CN112402816A - Automated patient positioning system and method - Google Patents
Automated patient positioning system and method Download PDFInfo
- Publication number
- CN112402816A CN112402816A CN202011297146.9A CN202011297146A CN112402816A CN 112402816 A CN112402816 A CN 112402816A CN 202011297146 A CN202011297146 A CN 202011297146A CN 112402816 A CN112402816 A CN 112402816A
- Authority
- CN
- China
- Prior art keywords
- treatment
- radiotherapy equipment
- simulator
- patient
- treatment bed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001959 radiotherapy Methods 0.000 claims abstract description 92
- 239000003550 marker Substances 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 238000002591 computed tomography Methods 0.000 abstract description 41
- 238000010586 diagram Methods 0.000 description 4
- 206010028980 Neoplasm Diseases 0.000 description 3
- 201000011510 cancer Diseases 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Images
Classifications
-
- 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
- A61N5/103—Treatment planning systems
-
- 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
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Radiation-Therapy Devices (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention provides an automatic patient positioning system, which comprises a treatment planning system, a CT (computed tomography) simulator and radiotherapy equipment, wherein the treatment planning system comprises a CT simulator and a CT positioning system; the treatment planning system is respectively communicated with the CT simulator and the radiotherapy equipment; the CT simulator and the radiotherapy equipment comprise the same treatment couch; a position marker is embedded on a treatment bed of the CT simulator; the treatment bed of the radiotherapy equipment can be controlled by the control module of the radiotherapy equipment to move. The invention also provides an automatic patient positioning method, which comprises the steps of determining the position of a reference point of a treatment target area relative to a coordinate system of a treatment couch in a treatment planning system by identifying the position marker on the treatment couch of the CT simulator; before treatment, the control module of the radiotherapy equipment guides the treatment bed of the radiotherapy equipment according to the relative position, so that the rapid and accurate automatic patient positioning is realized.
Description
Technical Field
The invention relates to an auxiliary positioning method in tumor radiotherapy, in particular to an automatic patient positioning method.
Background
Current radiotherapy apparatus commonly employ electron linear accelerators as well as proton or heavy ion accelerators. In these accelerator systems, there is an "isocenter" formed by the intersection of the axes of rotation of the accelerator gantry, beam collimator, treatment couch, etc. When treating a cancer patient, the reference point of its treatment target (cancer site) needs to be placed at the isocenter of the accelerator to achieve accurate irradiation of the treatment beam. In a typical radiation treatment procedure, initial positioning of the patient is performed manually, the efficiency of the procedure is affected, and there is a risk of misplacement errors.
In the current patient positioning method, before a patient receives treatment, a radiotherapy technician positions on a treatment couch of radiotherapy equipment, manually moves the treatment couch, and visually aligns a mark on the body surface of the patient with a laser lamp in a treatment room. The patient positioning process depends on manual work, time consumption is long, and positioning errors sometimes occur due to disorder of body surface marks.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an automatic patient positioning system and a corresponding automatic patient positioning method, wherein the position of a reference point of a treatment target area relative to a coordinate system of a treatment couch is determined in a treatment planning system by identifying a position marker on the treatment couch of a CT simulator; before treatment, the control module of the radiotherapy equipment guides the treatment bed of the radiotherapy equipment according to the relative position, so that the rapid and accurate automatic patient positioning is realized.
The embodiment of the invention adopts the technical scheme that:
an automatic patient positioning system comprises a treatment planning system, a CT simulator and radiotherapy equipment; the treatment planning system is respectively communicated with the CT simulator and the radiotherapy equipment;
the CT simulator and the radiotherapy equipment comprise treatment beds with the same size; a position marker is embedded on a treatment bed of the CT simulator; the treatment bed of the radiotherapy equipment can be controlled by the control module of the radiotherapy equipment to move.
Furthermore, the position marker is embedded in a bed plate of the treatment bed of the CT simulator; the distribution of the position markers needs to ensure that at least one group of position markers is within the minimum simulation positioning imaging range; along the head and foot directions of the treatment bed, the arrangement mode of each group of position markers is different, and the position markers should be arranged asymmetrically.
Further, the position marker is a regularly shaped object made of metal; the position marker comprises a sphere and a cylinder;
the left side of the treatment bed is provided with the spheres to indicate the direction, and the right side is provided with the spheres and the coding combination of the cylinders to indicate the longitudinal distance.
