WO2017007165A1 - Collision prevention system for stereotactic radiation therapy device - Google Patents

Collision prevention system for stereotactic radiation therapy device Download PDF

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Publication number
WO2017007165A1
WO2017007165A1 PCT/KR2016/006958 KR2016006958W WO2017007165A1 WO 2017007165 A1 WO2017007165 A1 WO 2017007165A1 KR 2016006958 W KR2016006958 W KR 2016006958W WO 2017007165 A1 WO2017007165 A1 WO 2017007165A1
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distance
robot head
patient
collimator
stereotactic
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PCT/KR2016/006958
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French (fr)
Korean (ko)
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금기창
안승권
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연세대학교 산학협력단
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Publication of WO2017007165A1 publication Critical patent/WO2017007165A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy

Definitions

  • the present invention relates to an anti-collision system of a stereotactic radiotherapy device, and more particularly, to use in radiosurgery or stereotactic body radiation therapy (Sterototactic Ablative Body Radiotherapy, Stereotactic Body Radiation Therapy), An anti-collision system of a stereotactic radiation therapy device having a moving robot head and a radiation generator mounted to the robot head.
  • Radiation medical equipment can be used in the field of radiation diagnostics and radiation treatment, X-ray of radiation is used as the most important means in the field of radiation diagnosis and treatment.
  • Radiodiagnosis is to confirm the presence and location of the lesion. Radiation is absorbed according to the density of the penetrating tissue when penetrating the tissue, according to this principle, the radiation transmitted through the human body shows an image of the human structure.
  • Radiation therapy can be achieved by inhibiting or destroying the growth of malignant tissues such as cancer with the use of wave-like radiation such as X-rays, gamma rays, or particle-like radiation such as electron beams or proton beams.
  • wave-like radiation such as X-rays, gamma rays, or particle-like radiation such as electron beams or proton beams.
  • the CyberKnife is a specialized equipment for tracking the movement of tumors according to the breathing in real time and is inserted into the body skeletal image (skull bone, vertebrae, etc.), inside the tumor or near the tumor without the conventional invasive fixation mechanism It is characterized by the fact that the coordinates of the golden needle or real-time imaging, or by distinguishing the density difference between the tumor and normal tissue by the image, to detect and track the location of the tumor to irradiate the exact location of the tumor.
  • the robot arm of the CyberKnife moves as much as the coordinates calculated according to a computer algorithm that controls the actual position of the target to move and the radiation operation can be accurately performed within the 0.95 mm error range.
  • US Patent No. 8655429 a registered patent of Accuray, discloses a robotic arm for a radiation treatment system, which couples to a linear accelerator (LINAC) and a linear accelerator. It includes a ringed robotic arm and describes the movement of the robotic arm in three-dimensional space.
  • LINAC linear accelerator
  • CyberKnife allows the robot with six rotational axes to move freely, and the radiation treatment is possible, and the radiation can be irradiated at a total of 11,728 positions, so that the treatment plan can be irradiated with minimal radiation to normal tissues around the tumor.
  • the patient's movement can be corrected by taking an X-ray photograph during the treatment, and the mechanical accuracy of the robot is 0.95 mm or less.
  • PDP Safety Zone and Proximity Detection Program
  • the fixed safety zone in the safety zone is defined by the center of the device and is determined by the anatomical position (head or body) selected in the treatment plan.
  • the Dynamic Safety Zone of the Safety Zone is used to ensure that the treatment robot does not collide with the couch or the patient, and is an area including the patient, the couch and the headrest.
  • the dynamic safety zone can be set according to the patient's body size.
  • the PDP is activated when the robot moves and monitors the robot's position to minimize the possibility of collisions with patients or components inside the room. Before starting treatment, however, the patient and all devices should be checked to ensure that they are within the patient safety area defined by the PDP model.
  • an interlock is generated in a fixed safety zone, which is primarily set according to the treatment area of the patient, and also in a dynamic safety zone, which is set according to the size of the patient. do.
  • the assistive devices are used to separate the patient's body from the couch.
  • the treatment equipment is not a system that recognizes the distance from the patient and causes the operation to stop. Treatment equipment poses the risk of collision with the actual patient. With this feature, current anti-collision systems are not suitable for protecting patients.
  • An object of the present invention is to measure the distance between the robot head and the patient in real time according to the movement of the robot head, anticipate the collision between the robot head and the patient anti-collision of the stereotactic radiation treatment apparatus that can prevent this in advance To provide a system.
  • the object of the present invention is a collision prevention system of a radiation treatment apparatus, which is used for radiation surgery or stereotactic radiation treatment, and includes a robot head moving around a patient's body and a radiation generator mounted to the robot head.
  • a distance detection sensor installed on the side to sense a distance to the patient to generate access distance information;
  • a control unit for controlling the movement of the robot head so that the robot head does not collide with the patient according to the access distance information received from the distance detecting sensor. do.
  • At least two distance detecting sensors may be provided to be spaced apart from each other at the front end of the robot head to which radiation is irradiated.
  • the distance sensor is provided with four symmetrical to each other around the collimator (collimator), all may be used together or partly used depending on the movement of the robot head.
  • the storage unit for storing the setting distance information which is information on two or more different distances; And a display unit displaying the voice or video when the distance according to the access distance information is equal to or shorter than the distance according to the set distance information.
  • the distance sensor may be installed to be movable in the robot head.
  • the distance sensor may be made to move toward the moving direction of the robot head.
  • the anti-collision system of the stereotactic radiation treatment apparatus the collimator (collimator) (collimator housing) is received so that the front surface is exposed; And a rotating body formed in a ring or quadrangular shape so as to be rotatably coupled to the front of the collimator housing about the collimator, and the distance sensor may be formed on the rotating body.
  • the robot approaching the patient by installing a distance sensor on the robot head moving around the patient and by detecting the distance to the patient by the distance sensor to control the movement of the robot head by the controller, the robot approaching the patient
  • the distance between the head and the patient can be checked in real time, and an anti-collision system can be provided that can effectively prevent the robot head from touching or impacting the patient.
  • FIG. 1 is a perspective view showing an anti-collision system of a stereotactic radiation therapy apparatus according to an embodiment of the present invention
  • FIG. 2 is a view schematically showing a relationship between a robot head having a distance sensor and another configuration in an anti-collision system of the stereotactic radiation treatment apparatus shown in FIG. 1;
  • FIG. 3 is a view showing a method of using the anti-collision system of the stereotactic radiation therapy apparatus according to the present invention
  • FIG. 4 is a view illustrating a robot head portion in which a distance sensor is installed in an anti-collision system of a stereotactic radiation therapy apparatus according to another embodiment of the present invention
  • FIG. 5 is a view showing a robot head portion in which the distance sensor is installed in the collision avoidance system of the stereotactic radiation therapy apparatus according to another embodiment of the present invention.
  • control unit 30 storage unit
  • FIG. 1 is a perspective view showing a collision avoidance system 1 of a stereotactic radiation therapy apparatus according to an embodiment of the present invention
  • Figure 2 is a collision avoidance system 1 of a stereotactic radiation therapy apparatus shown in FIG.
  • FIG. 3 is a view schematically showing a relationship between the robot head 100 in which the distance sensor 10 is installed and another configuration
  • FIG. 3 illustrates a method of using the collision avoidance system 1 of the stereotactic radiation treatment apparatus according to the present invention. It is a figure which shows.
  • the anti-collision system 1 of the stereotactic radiation treatment apparatus is a device used for radiosurgery or stereotactic radiation treatment, and may be formed in the form of a cyberknife. Accordingly, the anti-collision system 1 of the stereotactic radiation treatment apparatus according to the present invention includes a robot arm 100a and a robot head 100, and have a plurality of joints for smooth movement of the robot head 100. It consists of, the end of the robot head 100 is provided with a radiation generating device.
  • One side of the robot head 100 is provided with a couch 200 made to lie down the patient (2).
  • the robot head 100 may move according to a treatment plan around the body of the patient 2, and radiation treatment is performed by a radiation generator provided in the robot head 100 to irradiate radiation.
