency of the overall facility. Thus, the traffic management
unit 262 acquires position information on each patient shuttle
system 100 at a constant cycle (for example, a cycle of 1 second)
and selects the optimal path at each time.
[0133] For example, FIG. 9 illustrates that there are three paths
R1 to R3 from a patient positioning room 1 (start point) to a
treatment room for particle therapy 1 (end point) planned by the
path planning unit 261 and there are three paths R4 to R6 from a
patient positioning room 2 (start point) to a treatment room for
particle therapy 3 (end point).
[0134] For example, when a patient shuttle system 100 moves to the
treatment room for particle therapy 1 after completion of patient
positioning in the patient positioning room 1, the patient shuttle
system 100 moves along any one of the paths R1 to R3. At this time,
when determining that another patient shuttle system 100 returning
from the treatment room for particle therapy 1 to a preparation
room is present (dashed line in FIG. 9), the traffic management
unit 262 specifies the path of the patient shuttle system 100
exiting the patient positioning room 1 to the path R1 or R2 in
order to avoid collision or congestion between both the patient
shuttle systems and transmits such an instruction.
[0135] For example, when a patient shuttle system 100 moves to the
treatment room for particle therapy 3 after completion of patient
positioning in the patient positioning room 2, the patient shuttle
system 100 moves along any one of the paths R4 to R6. At this time,
when determining that another patient shuttle system 100 returning
from the treatment room for particle therapy 3 to a preparation
room slightly delays, the traffic management unit 262 specifies the
path R5, which is a longer path, instead of the path R4, which is
the shortest path as a path of the patient shuttle system 100
exiting the patient positioning room 2 in order to avoid collision
or congestion between both the patient shuttle systems. Further, if
the sensor 136 of the patient shuttle system 100 detects an
unexpected obstacle while the patient shuttle system 100 is moving
on the path R5, a detection signal is transmitted to the navigation
controller 260. If the traffic management unit 262 receives the
signal and determines that traffic is unavailable on the path R5,
the traffic management unit 262 transmits an instruction to the
patient shuttle system 100 to switch the path from the path R5 to
the path R6 or R4 while taking the position of another moving
patient shuttle system 100 into consideration.
[0136] For example, when a patient shuttle system 100 moves to the
treatment room for particle therapy 3 after completion of patient
positioning in the patient positioning room 2, it is assumed that
the navigation controller 260 has not received an instruction from
a treatment room management device in the treatment room for
particle therapy 3 for recovering the transfer control unit 134 of
another patient shuttle system 100 from a standby state. At this
time, the navigation controller 260 determines that treatment is
not completed in the treatment room 3, then communicates with a
schedule management device (not illustrated) for radiation therapy
to allocate the patient to any of vacant treatment rooms, and
thereby regenerates a treatment schedule. For example, it is
assumed that the patient is allocated to the treatment room 2, the
navigation controller 260 specifies the path R7 as the path of the
patient shuttle system 100 exiting the patient positioning room 2
and transmits such an instruction. The schedule management device
for radiation therapy is the device disclosed in Japanese Patent
No. 6632015, for example.
[0137] When an obstacle unknown at the path planning unit 261 is
detected by the sensor 136 provided to the patient shuttle system
100, the patient shuttle system 100 is controlled to take an action
to avoid the obstacle (including stop of traveling). Such an
obstacle unknown at the path planning unit 261 may be, for example,
a medical worker or a patient walking on the passage, luggage
temporarily left on the passage, or the like. Once the obstacle is
detected by the sensor 136, a detection signal is transmitted to
the traffic management unit 262, and in accordance with an
instruction from the traffic management unit 262, the transfer
control unit 134 operates the wheels 132 of the transfer unit 130
so as to avoid the obstacle. Also for a case where the patient
shuttle systems 100 pass each other, respective sensors 136 detect
each other as an obstacle, and detection signals are transmitted to
the traffic management unit 262 in the same manner as above. The
traffic management unit 262 instructs respective transfer control
units 134 how to avoid the patient shuttle systems 100,
respectively, so that respective traveling is not prevented.
[0138] Next, switching of control of the patient shuttle system 100
when the patient shuttle system 100 has entered a patient
positioning room and a treatment room for particle therapy will be
described.
[0139] In response to completion of engagement between the base
lock mechanism 137 and the lock receiving part 225 after the
patient shuttle system 100 entered a patient positioning room
(locked state), a signal indicating the establishment of the locked
state is transmitted to the patient positioning room management
device 240. In response thereto, the patient positioning room
management device 240 transmits an instruction for controlling the
transfer control unit 134 into a standby state and an instruction
for recovering the drive control unit 133 from the standby state in
order to prevent the patient shuttle system 100 from moving
unexpectedly.