The embodiment of the invention also provides an automatic patient positioning method, which comprises the following steps:
step S1, establishing the same rectangular coordinate system OXYZ at the same position of the treatment bed of the CT simulator and the treatment bed of the radiotherapy equipment, wherein the rectangular coordinate system OXYZ is a treatment bed coordinate system, and the treatment bed coordinate system OXYZ is parallel to the corresponding axis of the radiotherapy equipment coordinate system O 'X' Y 'Z'; the origin of the coordinate system of the radiotherapy equipment is positioned at the isocenter;
step S2, the patient is positioned on the treatment bed of the CT simulator according to the treatment position and the body posture; then, the patient is subjected to simulated positioning scanning through a CT simulator to obtain a CT image, and the CT image is sent to a treatment planning system; the treatment planning system carries out image recognition, and determines the scanning range of the simulated positioning and the longitudinal position of each group of position markers in the coordinate system OXYZ of the treatment couch according to the codes of each group of position markers;
step S3, the target area to be treated is sketched for the patient and the reference point of the target area to be treated is set, and the reference point corresponds to the isocenter of the radiotherapy equipment; the treatment planning system calculates the position (x) of the target reference point in the coordinate system of the treatment couch based on the position markers identified in step S2t，yt，zt) (ii) a If the radiotherapy equipment starts to move from the zero position of the radiotherapy equipment, when the origin of the coordinate system of the radiotherapy equipment coincides with the origin of the coordinate system of the radiotherapy equipment, the displacement of the radiotherapy equipment in three directions is respectively (delta x, delta y and delta z), when the patient is in the position of the radiotherapy equipment, because the reference point of the treatment target area is positioned at the isocenter of the radiotherapy equipment, the displacement of the radiotherapy equipment from the zero position of the radiotherapy equipment in three directions is respectively (delta x-x)t，δy-yt，δz-zt）；
Step S4, fromMoving the patient for positioning: when the patient is positioned on the radiotherapy equipment treatment bed, the same body position as that on the CT simulator treatment bed is used, and the same position and body posture of the patient on the CT simulator treatment bed are repeated; the control module of the radiotherapy equipment determines the displacement (delta x-x) of the treatment bed of the radiotherapy equipment according to the step S3t，δy-yt，δz-zt) And the treatment bed of the radiotherapy equipment is automatically moved.
The invention has the advantages that: the invention provides a method for automatically positioning a patient, which is characterized in that a position marker in a treatment bed of a CT simulator is identified, a preset position of the treatment bed of radiotherapy equipment is determined in a treatment planning stage, and a control module of the radiotherapy equipment guides the treatment bed before radiotherapy is implemented, so that the rapid and accurate automatic positioning of the patient is realized. The invention can improve the working efficiency of positioning the radiotherapy patient and avoid positioning errors caused by human factors. The invention is suitable for various radiotherapy equipment treatment beds, including common treatment beds and robot treatment beds.
Drawings
FIG. 1 is a schematic diagram of an automated patient positioning system in an embodiment of the invention.
Fig. 2 is a schematic top view of a treatment couch in an embodiment of the present invention.
FIG. 3 is a schematic diagram of an arrangement of position markers in an embodiment of the present invention.
Fig. 4 is a schematic diagram of a patient in an embodiment of the invention in a positioning on a treatment couch of a CT simulator and a treatment couch of a radiotherapy apparatus.
Fig. 5 is a schematic diagram of guiding the movement of the treatment couch of the radiotherapy apparatus in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The existing general procedure for performing radiation therapy on a patient includes: the patient needs to be scanned by CT, for example, an operator (possibly a doctor or a related operation technician) positions the patient on a treatment couch of the CT simulator, performs CT scanning, determines a treatment plan, and then transmits the treatment plan to the radiotherapy equipment; the patient lies on the treatment bed of the radiotherapy equipment again, the position on the treatment bed of the CT simulator is repeated, the operator positions the patient manually, and the manual positioning method adopts the method introduced in the background technology of the application.