  • a collimator (collimator) is installed on the front of the robot head 100 for the irradiation of radiation, this collimator 110 is shown in a separated form from the robot head 100 in Figure 2, retaining nut 120 ) May be fixed to the robot head 100 while coupling the collimator to the collimator housing 130.
  • Anti-collision system 1 of the stereotactic radiation treatment apparatus is to effectively prevent the collision between the robot head 100 and the patient (2), including a distance sensor 10 and the control unit 20
  • the storage unit 30 and the display unit 40 may be further included.
  • the distance sensor 10 is installed on the outer surface of the robot head 100 to detect the distance to the patient (2). That is, the distance sensor 10 is a means for measuring the relative distance between the point where the distance sensor 10 is installed and the patient 2, it may be made of a conventional device that can detect the distance, for example It may be made of an ultrasonic sensor.
  • the distance sensor 10 generates access distance information, and the access distance information is information about a distance between the distance sensor 10 and the patient 2.
  • the distance sensor 10 may be provided in two or more, and may be formed in the form of being spaced apart from each other at the front end (direction in which the radiation is irradiated) of the robot head 100 is irradiated with radiation.
  • a collimator 110 is provided at the front end of the robot head 100, and also the collimator 110. ) Is provided with a collimator housing 130.
  • the distance sensor 10 is preferably formed on the front surface of the collimator housing 130, when provided with two spaced apart from each other as possible Located opposite to each other, if provided with four is preferably arranged at intervals of 90 ° around the collimator 110, respectively.
  • the distance detecting sensor 10 When the distance detecting sensor 10 is provided in plural numbers, all the distance detecting sensors 10 may be used at the same time, but only some of the distance detecting sensors 10 may be selectively used. For example, when the robot head 100 moves to any one side, the distance sensor 10 located in the front of the moving direction may operate and the other distance sensor 10 may not operate.
  • the control unit 20 may include a central processing unit (CPU), may be provided inside the robot head 100, or may be provided separately from the robot head 100, and receive from the distance sensor 10. According to the approach distance information, the robot head 100 is made to control the movement of the robot head 100 so as not to hit the patient (2).
  • CPU central processing unit
  • the robot head 100 stops moving or reduces the moving speed so that the robot head 100 and the patient get closer. To prevent the collision of (2).
  • the storage unit 30 is formed in a storage medium for storing electronic information, and may be provided inside the robot head 100 or separated from the robot head 100, but provided adjacent to the control unit 20. It is desirable to be.
  • the storage unit 30 stores the set distance information, the set distance information is information on the distance, and a plurality of distance information may be included therein.
  • the set distance information may include a first distance Z1, a second distance Z2, and a third distance Z3.
  • the first distance Z1, the second distance Z2, and the third distance. (Z3) may be composed of 20 cm, 10 cm and 5 cm, respectively.
  • the distance from the patient 2 can be divided into 20 cm, 10 cm and 5 cm, the green zone for the distance 20 cm, the blue zone for the 10 cm, and the red zone for the 5 cm.
  • the movement of the robot head 100 may be controlled according to whether the distance (distance between the distance sensor 10 and the patient 2) according to the distance information enters into this area.
  • the controller 20 controls the movement of the robot head 100 when the distance according to the approach distance information received from the distance sensor 10 is equal to or shorter than the distance according to the set distance information. Movement of the robot head 100).
  • the control unit 20, the distance according to the access distance information received from the distance sensor 10 is the distance (first distance (Z1), the second distance (Z2) or the third distance (Z3) according to each set distance information.
  • the movement of the robot head 100 may be controlled differently for each distance. For example, when the distance according to the access distance information corresponds to the first distance Z1 or the second distance Z2, the moving speed of the robot head 100 is reduced, and the distance according to the access distance information is the third distance Z3. In this case, the robot head 100 may be stopped.
  • the display unit 40 may be configured in the form of a display device and / or a voice device. When the distance according to the access distance information is equal to or shorter than the distance according to the set distance information, the display unit 40 may generate a voice (alarm sound, etc.). It can be represented by) or an image.
  • the operation of the display unit 40 may be controlled by the controller 20, and when the distance according to the approach distance information received from the distance sensor 10 is equal to or shorter than the distance according to the set distance information, Information can be displayed. For example, when the distance according to the access distance information received from the distance sensor 10 corresponds to the distance according to each set distance information, the distance may be displayed on the display or the voice may be notified of the distance.
  • the display unit 40 the distance according to the access distance information received from the distance sensor 10, the distance according to each set distance information (first distance (Z1), second distance (Z2) or third distance (Z3) In the case of)), different information may be displayed for each distance. For example, when the distance according to the access distance information is changed to the first distance Z1, the second distance Z2, and the third distance Z3, the type and interval of the alarm sound may be changed.
  • FIG 4 is a view showing a portion of the robot head 100 is installed in the collision avoidance system 1 of the stereotactic radiation therapy apparatus 1 according to another embodiment of the present invention
  • Figure 5 is a view of the present invention
  • the collision avoidance system of the stereotactic radiation therapy apparatus according to another embodiment is a view showing a portion of the robot head 100 is installed a distance sensor 10.
  • the distance sensor 10 may be installed to be movable in the robot head 100.
  • the anti-collision system 1 of the stereotactic radiation therapy apparatus may further comprise a rotating body 140, the distance sensor 10 is to be formed on such a rotating body 140 Can be.
  • the collimator housing 130 is formed in a form in which the front center of the collimator 110 is opened so that the front surface thereof is exposed.
  • the rotating body 140 is formed in a ring or quadrangle shape and is coupled to the front surface of the collimator housing 130 and rotates about the collimator 110. That is, the rotation axis S of the rotating body 140 is formed on the collimator 110.
  • Rotation of the rotating body 140 relative to the collimator housing 130 may be made by a conventional general mechanical configuration forming a rotational motion.
  • power transmission from the collimator housing 130 toward the rotating body 140 includes a series of gears (protrusion formation 141 engaged with the gear 150 along the circumferential direction on the rear surface of the rotating body 140), and the roller.
  • the generation of power can be made by a separate drive means (electric motor, etc.), or can be made connected to the drive means of the robot arm (100a).
  • the distance sensor 10 may be made to move toward the moving direction of the robot head 100.
  • the rotating body 140 may rotate on the collimator housing 130 together with the movement of the robot head 100, and the rotation of the rotating body 140 may be performed. Rotation may be performed until the distance sensor 10 is placed relatively forward in the moving direction of the robot head 100.
  • the distance detection sensor 10 may be positioned at the front portion of the robot head 100 in the moving direction, and the patient 2 and the robot head ( The collision between 100 can be prevented more effectively.
  • the collimator 110 may be formed on a collimator housing 130 having a rectangular shape, and the distance sensor 10 may be formed on the front surface of the collimator housing 130.
  • the distance sensor 10 may be installed to be movable in the robot head 100, for this purpose, the same configuration as the rotating body 140 can be coupled to the collimator housing 130.
  • the same configuration as the rotating body 140 can be coupled to the collimator housing 130.
  • the distance sensor 10 is installed on the robot head 100 moving around the patient 2 and the distance sensor The robot head 100 and the patient 2 approaching the patient 2 by controlling the movement of the robot head 100 by the controller 20 while sensing the distance from the patient 2 by the 10. It can provide a radioactive therapy apparatus that can check the distance to the in real time and effectively prevent the robot head 100 from contacting or impacting the patient (2).
  • the distance detection sensor is installed on the robot head moving around the patient and the distance detection sensor detects the distance to the patient by the controller.
  • the distance between the robot head approaching the patient and the patient can be checked in real time, effectively preventing the robot head from contacting or impacting the patient, and the distance sensor is moved in the direction of the robot head.
  • the distance sensor can be positioned at the front part of the robot head in the moving direction, and thus the related technology is exceeded due to the limitations of the existing technology.
  • Commercially available or zero to the applicable device, not just for use Because of the degree to which the potential not only be sufficient to practice the invention apparently conducted with industrial applicability.