[0140] After completion of patient positioning, the patient
positioning room management device 240 transmits a signal
indicating the completion of patient positioning to the drive
control unit 133, and in response thereto, the drive control unit
133 returns the patient table 110 to the home position state. After
returning to the home position state, the drive control unit 133
transmits a signal indicating the recovery to the home position
state to the patient positioning room management device 240. In
response thereto, the patient positioning room management device
240 transmits an instruction to the transfer control unit 134, the
transfer control unit 134 recovers from the standby state in
response to receiving the instruction from the patient positioning
room management device 240, and the drive control unit 133 enters a
standby state. The transfer control unit 134 then controls the base
lock mechanism 137 into the unlocked state and transmits a signal
indicating the establishment of the unlocked state to the patient
positioning room management device 240. In response thereto, the
patient positioning room management device 240 transmits an
instruction for permitting the patient shuttle system 100 to move
(including specifying a path) to the transfer control unit 134. In
response thereto, the transfer control unit 134 causes the patient
shuttle system 100 to start moving, exit the patient positioning
room, and move to a treatment room for particle therapy.
[0141] Similarly, in response to completion of engagement between
the base lock mechanism 137 and the lock receiving part 235 after
the patient shuttle system 100 entered a treatment room for
particle therapy, a signal indicating the establishment of the
locked state is transmitted to the treatment room management device
250. In response thereto, the treatment room management device 250
transmits an instruction for controlling the transfer control unit
134 into a standby state and an instruction for recovering the
drive control unit 133 from the standby state in order to prevent
the patient shuttle system 100 from moving unexpectedly.
[0142] After completion of particle therapy, the treatment room
management device 250 transmits a signal for recovery to the home
position of the drive unit 120 to the drive control unit 133, and
in response thereto, the drive control unit 133 returns the patient
table 110 to the home position state. After returning to the home
position state, the drive control unit 133 transmits a signal
indicating the recovery to the home position state to the treatment
room management device 250. In response thereto, the treatment room
management device 250 transmits an instruction to the transfer
control unit 134, the transfer control unit 134 recovers from the
standby state in response to receiving the instruction from the
treatment room management device 250, and the drive control unit
133 enters a standby state. The transfer control unit 134 then
controls the base lock mechanism 137 into the unlocked state and
transmits a signal indicating the establishment of the unlocked
state to the treatment room management device 250. In response
thereto, the treatment room management device 250 transmits an
instruction for permitting the patient shuttle system 100 to move
(including specifying a path) to the transfer control unit 134. In
response thereto, the transfer control unit 134 causes the patient
shuttle system 100 to start moving and exit the treatment room for
particle therapy.
[0143] FIG. 10 is a flowchart illustrating a series of flows of
particle therapy in the irradiation system for particle therapy
200. Note that the order of steps in this flowchart is not limited
to that in FIG. 10 and may be suitably adjusted if necessary.
[0144] Prior to particle therapy, a patient who has come to a
facility of a hospital gets on the patient shuttle system 100 in a
preparation room or the like and is secured to the patient table
110 by an immobilization device so as not to move. When a patient
is getting on the patient table 110, the drive control unit 133
moves the patient table drive unit 120 to move the patient table
110 closer to the floor to make it easier for the patient to get on
the patient table 110 (FIG. 2a). The patient table 110 on which the
patient is placed returns to the home position state, and
preparation for motion of the patient shuttle system 100 is
completed.
[0145] A signal indicating that the preparation for motion is
completed is transmitted from the transfer control unit 134 to the
navigation controller 260, and the traffic management unit 262 of
the navigation controller 260 transmits an instruction (including
specifying of a path) to the transfer control unit 134 of the
patient shuttle system 100. In response thereto, the drive control
unit 133 enters a standby state, and the transfer control unit 134
moves the patient shuttle system 100 to a specified patient
positioning room along the specified path (step S1).
[0146] In the patient positioning room, the transfer control unit
134 controls the base lock mechanism 137 into the locked state and
transmits a signal indicating the completion of the lock to the
patient positioning room management device 240 (step S2). In
response thereto, the patient positioning room management device
240 transmits an instruction for controlling the transfer control
unit 134 into a standby state and an instruction for recovering the
drive control unit 133 from the standby state (step S3). The drive
control unit 133 moves the patient table 110 and the patient table
drive unit 120 to perform positioning of the particle beam
irradiation position (step S4). Positioning data is transmitted
from the patient positioning room management device 240 to the
treatment room management device 250 via the network 270.