The embodiment of the invention firstly provides an automatic patient positioning system, which comprises a treatment planning system, a CT (computed tomography) simulator and radiotherapy equipment, as shown in figure 1; the treatment planning system is respectively communicated with the CT simulator and the radiotherapy equipment; in some embodiments, the treatment planning system is a computer on which the corresponding software is installed; the radiotherapy equipment is an accelerator in the embodiment and comprises a beam collimator;
the CT simulator and the radiotherapy equipment comprise treatment beds with the same size; a position marker is embedded on a treatment bed of the CT simulator; the treatment bed of the radiotherapy equipment can be controlled by the control module of the radiotherapy equipment to move; the treatment bed of the radiotherapy equipment does not need to be provided with a position marker;
FIG. 2 shows the structure of the treatment couch of the CT simulator from a top view, wherein the transverse chain lines perpendicular to the longitudinal long axis indicate the mounting positions of the sets of position markers;
the position marker is a regular-shaped object made of metal or other high-density materials; such as, but not limited to, a 3mm diameter sphere or a 2mm diameter, 10mm long cylinder; the position markers are embedded in a bed plate of a treatment bed of the CT simulator; the distribution of the position markers needs to ensure that at least one group of position markers is arranged in the minimum simulation positioning imaging range (for example, the length of 10cm in the head and foot direction); the position markers of each group are arranged in different ways along the head and foot direction of the treatment couch, and the position markers are arranged asymmetrically so as to identify the head and foot direction and the left and right direction of the treatment couch. For example, in each set of position markers of fig. 3, the spheres arranged on the left side of the treatment couch indicate the direction, and the coded combination of the spheres and cylinders arranged on the right side indicate the longitudinal distance;
the embodiment of the invention also provides an automatic patient positioning method, which comprises the following steps:
step S1, establishing the same rectangular coordinate system OXYZ at the same position of the treatment bed of the CT simulator and the treatment bed of the radiotherapy equipment, wherein the rectangular coordinate system OXYZ is a treatment bed coordinate system, and the treatment bed coordinate system OXYZ is parallel to the corresponding axis of the radiotherapy equipment coordinate system O 'X' Y 'Z'; the origin of the coordinate system of the radiotherapy equipment is positioned at the isocenter;
step S2, the patient is positioned on the treatment bed of the CT simulator according to the treatment position and the body posture; then, the patient is subjected to simulated positioning scanning through a CT simulator to obtain a CT image, and the CT image is sent to a treatment planning system; the treatment planning system carries out image recognition, and determines the scanning range of the simulated positioning and the longitudinal position of each group of position markers in the coordinate system OXYZ of the treatment couch according to the codes of each group of position markers;
step S3, the target area to be treated is sketched for the patient and the reference point of the target area to be treated is set, and the reference point corresponds to the isocenter of the radiotherapy equipment; the black dots in fig. 4 represent reference points of the target volume in the patient; the treatment planning system calculates the position (x) of the target reference point in the coordinate system of the treatment couch based on the position markers identified in step S2t，yt，zt) (ii) a If the radiotherapy equipment starts to move from the zero position of the radiotherapy equipment, when the origin of the coordinate system of the radiotherapy equipment coincides with the origin of the coordinate system of the radiotherapy equipment, the displacement of the radiotherapy equipment in three directions is respectively (delta x, delta y and delta z), when the patient is in the position of the radiotherapy equipment, because the reference point of the treatment target area is positioned at the isocenter of the radiotherapy equipment, the displacement of the radiotherapy equipment from the zero position of the radiotherapy equipment in three directions is respectively (delta x-x)t，δy-yt，δz-zt）；
Step S4, automatic patient positioning: when the patient is positioned on the radiotherapy equipment treatment bed, the same body position as that on the CT simulator treatment bed is used, and the same position and body posture of the patient on the CT simulator treatment bed are repeated; the control module of the radiotherapy equipment determines the displacement (delta x-x) of the treatment bed of the radiotherapy equipment according to the step S3t，δy-yt，δz-zt) Automatically moving the radiotherapy equipment treatment bed; guide the therapeutic bed of the radiotherapy equipment to a preset treatment position, thereby realizing automationPositioning a patient; the dotted arrow in fig. 5 indicates the direction of movement of the couch from the start position;
finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (4)
1. An automatic patient positioning system, which is characterized by comprising a treatment planning system, a CT simulator and a radiotherapy device; the treatment planning system is respectively communicated with the CT simulator and the radiotherapy equipment;
the CT simulator and the radiotherapy equipment comprise treatment beds with the same size; a position marker is embedded on a treatment bed of the CT simulator; the treatment bed of the radiotherapy equipment can be controlled by the control module of the radiotherapy equipment to move.
2. The automated patient positioning system of claim 1,
the position marker is embedded in a bed plate of a treatment bed of the CT simulator; the distribution of the position markers needs to ensure that at least one group of position markers is within the minimum simulation positioning imaging range; along the head and foot directions of the treatment bed, the arrangement mode of each group of position markers is different, and the position markers should be arranged asymmetrically.