Abstract

Disclosed is a collision prevention system for a stereotactic radiation therapy device. The collision prevention system for a stereotactic radiation therapy device according to the present invention, the radiation therapy device being used for radiosurgery or stereotactic radiation therapy and having a robot head moving around a patient's body and a radiation generation device mounted to the robot head, comprises: a distance detection sensor which is installed on the outer side surface of the robot head and detects a distance to a patient so as to generate approach distance information; and a control unit for controlling a movement of the robot head so as to prevent the robot head from colliding with the patient, according to the approach distance information received from the distance detection sensor. According to the present invention, a distance detection sensor is installed in a robot head moving around a patient, and a movement of the robot head is controlled by a control unit while a distance to the patient is detected by the distance detection sensor. Accordingly, the present invention can provide a collision prevention system that can check in real time the distance between a patient and the robot head approaching the patient, and can effectively prevent the robot head from coming into contact with or applying an impact to the patient.

Description

정위적 방사선 치료장치의 충돌방지 시스템Anti-collision system of stereotactic radiation therapy
본 발명은 정위적 방사선 치료장치의 충돌방지 시스템에 관한 것으로, 보다 상세하게는, 방사선 수술(Radiosurgery) 또는 정위적 방사선 치료(Stereotactic Ablative Body Radiotherapy, Stereotactic Body Radiation Therapy)에 사용되고, 환자의 신체 주변에서 움직이는 로봇헤드 및 상기 로봇헤드에 장착되는 방사선 발생장치가 구비되는 정위적 방사선 치료장치의 충돌방지 시스템에 관한 것이다.The present invention relates to an anti-collision system of a stereotactic radiotherapy device, and more particularly, to use in radiosurgery or stereotactic body radiation therapy (Sterototactic Ablative Body Radiotherapy, Stereotactic Body Radiation Therapy), An anti-collision system of a stereotactic radiation therapy device having a moving robot head and a radiation generator mounted to the robot head.
방사선 의료장비는 방사선 진단분야 및 방사선 치료분야에 사용될 수 있고, 방사선 중 X선은 방사선 진단 및 치료분야에서 가장 중요한 수단으로 이용되고 있다.Radiation medical equipment can be used in the field of radiation diagnostics and radiation treatment, X-ray of radiation is used as the most important means in the field of radiation diagnosis and treatment.
방사선진단은 병변의 유무와 위치를 확인하기 위한 것이다. 방사선은 조직을 투과할 때 투과하는 조직의 밀도에 따라 흡수되는 정도가 다르게 되는데, 이러한 원리에 의하여 인체를 투과한 방사선은 인체구조의 영상을 나타내게 된다.Radiodiagnosis is to confirm the presence and location of the lesion. Radiation is absorbed according to the density of the penetrating tissue when penetrating the tissue, according to this principle, the radiation transmitted through the human body shows an image of the human structure.
방사선치료는, X선, 감마선과 같은 파동 형태의 방사선, 또는 전자선, 양성자선과 같은 입자형태의 방사선을 이용하여 암과 같은 악성 조직의 성장을 억제시키거나 파괴시킴으로서 이루어질 수 있다.Radiation therapy can be achieved by inhibiting or destroying the growth of malignant tissues such as cancer with the use of wave-like radiation such as X-rays, gamma rays, or particle-like radiation such as electron beams or proton beams.
최근에는, 종양의 위치추적을 위한 영상유도장비와 호흡에 따른 종양의 움직임을 실시간으로 추적하는 호흡동조 장비를 장착할 수 있는 장비가 소개되고 있으며, 대표적으로 사이버나이프(Cyberknife), 버사(Versa), 트루빔(True beam) 등이 있다.Recently, the equipment that can be equipped with the image guidance equipment for tracking the location of the tumor and the respiration synchronization equipment that tracks the movement of the tumor according to the breath in real time has been introduced, representatively Cyberknife, Versa (Versa) And a true beam.
이 중 사이버나이프는, 호흡에 따른 종양의 움직임을 실시간으로 추적하기 위한 특성화된 장비로써 기존의 침습적인 고정기구가 없이도 신체골격영상(두개골, 척추골 등), 신체 내에 종양내부 또는 종양 근처에 삽입된 금침의 좌표를 실시간 영상 촬영하거나, 종양과 정상 조직간의 밀도 차이를 영상으로 구분하여, 종양의 위치를 감지하고 추적하여 정확한 종양의 위치에 방사선을 조사할 수 있도록 이루어진 점을 특징으로 들 수 있다. 즉, 표적의 실제 위치를 쫓아서 움직이도록 제어하는 컴퓨터 알고리즘에 따라 계산된 좌표만큼 사이버나이프의 로봇팔이 움직여 0.95㎜ 오차범위 이내에서 정확하게 방사선 수술이 이루어질 수 있다.Among them, the CyberKnife is a specialized equipment for tracking the movement of tumors according to the breathing in real time and is inserted into the body skeletal image (skull bone, vertebrae, etc.), inside the tumor or near the tumor without the conventional invasive fixation mechanism It is characterized by the fact that the coordinates of the golden needle or real-time imaging, or by distinguishing the density difference between the tumor and normal tissue by the image, to detect and track the location of the tumor to irradiate the exact location of the tumor. In other words, the robot arm of the CyberKnife moves as much as the coordinates calculated according to a computer algorithm that controls the actual position of the target to move and the radiation operation can be accurately performed within the 0.95 mm error range.
이러한 사이버나이프와 관련하여, Accuray사의 등록특허인 미국등록특허 제8655429호는 방사선 치료 시스템을 위한 로보틱 아암(Robotic arm for a radiation treatment system)을 개시하며, 선형가속기(LINAC) 및 선형가속기에 커플링된 로보틱 아암을 포함하도록 하고 있고, 3차원 공간 상에서의 로보틱 아암의 이동에 관하여 기술하고 있다.In connection with such cyberknife, US Patent No. 8655429, a registered patent of Accuray, discloses a robotic arm for a radiation treatment system, which couples to a linear accelerator (LINAC) and a linear accelerator. It includes a ringed robotic arm and describes the movement of the robotic arm in three-dimensional space.
Accuray사의 사이버나이프에 대하여 간단히 설명하면 다음과 같다.Brief descriptions of Accuray's cyber knife are as follows.
사이버나이프는 6개의 회전축을 가지는 로봇이 자유로이 움직이면서 방사선 치료가 이루어지도록 하며, 총 11,728개의 위치에서 방사선 조사가 가능하여, 종양 주변의 정상조직에 최소한의 방사선이 조사되도록 치료계획하는 것이 가능하다.CyberKnife allows the robot with six rotational axes to move freely, and the radiation treatment is possible, and the radiation can be irradiated at a total of 11,728 positions, so that the treatment plan can be irradiated with minimal radiation to normal tissues around the tumor.
그리고 치료 중에 X레이 사진을 촬영하여 환자의 움직임 보정이 가능하고, 로봇의 기계적인 정확도는 0.95㎜ 이하로서 정확한 치료가 가능한 장비이다.The patient's movement can be corrected by taking an X-ray photograph during the treatment, and the mechanical accuracy of the robot is 0.95 mm or less.
Accuray사의 사이버나이프는 환자와 로봇과의 충돌을 방지하기 위한 시스템을 갖추고 있으며, 구체적으로 안전영역(Safety Zone)과 근접 감지 프로그램(Proximity Detection Program, PDP)이 이에 해당된다.Accuray's CyberKnife has a system to prevent collisions between patients and robots, and specifically, the Safety Zone and Proximity Detection Program (PDP).
Safety Zone 중 Fixed Safety Zone은 장치의 중심에 의해 정해진 구역으로서, 치료계획 중 선택된 해부학적 위치(head or body)에 의해 결정된다.The fixed safety zone in the safety zone is defined by the center of the device and is determined by the anatomical position (head or body) selected in the treatment plan.