[0147] In response to completion of the positioning, the patient
positioning room management device 240 transmits a signal for
recovery to the home position of the drive unit 120 to the drive
control unit 133, and in response thereto, the drive control unit
133 returns the patient table 110 to the home position state. The
drive control unit 133 then transmits a signal indicating the
recovery to the home position state to the patient positioning room
management device 240, and the patient positioning room management
device 240 transmits an instruction for recovering the transfer
control unit 134 from the standby state and an instruction for
controlling the drive control unit 133 into the standby state. In
response thereto, the drive control unit 133 enters the standby
state, and the transfer control unit 134 recovers from the standby
state (step S5). The transfer control unit 134 controls the base
lock mechanism 137 into the unlocked state (step S6).
[0148] The transfer control unit 134 transmits a signal indicating
the establishment of the unlocked state to the patient positioning
room management device 240, and the patient positioning room
management device 240 that has received the signal transmits, to
the navigation controller 260, an instruction for permitting the
patient shuttle system 100 to move. In response thereto, the
transfer control unit 134 moves the patient shuttle system 100 to a
treatment room for particle therapy along a path specified by the
navigation controller 260 (step S7).
[0149] In the treatment room for particle therapy, the transfer
control unit 134 controls the base lock mechanism 137 into a locked
state and transmits a signal indicating the establishment of the
locked state to the treatment room management device 250 (step S8).
In response thereto, the treatment room management device 250
transmits an instruction for controlling the transfer control unit
134 into a standby state and an instruction for recovering the
drive control unit 133 from the standby state. In response thereto,
the transfer control unit 134 enters the standby state, and the
drive control unit 133 recovers from the standby state and is ready
to control the patient table 110 and the patient table drive unit
120 (step S9). The drive control unit 133 receives information on
the particle beam irradiation position determined in the patient
positioning room from the treatment room management device 250
(including three-dimensional position and posture information on
the patient table 110 and the patient table drive unit 120) and
reproduces the patient position based on the information (step
S10). Then, if necessary, a patient positioning process (step S11)
may be further performed by the patient positioning device 230 in
the treatment room for particle therapy.
[0150] In response to completion of the patient positioning, the
navigation controller 260 actuates the particle beam irradiation
apparatus 210 to start particle therapy (step S12).
[0151] In response to completion of the particle therapy, the
treatment room management device 250 transmits a signal indicating
the completion of the particle therapy to the drive control unit
133, and in response thereto, the drive control unit 133 returns
the patient table 110 to the home position state. The treatment
room management device 250 transmits an instruction for recovering
the transfer control unit 134 from the standby state and an
instruction for controlling the drive control unit 133 into a
standby state. In response thereto, the drive control unit 133
enters the standby state, and the transfer control unit 134
recovers from the standby state (step S13). The transfer control
unit 134 then controls the base lock mechanism 137 into the
unlocked state (step S14). The transfer control unit 134 transmits
a signal indicating the establishment of the unlocked state to the
treatment room management device 250, and the treatment room
management device 250 that has received this signal transmits, to
the transfer control unit 134, an instruction for permitting the
patient shuttle system 100 to move. In response thereto, the
transfer control unit 134 causes the patient shuttle system 100 to
start moving, exit the treatment room for particle therapy, and
move to the preparation room or the like (step S15).
[0152] The features of the size, the material, the shape, the
relative position of components, or the like described in the above
embodiments may be arbitrary, and those skilled in the art would
understand that such features may be changed in accordance with the
structure of the apparatus to which the present invention is
applied or various conditions. Further, the present invention is
not limited to the embodiments specifically described above.
[0153] The present application is based on and claims priority from
Japanese Patent Application No. 2021-38059, filed Mar. 10, 2021,
the disclosure of which is hereby incorporated by reference herein
in its entirety.
LIST OF REFERENCE SYMBOLS
[0154] 100 patient shuttle system [0155] 110 patient table [0156]
120 patient table drive unit [0157] 121 first rotating mechanism
[0158] 122 second rotating mechanism [0159] 123 third rotating
mechanism [0160] 124 first arm [0161] 125 second arm [0162] 126
robot arm base [0163] 130 transfer unit [0164] 131 base [0165] 132
wheel [0166] 133 drive control unit [0167] 134 transfer control
unit [0168] 135 helper space [0169] 136 sensor [0170] 137 base lock
mechanism [0171] 138 recess [0172] 200 irradiation system for
particle therapy [0173] 210 particle beam irradiation apparatus
[0174] 220, 230 patient positioning device [0175] 240 patient
positioning room management device [0176] 250 treatment room
management device [0177] 260 navigation controller [0178] 270
network
* * * * *