3. The automated patient positioning system of claim 2,
the position marker is a regularly shaped object made of metal; the position marker comprises a sphere and a cylinder;
the left side of the treatment bed is provided with the spheres to indicate the direction, and the right side is provided with the spheres and the coding combination of the cylinders to indicate the longitudinal distance.
4. A method of automatic patient positioning, comprising the steps of:
step S1, establishing the same rectangular coordinate system OXYZ at the same position of the treatment bed of the CT simulator and the treatment bed of the radiotherapy equipment, wherein the rectangular coordinate system OXYZ is a treatment bed coordinate system, and the treatment bed coordinate system OXYZ is parallel to the corresponding axis of the radiotherapy equipment coordinate system O 'X' Y 'Z'; the origin of the coordinate system of the radiotherapy equipment is positioned at the isocenter;
step S2, the patient is positioned on the treatment bed of the CT simulator according to the treatment position and the body posture; then, the patient is subjected to simulated positioning scanning through a CT simulator to obtain a CT image, and the CT image is sent to a treatment planning system; the treatment planning system carries out image recognition, and determines the scanning range of the simulated positioning and the longitudinal position of each group of position markers in the coordinate system OXYZ of the treatment couch according to the codes of each group of position markers;
step S3, the target area to be treated is sketched for the patient and the reference point of the target area to be treated is set, and the reference point corresponds to the isocenter of the radiotherapy equipment; the treatment planning system calculates the position (x) of the target reference point in the coordinate system of the treatment couch based on the position markers identified in step S2t，yt，zt) (ii) a If the radiotherapy equipment starts to move from the zero position of the radiotherapy equipment, when the origin of the coordinate system of the radiotherapy equipment coincides with the origin of the coordinate system of the radiotherapy equipment, the displacement of the radiotherapy equipment in three directions is respectively (delta x, delta y and delta z), when the patient is in the position of the radiotherapy equipment, because the reference point of the treatment target area is positioned at the isocenter of the radiotherapy equipment, the displacement of the radiotherapy equipment from the zero position of the radiotherapy equipment in three directions is respectively (delta x-x)t，δy-yt，δz-zt）；
Step S4, automatic patient positioning: when the patient is positioned on the radiotherapy equipment treatment bed, the same body position as that on the CT simulator treatment bed is used, and the same position and body posture of the patient on the CT simulator treatment bed are repeated; the control module of the radiotherapy equipment determines the displacement (delta x-x) of the treatment bed of the radiotherapy equipment according to the step S3t，δy-yt，δz-zt) And the treatment bed of the radiotherapy equipment is automatically moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011297146.9A CN112402816A (en) | 2020-11-19 | 2020-11-19 | Automated patient positioning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011297146.9A CN112402816A (en) | 2020-11-19 | 2020-11-19 | Automated patient positioning system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112402816A true CN112402816A (en) | 2021-02-26 |
Family
ID=74773020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011297146.9A Pending CN112402816A (en) | 2020-11-19 | 2020-11-19 | Automated patient positioning system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112402816A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113893466A (en) * | 2021-11-16 | 2022-01-07 | 四川省肿瘤医院 | A method of determining CT positioning center |
| CN113893467A (en) * | 2021-11-16 | 2022-01-07 | 四川省肿瘤医院 | A CT localization method during radiotherapy |
| CN115068834A (en) * | 2021-03-15 | 2022-09-20 | 湖南华创医疗科技有限公司 | Radiotherapy apparatus |
| CN117339123A (en) * | 2023-10-10 | 2024-01-05 | 中科超精(南京)科技有限公司 | An automatic radiotherapy water tank positioning device and its control method |
| CN118045299A (en) * | 2024-03-28 | 2024-05-17 | 北华大学 | A radiotherapy positioning method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201006193Y (en) * | 2007-02-08 | 2008-01-16 | 深圳市海博科技有限公司 | Retaining bed with identification line |