Safety Zone 중 Dynamic Safety Zone은, 치료 로봇이 카우치(couch) 또는 환자와 충돌하지 않도록 보장하기 위하여 사용되는 것으로서, 환자, 카우치 및 헤드레스트를 모두 포함한 영역이다. Dynamic Safety Zone은 환자의 신체 크기에 따라 설정될 수 있다.The Dynamic Safety Zone of the Safety Zone is used to ensure that the treatment robot does not collide with the couch or the patient, and is an area including the patient, the couch and the headrest. The dynamic safety zone can be set according to the patient's body size.
PDP는 치료 로봇이 움직일 때 활성화되고, 환자나 치료실 내부의 구성요소와의 충돌 가능성을 최소화하도록 치료 로봇의 위치를 감시한다. 다만, 치료 시작 전에 환자와 모든 디바이스들이 PDP 모델에 의해 정의된 환자 안전 지역 안에 들어가 있는지 확인해야 한다. The PDP is activated when the robot moves and monitors the robot's position to minimize the possibility of collisions with patients or components inside the room. Before starting treatment, however, the patient and all devices should be checked to ensure that they are within the patient safety area defined by the PDP model.
환자와의 충돌을 방지하기 위하여, 1차적으로 환자의 치료부위에 따라 설정되는 Fixed Safety Zone에서 작동정지(interlock)를 발생하고, 환자의 크기에 따라 설정되는 Dynamic Safety Zone에서 또한 작동정지가 발생하게 된다.In order to prevent a collision with a patient, an interlock is generated in a fixed safety zone, which is primarily set according to the treatment area of the patient, and also in a dynamic safety zone, which is set according to the size of the patient. do.
그러나 치료의 기법상 보조기구들이 사용되어 환자의 몸이 카우치에서 이격되는 경우가 발생하는데, 치료 장비는 환자와의 거리를 인지하여 작동정지를 발생시키는 시스템이 아니라 카우치와의 거리를 측정하여 작동정지를 발생시키므로 치료 장비는 실제 환자와 충돌의 위험을 내제하고 있다. 이런 특징으로, 현재의 충돌 방지 시스템은 환자를 보호하는데 적합하지 않게 된다.However, in the treatment technique, the assistive devices are used to separate the patient's body from the couch. The treatment equipment is not a system that recognizes the distance from the patient and causes the operation to stop. Treatment equipment poses the risk of collision with the actual patient. With this feature, current anti-collision systems are not suitable for protecting patients.
한편, 선형가속기가 설치되는 장치의 단부에 접촉감지센서를 설치하여 환자와 장치의 충돌을 감지하도록 이루어질 수 있는데, 접촉감지센서는 일정한 압력을 받은 후 작동하는 것이므로 충돌방지에 한계가 있게 되며, 환자는 충돌에 대하여 병원에 소송 등의 쟁의를 제시 할 우려가 있다.On the other hand, by installing a contact sensor at the end of the device is installed linear accelerator can be made to detect the collision between the patient and the device, the touch sensor is operated after receiving a certain pressure, there is a limit to the collision prevention, the patient There is a fear of presenting a dispute, such as a lawsuit to the hospital against the conflict.
본 발명의 목적은, 로봇헤드의 움직임에 따라 로봇헤드와 환자와의 거리를 실시간으로 측정하고, 로봇헤드와 환자와의 충돌을 예상하여 사전에 이를 방지할 수 있는 정위적 방사선 치료장치의 충돌방지 시스템을 제공하는 것이다.An object of the present invention is to measure the distance between the robot head and the patient in real time according to the movement of the robot head, anticipate the collision between the robot head and the patient anti-collision of the stereotactic radiation treatment apparatus that can prevent this in advance To provide a system.
상기 목적은, 방사선 수술 또는 정위적 방사선 치료에 사용되고, 환자의 신체 주변에서 움직이는 로봇헤드 및 상기 로봇헤드에 장착되는 방사선 발생장치가 구비되는 방사선 치료장치의 충돌방지 시스템에 있어서, 상기 로봇헤드의 외측면 상에 설치되어 환자와의 거리를 감지하여 접근거리정보를 생성하는 거리감지센서; 및 상기 거리감지센서로부터 수신된 접근거리정보에 따라, 상기 로봇헤드가 환자와 부딪히지 않도록 상기 로봇헤드의 움직임을 제어하는 제어부를 포함하는 것을 특징으로 하는 정위적 방사선 치료장치의 충돌방지 시스템에 의해 달성된다.The object of the present invention is a collision prevention system of a radiation treatment apparatus, which is used for radiation surgery or stereotactic radiation treatment, and includes a robot head moving around a patient's body and a radiation generator mounted to the robot head. A distance detection sensor installed on the side to sense a distance to the patient to generate access distance information; And a control unit for controlling the movement of the robot head so that the robot head does not collide with the patient according to the access distance information received from the distance detecting sensor. do.
그리고 상기 거리감지센서는, 적어도 2개 이상 구비되어, 방사선이 조사되는 상기 로봇헤드의 앞쪽 단부에서 서로 이격되어 이루어질 수 있다.In addition, at least two distance detecting sensors may be provided to be spaced apart from each other at the front end of the robot head to which radiation is irradiated.
또한 상기 거리감지센서는 4개로 구비되어 콜리메이터(collimator)를 중심으로 서로 대칭이고, 모두 함께 사용되거나 상기 로봇헤드의 움직임에 따라 일부가 선택적으로 사용되도록 이루어질 수 있다.In addition, the distance sensor is provided with four symmetrical to each other around the collimator (collimator), all may be used together or partly used depending on the movement of the robot head.
본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템은, 서로 다른 2개 이상의 거리에 대한 정보인 설정거리정보가 저장되는 저장부; 및 상기 접근거리정보에 따른 거리가 상기 설정거리정보에 따른 거리와 같거나 짧은 경우, 이를 음성 또는 영상으로 표시하는 표시부를 포함하여 이루어질 수 있다.Anti-collision system of the stereotactic radiation treatment apparatus according to the present invention, the storage unit for storing the setting distance information which is information on two or more different distances; And a display unit displaying the voice or video when the distance according to the access distance information is equal to or shorter than the distance according to the set distance information.
그리고 상기 거리감지센서는 상기 로봇헤드에서 이동가능하게 설치될 수 있다.The distance sensor may be installed to be movable in the robot head.
여기서, 상기 거리감지센서는 상기 로봇헤드의 이동방향 쪽을 향하여 이동하도록 이루어질 수 있다.Here, the distance sensor may be made to move toward the moving direction of the robot head.
또한 정위적 방사선 치료장치의 충돌방지 시스템은, 콜리메이터(collimator)가 전면이 노출되도록 수용되는 콜리메이터하우징; 및 링 또는 사각형 형태로 형성되어 상기 콜리메이터를 중심으로 상기 콜리메이터하우징 전단에 회전가능하게 결합되는 회전체를 포함하고, 상기 거리감지센서는 상기 회전체 상에 형성될 수 있다.In addition, the anti-collision system of the stereotactic radiation treatment apparatus, the collimator (collimator) (collimator housing) is received so that the front surface is exposed; And a rotating body formed in a ring or quadrangular shape so as to be rotatably coupled to the front of the collimator housing about the collimator, and the distance sensor may be formed on the rotating body.
본 발명에 의하면, 환자의 주변에서 움직이는 로봇헤드에 거리감지센서를 설치하고 이러한 거리감지센서에 의하여 환자와의 거리를 감지하도록 하면서 제어부에 의하여 로봇헤드의 움직임을 제어하도록 함으로써, 환자 쪽으로 접근하는 로봇헤드와 환자와의 거리를 실시간으로 확인할 수 있고 로봇헤드가 환자에 접촉하거나 충격을 가하는 것을 효과적으로 방지할 수 있는 충돌방지 시스템을 제공할 수 있다.According to the present invention, by installing a distance sensor on the robot head moving around the patient and by detecting the distance to the patient by the distance sensor to control the movement of the robot head by the controller, the robot approaching the patient The distance between the head and the patient can be checked in real time, and an anti-collision system can be provided that can effectively prevent the robot head from touching or impacting the patient.
도 1은 본 발명의 일 실시예에 따른 정위적 방사선 치료장치의 충돌방지 시스템을 도시한 사시도,1 is a perspective view showing an anti-collision system of a stereotactic radiation therapy apparatus according to an embodiment of the present invention,
도 2는 도 1에 도시된 정위적 방사선 치료장치의 충돌방지 시스템에서 거리감지센서가 설치된 로봇헤드와 다른 구성과의 관계를 개략적으로 도시한 도면,FIG. 2 is a view schematically showing a relationship between a robot head having a distance sensor and another configuration in an anti-collision system of the stereotactic radiation treatment apparatus shown in FIG. 1;
도 3은 본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템의 사용방법을 나타내는 도면,3 is a view showing a method of using the anti-collision system of the stereotactic radiation therapy apparatus according to the present invention,
도 4는 본 발명의 다른 실시예에 따른 정위적 방사선 치료장치의 충돌방지 시스템에서 거리감지센서가 설치된 로봇헤드 부분을 도시한 도면,4 is a view illustrating a robot head portion in which a distance sensor is installed in an anti-collision system of a stereotactic radiation therapy apparatus according to another embodiment of the present invention;
도 5는 본 발명의 또 다른 실시예에 따른 정위적 방사선 치료장치의 충돌방지 시스템에서 거리감지센서가 설치된 로봇헤드 부분을 도시한 도면이다.5 is a view showing a robot head portion in which the distance sensor is installed in the collision avoidance system of the stereotactic radiation therapy apparatus according to another embodiment of the present invention.
* 도면의 주요부분에 관한 부호의 설명 *Explanation of symbols on main parts of drawing
1 : 정위적 방사선 치료장치의 충돌방지 시스템1: Anti-collision system of stereotactic radiation therapy device
2 : 환자 10 : 거리감지센서2: patient 10: distance sensor
20 : 제어부 30 : 저장부20: control unit 30: storage unit
40 : 표시부 100 : 로봇헤드40: display unit 100: robot head
110 : 콜리메이터 130 : 콜리메이터하우징110: collimator 130: collimator housing
140 : 회전체140: rotating body
이하, 첨부된 도면을 참조하여 본 발명의 바람직한 실시예들을 상세하게 설명하면 다음과 같다. 다만, 본 발명을 설명함에 있어서, 이미 공지된 기능 혹은 구성에 대한 설명은, 본 발명의 요지를 명료하게 하기 위하여 생략하기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, in describing the present invention, descriptions of already known functions or configurations will be omitted to clarify the gist of the present invention.
도 1은 본 발명의 일 실시예에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)을 도시한 사시도이고, 도 2는 도 1에 도시된 정위적 방사선 치료장치의 충돌방지 시스템(1)에서 거리감지센서(10)가 설치된 로봇헤드(100)와 다른 구성과의 관계를 개략적으로 도시한 도면이며, 도 3은 본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)의 사용방법을 나타내는 도면이다.1 is a perspective view showing a collision avoidance system 1 of a stereotactic radiation therapy apparatus according to an embodiment of the present invention, Figure 2 is a collision avoidance system 1 of a stereotactic radiation therapy apparatus shown in FIG. FIG. 3 is a view schematically showing a relationship between the robot head 100 in which the distance sensor 10 is installed and another configuration, and FIG. 3 illustrates a method of using the collision avoidance system 1 of the stereotactic radiation treatment apparatus according to the present invention. It is a figure which shows.
본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)은, 방사선 수술 또는 정위적 방사선 치료에 사용되는 장치이며, 사이버나이프(Cyberknife)와 같은 형태로 이루어질 수 있다. 이에 따라 본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)은 로봇팔(100a)과 로봇헤드(100)를 포함하여, 로봇헤드(100)의 원활한 움직임을 위하여 다수의 관절을 가지는 형태로 이루어지고, 말단을 이루는 로봇헤드(100)에 방사선 발생장치가 구비된다.The anti-collision system 1 of the stereotactic radiation treatment apparatus according to the present invention is a device used for radiosurgery or stereotactic radiation treatment, and may be formed in the form of a cyberknife. Accordingly, the anti-collision system 1 of the stereotactic radiation treatment apparatus according to the present invention includes a robot arm 100a and a robot head 100, and have a plurality of joints for smooth movement of the robot head 100. It consists of, the end of the robot head 100 is provided with a radiation generating device.
로봇헤드(100)의 일측에는 환자(2)가 누울 수 있도록 이루어지는 카우치(200)가 구비된다.One side of the robot head 100 is provided with a couch 200 made to lie down the patient (2).
로봇헤드(100)은 환자(2)의 신체 주변에서 치료계획에 따라 움직일 수 있으며, 로봇헤드(100)에 구비된 방사선 발생장치가 방사선을 조사함으로써 방사선 치료가 이루어진다. 그리고 방사선의 조사를 위하여 로봇헤드(100)의 앞쪽에는 콜리메이터(collimator)가 설치되며, 도 2에는 이러한 콜리메이터(110)가 로봇헤드(100)에서 분리된 형태로 도시되어 있고, 리테이닝너트(120)를 콜리메이터하우징(130)에 결합시키면서 콜리메이터(110)를 로봇헤드(100) 상에 고정시킬 수 있다.The robot head 100 may move according to a treatment plan around the body of the patient 2, and radiation treatment is performed by a radiation generator provided in the robot head 100 to irradiate radiation. And a collimator (collimator) is installed on the front of the robot head 100 for the irradiation of radiation, this collimator 110 is shown in a separated form from the robot head 100 in Figure 2, retaining nut 120 ) May be fixed to the robot head 100 while coupling the collimator to the collimator housing 130.
본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)은 로봇헤드(100)와 환자(2)의 충돌을 효과적으로 방지하기 위한 것으로서, 거리감지센서(10) 및 제어부(20)를 포함하여 이루어지고, 저장부(30) 및 표시부(40)를 더 포함하여 이루어질 수 있다. Anti-collision system 1 of the stereotactic radiation treatment apparatus according to the present invention is to effectively prevent the collision between the robot head 100 and the patient (2), including a distance sensor 10 and the control unit 20 The storage unit 30 and the display unit 40 may be further included.
거리감지센서(10)는 로봇헤드(100)의 외측면 상에 설치되어 환자(2)와의 거리를 감지한다. 즉, 거리감지센서(10)는, 거리감지센서(10)가 설치된 지점과 환자(2)와의 상대거리를 측정하기 위한 수단으로서, 거리를 감지할 수 있는 종래의 일반적인 장치로 이루어질 수 있으며, 예컨대, 초음파 센서(ultrasonic sensor)로 이루어질 수 있다.The distance sensor 10 is installed on the outer surface of the robot head 100 to detect the distance to the patient (2). That is, the distance sensor 10 is a means for measuring the relative distance between the point where the distance sensor 10 is installed and the patient 2, it may be made of a conventional device that can detect the distance, for example It may be made of an ultrasonic sensor.
거리감지센서(10)는 접근거리정보를 생성하며, 접근거리정보는 거리감지센서(10)와 환자(2)와의 거리에 관한 정보이다.The distance sensor 10 generates access distance information, and the access distance information is information about a distance between the distance sensor 10 and the patient 2.
거리감지센서(10)는, 2개 이상으로 구비될 수 있으며, 방사선이 조사되는 로봇헤드(100)의 앞쪽(방사선이 조사되는 방향) 단부에서 서로 이격되는 형태로 이루어질 수 있다.The distance sensor 10 may be provided in two or more, and may be formed in the form of being spaced apart from each other at the front end (direction in which the radiation is irradiated) of the robot head 100 is irradiated with radiation.
상술한 바와 같이, 로봇헤드(100) 내부에 구비되는 선형가속기로부터 조사된 방사선이 지향성을 가지며 직진하도록 하기 위하여, 로봇헤드(100)의 앞쪽 단부에는 콜리메이터(110)가 구비되며, 또한 콜리메이터(110)를 감싸는 콜리메이터하우징(130)이 구비된다.As described above, in order for the radiation irradiated from the linear accelerator provided in the robot head 100 to be directed and go straight, a collimator 110 is provided at the front end of the robot head 100, and also the collimator 110. ) Is provided with a collimator housing 130.