| US20080031414A1 (en) * | 2006-04-27 | 2008-02-07 | Qfix Systems, Llc | Method for Creating 3D Coordinate Systems in Image Space for Device and Patient Table Location and Verification |
| CN104414677A (en) * | 2013-08-29 | 2015-03-18 | 上海西门子医疗器械有限公司 | Movement control system and movement control method for examining table bed board and medical equipment |
| CN107028659A (en) * | 2017-01-23 | 2017-08-11 | 新博医疗技术有限公司 | Operation guiding system and air navigation aid under a kind of CT images guiding |
| CN110038233A (en) * | 2019-04-28 | 2019-07-23 | 沈阳东软智睿放疗技术有限公司 | A kind of set-up deviation determines method and apparatus |
-
2020
- 2020-11-19 CN CN202011297146.9A patent/CN112402816A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080031414A1 (en) * | 2006-04-27 | 2008-02-07 | Qfix Systems, Llc | Method for Creating 3D Coordinate Systems in Image Space for Device and Patient Table Location and Verification |
| CN201006193Y (en) * | 2007-02-08 | 2008-01-16 | 深圳市海博科技有限公司 | Retaining bed with identification line |
| CN104414677A (en) * | 2013-08-29 | 2015-03-18 | 上海西门子医疗器械有限公司 | Movement control system and movement control method for examining table bed board and medical equipment |
| CN107028659A (en) * | 2017-01-23 | 2017-08-11 | 新博医疗技术有限公司 | Operation guiding system and air navigation aid under a kind of CT images guiding |
| CN110038233A (en) * | 2019-04-28 | 2019-07-23 | 沈阳东软智睿放疗技术有限公司 | A kind of set-up deviation determines method and apparatus |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115068834A (en) * | 2021-03-15 | 2022-09-20 | 湖南华创医疗科技有限公司 | Radiotherapy apparatus |
| CN115068834B (en) * | 2021-03-15 | 2024-03-15 | 湖南华创医疗科技有限公司 | Radiotherapy equipment |
| CN113893466A (en) * | 2021-11-16 | 2022-01-07 | 四川省肿瘤医院 | A method of determining CT positioning center |
| CN113893467A (en) * | 2021-11-16 | 2022-01-07 | 四川省肿瘤医院 | A CT localization method during radiotherapy |
| CN117339123A (en) * | 2023-10-10 | 2024-01-05 | 中科超精(南京)科技有限公司 | An automatic radiotherapy water tank positioning device and its control method |
| CN118045299A (en) * | 2024-03-28 | 2024-05-17 | 北华大学 | A radiotherapy positioning method |
| CN118045299B (en) * | 2024-03-28 | 2025-01-07 | 北华大学 | A radiotherapy positioning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112402816A (en) | Automated patient positioning system and method | |
| EP1960051B1 (en) | Device and method for positioning a target volume in a radiation therapy apparatus | |
| US7166852B2 (en) | Treatment target positioning system | |
| CN110038233B (en) | Positioning deviation determining device | |
| US20080031414A1 (en) | Method for Creating 3D Coordinate Systems in Image Space for Device and Patient Table Location and Verification | |
| CN110227214B (en) | Radiotherapy positioning method based on positioning target | |
| CN110314290A (en) | Charged particle beam therapeutic device | |
| JP2019097969A (en) | Particle beam treatment planning device and particle beam treatment system | |
| JP2008068093A (en) | Method and radiotherapy apparatus for adapting a radiation field of an irradiation process to a target volume to be irradiated by a patient | |
| CN102049106B (en) | Precise image positioning system and method of radiotherapy system of interfractionated radiotherapy | |
| US11247073B2 (en) | Particle radiation therapy apparatus | |
| JPWO2017126052A1 (en) | Boron Neutron Capture Therapy System | |
| JP7705914B2 (en) | Limiting imaging radiation dose and improving image quality during treatment delivery. | |
| US9999787B1 (en) | Beam limiting device for intensity modulated proton therapy | |
| CN115068834A (en) | Radiotherapy apparatus | |
| WO2023005902A1 (en) | Fully-spherical radiation therapy system | |
| CN215841267U (en) | A global surface radiation therapy device | |
| US12458814B2 (en) | Methods and systems for treating an object | |
| US20040042582A1 (en) | Method and apparatus for locating a medical target | |
| CN113101545A (en) | A radiotherapy simulation positioning system | |
| JP2019170794A (en) | Fluoroscope and fluoroscopic method | |
| Kukolowicz et al. | Effectiveness of the No action level protocol for head & neck patients–Time considerations | |
| CN1853737A (en) | Method for positioning radioactive treatment | |
| CN104056367A (en) | Radiation treatment device | |
| US12194313B2 (en) | Radiation treatment system and operation procedure of irradiation parameter verification device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210226 |