본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)에서, 거리감지센서(10)는 이러한 콜리메이터하우징(130)의 앞쪽면에 형성되는 것이 바람직하며, 2개로 구비되는 경우 서로 최대한 이격되어 서로 반대쪽에 위치하고, 4개로 구비되는 경우 콜리메이터(110)를 중심으로 각각 90°의 간격으로 배열되는 것이 바람직하다.In the anti-collision system 1 of the stereotactic radiation treatment apparatus according to the present invention, the distance sensor 10 is preferably formed on the front surface of the collimator housing 130, when provided with two spaced apart from each other as possible Located opposite to each other, if provided with four is preferably arranged at intervals of 90 ° around the collimator 110, respectively.
거리감지센서(10)가 다수 개로 구비되는 경우, 모든 거리감지센서(10)가 동시에 사용될 수 있으나, 일부의 거리감지센서(10)만이 선택적으로 사용될 수도 있다. 예컨대, 로봇헤드(100)가 어느 일측으로 이동하는 경우, 이동하는 방향의 앞쪽에 위치하는 거리감지센서(10)는 작동하고 다른 거리감지센서(10)는 작동하지 않도록 이루어질 수 있다.When the distance detecting sensor 10 is provided in plural numbers, all the distance detecting sensors 10 may be used at the same time, but only some of the distance detecting sensors 10 may be selectively used. For example, when the robot head 100 moves to any one side, the distance sensor 10 located in the front of the moving direction may operate and the other distance sensor 10 may not operate.
제어부(20)는, 중앙처리장치(CPU)를 포함하여 이루어질 수 있고, 로봇헤드(100) 내부에 구비되거나 또는 로봇헤드(100)와 분리되어 구비될 수 있으며, 거리감지센서(10)로부터 수신된 접근거리정보에 따라, 로봇헤드(100)가 환자(2)와 부딪히지 않도록 로봇헤드(100)의 움직임을 제어하도록 이루어진다.The control unit 20 may include a central processing unit (CPU), may be provided inside the robot head 100, or may be provided separately from the robot head 100, and receive from the distance sensor 10. According to the approach distance information, the robot head 100 is made to control the movement of the robot head 100 so as not to hit the patient (2).
즉, 접근거리정보에 따른 거리(거리감지센서(10)와 환자(2) 사이의 거리)가 가까워지는 경우 로봇헤드(100)의 이동을 정지시키거나 이동속도를 줄여 로봇헤드(100)와 환자(2)의 충돌을 방지한다.That is, when the distance according to the approaching distance information (distance between the distance sensor 10 and the patient 2) approaches, the robot head 100 stops moving or reduces the moving speed so that the robot head 100 and the patient get closer. To prevent the collision of (2).
저장부(30)는 전자정보를 저장하는 저장매체 형태로 이루어지는 것이고, 로봇헤드(100) 내부에 구비되거나 또는 로봇헤드(100)와 분리되어 구비될 수 있으며, 다만 제어부(20)에 인접하여 구비되는 것이 바람직하다.The storage unit 30 is formed in a storage medium for storing electronic information, and may be provided inside the robot head 100 or separated from the robot head 100, but provided adjacent to the control unit 20. It is desirable to be.
저장부(30)에는 설정거리정보가 저장되며, 설정거리정보는 거리에 대한 정보이며, 다수의 거리정보가 이에 포함될 수 있다. 예컨대, 설정거리정보에는 제1 거리(Z1), 제2 거리(Z2) 및 제3 거리(Z3)가 포함될 수 있으며, 예컨대, 제1 거리(Z1), 제2 거리(Z2) 및 제3 거리(Z3)는 각각 20㎝, 10㎝ 및 5㎝로 이루어질 수 있다.The storage unit 30 stores the set distance information, the set distance information is information on the distance, and a plurality of distance information may be included therein. For example, the set distance information may include a first distance Z1, a second distance Z2, and a third distance Z3. For example, the first distance Z1, the second distance Z2, and the third distance. (Z3) may be composed of 20 cm, 10 cm and 5 cm, respectively.
환자(2)로부터의 거리를 20㎝, 10㎝ 및 5㎝로 구분하고, 거리가 20㎝ 인 경우를 Green zone, 10㎝인 경우를 Blue zone, 5㎝ 경우를 Red zone로 정할 수 있으며, 접근거리정보에 따른 거리(거리감지센서(10)와 환자(2) 사이의 거리)가 이러한 영역 내부에 들어오는지에 따라 로봇헤드(100)의 움직임을 제어할 수 있다.The distance from the patient 2 can be divided into 20 cm, 10 cm and 5 cm, the green zone for the distance 20 cm, the blue zone for the 10 cm, and the red zone for the 5 cm. The movement of the robot head 100 may be controlled according to whether the distance (distance between the distance sensor 10 and the patient 2) according to the distance information enters into this area.
즉, 상술한 제어부(20)는, 거리감지센서(10)로부터 수신된 접근거리정보에 따른 거리가 설정거리정보에 따른 거리와 같거나 짧은 경우, 로봇헤드(100)의 움직임을 제어(예컨대, 로봇헤드(100)의 이동을 제한)할 수 있다.That is, the controller 20 controls the movement of the robot head 100 when the distance according to the approach distance information received from the distance sensor 10 is equal to or shorter than the distance according to the set distance information. Movement of the robot head 100).
또한 제어부(20)는, 거리감지센서(10)로부터 수신된 접근거리정보에 따른 거리가 각 설정거리정보에 따른 거리(제1 거리(Z1), 제2 거리(Z2) 또는 제3 거리(Z3))에 해당되는 경우, 각 거리마다 로봇헤드(100)의 움직임을 서로 다르게 제어할 수 있다. 예컨대, 접근거리정보에 따른 거리가 제1 거리(Z1) 또는 제2 거리(Z2)에 해당되는 경우 로봇헤드(100)의 이동속도를 감소시키고, 접근거리정보에 따른 거리가 제3 거리(Z3)에 해당되는 경우 로봇헤드(100)를 정지시키도록 이루어질 수 있다.In addition, the control unit 20, the distance according to the access distance information received from the distance sensor 10 is the distance (first distance (Z1), the second distance (Z2) or the third distance (Z3) according to each set distance information. In the case of)), the movement of the robot head 100 may be controlled differently for each distance. For example, when the distance according to the access distance information corresponds to the first distance Z1 or the second distance Z2, the moving speed of the robot head 100 is reduced, and the distance according to the access distance information is the third distance Z3. In this case, the robot head 100 may be stopped.
표시부(40)는 디스플레이장치 및/또는 음성장치와 같은 형태로 이루어질 수 있고, 표시부(40)는 접근거리정보에 따른 거리가 설정거리정보에 따른 거리와 같거나 짧은 경우, 이를 음성(경보음 등으로 표현될 수 있음) 또는 영상으로 표시한다.The display unit 40 may be configured in the form of a display device and / or a voice device. When the distance according to the access distance information is equal to or shorter than the distance according to the set distance information, the display unit 40 may generate a voice (alarm sound, etc.). It can be represented by) or an image.
표시부(40)는 그 작동이 제어부(20)에 의해 제어될 수 있고, 거리감지센서(10)로부터 수신된 접근거리정보에 따른 거리가 설정거리정보에 따른 거리와 같거나 짧은 경우, 이에 상응하는 정보를 표시할 수 있다. 예컨대, 거리감지센서(10)로부터 수신된 접근거리정보에 따른 거리가 각 설정거리정보에 따른 거리에 해당되는 경우, 그 거리를 디스플레이에 표시하거나 음성으로 해당 거리를 알릴 수 있다.The operation of the display unit 40 may be controlled by the controller 20, and when the distance according to the approach distance information received from the distance sensor 10 is equal to or shorter than the distance according to the set distance information, Information can be displayed. For example, when the distance according to the access distance information received from the distance sensor 10 corresponds to the distance according to each set distance information, the distance may be displayed on the display or the voice may be notified of the distance.
또한 표시부(40)는, 거리감지센서(10)로부터 수신된 접근거리정보에 따른 거리가 각 설정거리정보에 따른 거리(제1 거리(Z1), 제2 거리(Z2) 또는 제3 거리(Z3))에 해당되는 경우, 각 거리마다 서로 다른 정보를 표시할 수 있다. 예컨대, 접근거리정보에 따른 거리가 제1 거리(Z1), 제2 거리(Z2) 및 제3 거리(Z3)로 변경되는 경우, 경보음의 종류 및 간격이 변경되도록 할 수 있다.In addition, the display unit 40, the distance according to the access distance information received from the distance sensor 10, the distance according to each set distance information (first distance (Z1), second distance (Z2) or third distance (Z3) In the case of)), different information may be displayed for each distance. For example, when the distance according to the access distance information is changed to the first distance Z1, the second distance Z2, and the third distance Z3, the type and interval of the alarm sound may be changed.
도 4는 본 발명의 다른 실시예에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)에서 거리감지센서(10)가 설치된 로봇헤드(100) 부분을 도시한 도면이고, 도 5는 본 발명의 또 다른 실시예에 따른 정위적 방사선 치료장치의 충돌방지 시스템에서 거리감지센서(10)가 설치된 로봇헤드(100) 부분을 도시한 도면이다.4 is a view showing a portion of the robot head 100 is installed in the collision avoidance system 1 of the stereotactic radiation therapy apparatus 1 according to another embodiment of the present invention, Figure 5 is a view of the present invention In the collision avoidance system of the stereotactic radiation therapy apparatus according to another embodiment is a view showing a portion of the robot head 100 is installed a distance sensor 10.
도 4(b)에는 회전체(140)가 콜리메이터하우징(130)에서 분리된 형태가 도시되어 있고, 도 4(c)는 로봇헤드(100)의 이동과 회전체(140)의 회전 간의 관계를 설명하기 위한 도면이다.4 (b) shows the rotating body 140 is separated from the collimator housing 130, Figure 4 (c) shows the relationship between the movement of the robot head 100 and the rotation of the rotating body 140 It is a figure for demonstrating.
본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)에서, 거리감지센서(10)는 로봇헤드(100)에서 이동가능하게 설치될 수 있다.In the anti-collision system 1 of the stereotactic radiation treatment apparatus according to the present invention, the distance sensor 10 may be installed to be movable in the robot head 100.
이를 위하여 본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)은, 회전체(140)를 더 포함하여 이루어질 수 있고, 거리감지센서(10)는 이러한 회전체(140) 상에 형성될 수 있다.To this end, the anti-collision system 1 of the stereotactic radiation therapy apparatus according to the present invention may further comprise a rotating body 140, the distance sensor 10 is to be formed on such a rotating body 140 Can be.
콜리메이터하우징(130)은, 콜리메이터(110)가 그 전면이 노출되도록 앞쪽 중앙이 개구된 형태로 형성된다.The collimator housing 130 is formed in a form in which the front center of the collimator 110 is opened so that the front surface thereof is exposed.
회전체(140)는 링(ring) 또는 사각형(quadrangle) 형태로 형성되어 콜리메이터하우징(130)의 앞쪽 면에 결합되며, 콜리메이터(110)를 중심으로 회전하도록 이루어진다. 즉, 회전체(140)의 회전축(S)이 콜리메이터(110) 상에 형성된다.The rotating body 140 is formed in a ring or quadrangle shape and is coupled to the front surface of the collimator housing 130 and rotates about the collimator 110. That is, the rotation axis S of the rotating body 140 is formed on the collimator 110.
콜리메이터하우징(130)을 상대로 한 회전체(140)의 회전은, 회전운동을 형성하는 종래의 일반적인 기계적인 구성에 의하여 이루어질 수 있다. 예컨대, 콜리메이터하우징(130)으로부터 회전체(140) 쪽으로의 동력전달은, 일련의 기어(회전체(140)의 배면에 원주방향을 따라 기어(150)와 치합되는 돌기 형성(141)), 롤러 또는 유압장치 등을 사용하여 이루어질 수 있으며, 동력의 생성은 별도의 구동수단(전기모터 등)에 의해 이루어질 수 있고, 또는 로봇팔(100a)의 구동수단에 연결되어 이루어질 수 있다.Rotation of the rotating body 140 relative to the collimator housing 130 may be made by a conventional general mechanical configuration forming a rotational motion. For example, power transmission from the collimator housing 130 toward the rotating body 140 includes a series of gears (protrusion formation 141 engaged with the gear 150 along the circumferential direction on the rear surface of the rotating body 140), and the roller. Or it can be made using a hydraulic device, etc., the generation of power can be made by a separate drive means (electric motor, etc.), or can be made connected to the drive means of the robot arm (100a).
그리고 본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)에서, 거리감지센서(10)는 로봇헤드(100)의 이동방향 쪽을 향하여 이동하도록 이루어질 수 있다. 예컨대, 로봇헤드(100)가 어느 한 쪽(A)으로 이동하는 경우 로봇헤드(100)의 이동과 함께 회전체(140)가 콜리메이터하우징(130) 상에서 회전할 수 있으며, 회전체(140)의 회전은 거리감지센서(10)가 로봇헤드(100)의 이동방향에서 상대적으로 앞쪽에 놓일 때까지 이루어질 수 있다.And in the anti-collision system 1 of the stereotactic radiation therapy apparatus according to the present invention, the distance sensor 10 may be made to move toward the moving direction of the robot head 100. For example, when the robot head 100 moves to either side A, the rotating body 140 may rotate on the collimator housing 130 together with the movement of the robot head 100, and the rotation of the rotating body 140 may be performed. Rotation may be performed until the distance sensor 10 is placed relatively forward in the moving direction of the robot head 100.
이에 따라 로봇헤드(100)에서 하나의 거리감지센서(10)만을 형성하더라도 로봇헤드(100)의 이동방향 앞쪽 부분에 거리감지센서(10)를 위치시킬 수 있으며, 환자(2)와 로봇헤드(100) 간의 충돌을 더욱 효과적으로 방지할 수 있다.Accordingly, even if only one distance detection sensor 10 is formed in the robot head 100, the distance detection sensor 10 may be positioned at the front portion of the robot head 100 in the moving direction, and the patient 2 and the robot head ( The collision between 100 can be prevented more effectively.
도 5에 도시된 바와 같이, 콜리메이터(110)는 사각형 형태로 이루어져 콜리메이터하우징(130) 상에 구비될 수 있으며, 거리감지센서(10)는 콜리메이터하우징(130)의 앞쪽 면에 형성될 수 있다. 또한, 이러한 경우에도, 거리감지센서(10)는 로봇헤드(100)에서 이동가능하게 설치될 수 있고, 이를 위하여 상술한 회전체(140)와 같은 구성이 콜리메이터하우징(130)에 결합될 수 있음은 물론이다.As shown in FIG. 5, the collimator 110 may be formed on a collimator housing 130 having a rectangular shape, and the distance sensor 10 may be formed on the front surface of the collimator housing 130. In addition, even in this case, the distance sensor 10 may be installed to be movable in the robot head 100, for this purpose, the same configuration as the rotating body 140 can be coupled to the collimator housing 130. Of course.
상술한 바와 같이 본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템(1)에 의하면, 환자(2)의 주변에서 움직이는 로봇헤드(100)에 거리감지센서(10)를 설치하고 이러한 거리감지센서(10)에 의하여 환자(2)와의 거리를 감지하도록 하면서 제어부(20)에 의하여 로봇헤드(100)의 움직임을 제어하도록 함으로써, 환자(2) 쪽으로 접근하는 로봇헤드(100)와 환자(2)와의 거리를 실시간으로 확인할 수 있고 로봇헤드(100)가 환자(2)에 접촉하거나 충격을 가하는 것을 효과적으로 방지할 수 있는 방사전 치료장치를 제공할 수 있다As described above, according to the collision avoidance system 1 of the stereotactic radiation therapy apparatus according to the present invention, the distance sensor 10 is installed on the robot head 100 moving around the patient 2 and the distance sensor The robot head 100 and the patient 2 approaching the patient 2 by controlling the movement of the robot head 100 by the controller 20 while sensing the distance from the patient 2 by the 10. It can provide a radioactive therapy apparatus that can check the distance to the in real time and effectively prevent the robot head 100 from contacting or impacting the patient (2).
앞에서, 본 발명의 특정한 실시예가 설명되고 도시되었지만 본 발명은 기재된 실시예에 한정되는 것이 아니고, 본 발명의 사상 및 범위를 벗어나지 않고 다양하게 수정 및 변형할 수 있음은 이 기술의 분야에서 통상의 지식을 가진 자에게 자명한 일이다. 따라서, 그러한 수정예 또는 변형예들은 본 발명의 기술적 사상이나 관점으로부터 개별적으로 이해되어서는 안되며, 변형된 실시예들은 본 발명의 특허청구범위에 속한다 하여야 할 것이다.While specific embodiments of the invention have been described and illustrated above, it is to be understood that the invention is not limited to the described embodiments, and that various modifications and changes can be made without departing from the spirit and scope of the invention. It is self-evident to those who have. Therefore, such modifications or variations are not to be understood individually from the technical spirit or point of view of the present invention, the modified embodiments will belong to the claims of the present invention.
본 발명에 따른 정위적 방사선 치료장치의 충돌방지 시스템에 의하면, 환자의 주변에서 움직이는 로봇헤드에 거리감지센서를 설치하고 이러한 거리감지센서에 의하여 환자와의 거리를 감지하도록 하면서 제어부에 의하여 로봇헤드의 움직임을 제어하도록 함으로써, 환자 쪽으로 접근하는 로봇헤드와 환자와의 거리를 실시간으로 확인할 수 있고 로봇헤드가 환자에 접촉하거나 충격을 가하는 것을 효과적으로 방지할 수 있으며, 또한 거리감지센서가 로봇헤드의 이동방향 쪽을 향하여 이동가능하게 이루어짐으로써, 로봇헤드에서 하나의 거리감지센서만을 형성하더라도 로봇헤드의 이동방향 앞쪽 부분에 거리감지센서를 위치시킬 수 있는 점에서, 기존 기술의 한계를 뛰어 넘음에 따라 관련 기술에 대한 이용만이 아닌 적용되는 장치의 시판 또는 영업의 가능성이 충분할 뿐만 아니라 현실적으로 명백하게 실시할 수 있는 정도이므로 산업상 이용가능성이 있는 발명이다.According to the anti-collision system of the stereotactic radiation treatment apparatus according to the present invention, the distance detection sensor is installed on the robot head moving around the patient and the distance detection sensor detects the distance to the patient by the controller. By controlling the movement, the distance between the robot head approaching the patient and the patient can be checked in real time, effectively preventing the robot head from contacting or impacting the patient, and the distance sensor is moved in the direction of the robot head. As it is made to be movable toward the side, even if only one distance sensor is formed in the robot head, the distance sensor can be positioned at the front part of the robot head in the moving direction, and thus the related technology is exceeded due to the limitations of the existing technology. Commercially available or zero to the applicable device, not just for use Because of the degree to which the potential not only be sufficient to practice the invention apparently conducted with industrial applicability.

Claims (7)

  1. 방사선 수술 또는 정위적 방사선 치료에 사용되고, 환자의 신체 주변에서 움직이는 로봇헤드 및 상기 로봇헤드에 장착되는 방사선 발생장치가 구비되는 방사선 치료장치의 충돌방지 시스템에 있어서,In the anti-collision system of the radiation treatment apparatus, which is used for radiation surgery or stereotactic radiation treatment, and equipped with a robot head moving around the patient's body and a radiation generator mounted on the robot head,
    상기 로봇헤드의 외측면 상에 설치되어 환자와의 거리를 감지하여 접근거리정보를 생성하는 거리감지센서; 및A distance sensor installed on an outer surface of the robot head to detect a distance to the patient and generate approach distance information; And
    상기 거리감지센서로부터 수신된 접근거리정보에 따라, 상기 로봇헤드가 환자와 부딪히지 않도록 상기 로봇헤드의 움직임을 제어하는 제어부를 포함하는 것을 특징으로 하는 정위적 방사선 치료장치의 충돌방지 시스템.And a control unit for controlling the movement of the robot head so that the robot head does not collide with the patient according to the access distance information received from the distance sensor.
  2. 제1항에 있어서,The method of claim 1,
    상기 거리감지센서는, 적어도 2개 이상 구비되어, 방사선이 조사되는 상기 로봇헤드의 앞쪽 단부에서 서로 이격되는 것을 특징으로 하는 정위적 방사선 치료장치의 충돌방지 시스템.The distance detecting sensor is provided with at least two, the collision avoidance system of the stereotactic radiation treatment apparatus, characterized in that spaced apart from each other at the front end of the robot head is irradiated with radiation.
  3. 제2항에 있어서,The method of claim 2,
    상기 거리감지센서는 4개로 구비되어 콜리메이터(collimator)를 중심으로 서로 대칭이고, 모두 함께 사용되거나 상기 로봇헤드의 움직임에 따라 일부가 선택적으로 사용되는 것을 특징으로 하는 정위적 방사선 치료장치의 충돌방지 시스템.The distance sensor is provided with four symmetrical with each other around the collimator (collimator), all of them are used together or part of the stereotactic radiation treatment device, characterized in that selectively used according to the movement of the robot head. .
  4. 제1항에 있어서,The method of claim 1,
    서로 다른 2개 이상의 거리에 대한 정보인 설정거리정보가 저장되는 저장부; 및A storage unit for storing setting distance information which is information on two or more different distances; And
    상기 접근거리정보에 따른 거리가 상기 설정거리정보에 따른 거리와 같거나 짧은 경우, 이를 음성 또는 영상으로 표시하는 표시부를 포함하는 것을 특징으로 하는 정위적 방사선 치료장치의 충돌방지 시스템.If the distance according to the access distance information is equal to or shorter than the distance according to the set distance information, the collision prevention system of the stereotactic radiation treatment apparatus, characterized in that it comprises a display unit for displaying this by voice or image.
  5. 제1항에 있어서,The method of claim 1,
    상기 거리감지센서는 상기 로봇헤드에서 이동가능하게 설치되는 것을 특징으로 하는 정위적 방사선 치료장치의 충돌방지 시스템.The distance sensor is a collision avoidance system of the stereotactic radiation treatment device, characterized in that installed in the movable movable robot head.
  6. 제5항에 있어서,The method of claim 5,
    상기 거리감지센서는 상기 로봇헤드의 이동방향 쪽을 향하여 이동하는 것을 특징으로 하는 정위적 방사선 치료장치의 충돌방지 시스템.The distance sensor is a collision avoidance system of the stereotactic radiation treatment device, characterized in that moving toward the direction of movement of the robot head.
  7. 제6항에 있어서,The method of claim 6,
    콜리메이터(collimator)가 전면이 노출되도록 수용되는 콜리메이터하우징; 및A collimator housing in which a collimator is accommodated so that the front side is exposed; And
    링 형태로 형성되어 상기 콜리메이터를 중심으로 상기 콜리메이터하우징 전단에 회전가능하게 결합되는 회전체를 포함하고,It is formed in a ring shape includes a rotating body rotatably coupled to the front end of the collimator housing, the collimator,
    상기 거리감지센서는 상기 회전체 상에 형성되는 것을 특징으로 하는 정위적 방사선 치료장치의 충돌방지 시스템.The distance sensor is a collision avoidance system of the stereotactic radiation therapy device, characterized in that formed on the rotating body.
PCT/KR2016/006958 2015-07-08 2016-06-29 Collision prevention system for stereotactic radiation therapy device WO2017007165A1 (en)

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