DE19728788A1 - Position control of medical treatment table - Google Patents

Position control of medical treatment table

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Publication number
DE19728788A1
DE19728788A1 DE19728788A DE19728788A DE19728788A1 DE 19728788 A1 DE19728788 A1 DE 19728788A1 DE 19728788 A DE19728788 A DE 19728788A DE 19728788 A DE19728788 A DE 19728788A DE 19728788 A1 DE19728788 A1 DE 19728788A1
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Germany
Prior art keywords
treatment
patient
medical treatment
radiation
position control
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Withdrawn
Application number
DE19728788A
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German (de)
Inventor
Nis Peter Boysen
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Individual
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Individual
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Application filed by Individual filed Critical Individual
Priority to DE19728788A priority Critical patent/DE19728788A1/en
Publication of DE19728788A1 publication Critical patent/DE19728788A1/en
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/08—Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0487—Motor-assisted positioning
    • 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
    • A61N2005/1059—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using cameras imaging the patient
    • 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
    • A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
    • A61N5/1069—Target adjustment, e.g. moving the patient support
    • A61N5/107—Target adjustment, e.g. moving the patient support in real time, i.e. during treatment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37067—Calibrate work surface, reference markings on object, work surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45169—Medical, rontgen, x ray

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radiation-Therapy Devices (AREA)

Abstract

The medical treatment of patients using radiation therapy involves accurate positioning of a table on which the patient is lying. The radiation generator is mounted on a fixed frame over the table. The area of treatment is monitored by several CCD cameras and the image information is analysed by an image processor. This outputs position commands to a number of servo motors to adjust the table in 3D space.

Description

Verfahren zur Patienten-Positionierung relativ zum Behandlungsgerät.Procedure for patient positioning relative to the treatment device.

Stand der TechnikState of the art

In der Behandlung von Krebstumoren ist die Strahlentherapie eine anerkannte Behandlungsform. Der Patient wird mit energiereichen Strahlen bestrahlt, die in die menschliche Gewebe eindringen, ihre Energie dort absetzen und damit die Beschädigung oder Zerstörung von Zellen bewirken. Ein Problem dabei ist es, daß nicht nur Krebszellen hiervon betroffen sind, - auch gesunde Zellen werden zerstört. Um diese Nebenwirkung so gering wie möglich zu halten, ist eine genaue Behandlungsplanung mit Bestimmung des Bestrahlungsfeldes, der Richtung und Dosis sowie umfassende Abschirmungsmaßnahmen außerordentlich wichtig.Radiation therapy is a recognized form of treatment in the treatment of cancerous tumors. The Patient is irradiated with high-energy rays that penetrate human tissues, their energy settle there and thus damage or destroy cells. One problem with this is that not only cancer cells are affected by this - healthy cells are also destroyed. Around Keeping side effects as low as possible is an exact treatment planning with determination of the Radiation field, direction and dose as well as extensive shielding measures extraordinary important.

Von entscheidender Bedeutung ist aber die präzise Positionierung des Patients während sämtliche Bestrahlungsvorgänge, so daß die Krebsgeschwulst sich immer möglichst im Zentrum des Bestrahlungsfeldes befindet. Nur so läßt sich das Ziel: - Die Zerstörung möglichst viele Krebszellen mit möglichst geringer Dosis und möglichst geringer Beschädigung des umgebenden gesunden Gewebes -, verwirklichen.However, the precise positioning of the patient during all is crucial Radiation processes so that the cancerous tumor is always in the center of the Radiation field is located. This is the only way to achieve the goal: - Destroy as many cancer cells as possible the lowest possible dose and the least possible damage to the surrounding healthy tissue -, realize.

Deshalb wird vor der ersten Behandlung die Bestrahlung in einer Probeaufstellung simuliert. Dabei wird der Patient unter Durchleuchtung so gelagert, wie er später bei den Bestrahlungen liegen soll und so daß der Tumor sich im Bestrahlungsfeld befindet. Der Patient wird nun geröntgt, wobei der Strahlgang mit denen der späteren echten Bestrahlung identisch ist. Anhand der Röntgenaufnahmen wird kontrolliert, daß der Tumor sich auch wirklich im Bestrahlungsfeld befindet. Wenn der Patient richtig positioniert ist, werden Ausrichtpunkte an drei Stellen im Haut angebracht (tätowiert), da wo das Kreuzlicht des Bestrahlungseinheit den Körper trifft.For this reason, the radiation is simulated in a test setup before the first treatment. Doing so the patient is positioned under fluoroscopy in the manner in which he should later lie during the radiotherapy and so that the tumor is in the radiation field. The patient is now X-rayed, with the beam path included that of later real radiation is identical. The X-rays are used to check that the tumor is really in the radiation field. If the patient is positioned correctly, alignment points are attached (tattooed) at three places in the skin, where the cross light of the Irradiation unit hits the body.

Bei den nachfolgenden Behandlungen wird dann der Patient anhand dieser Punkten manuell ausgerichtet. Bei der ersten Behandlung wird mit einer ersten kurzen Bestrahlung erneut ein Röntgenaufnahme erzeugt. Diese wird dann mit der während der Simulation erstellten Originalaufnahme verglichen um die Wiederholgenauigkeit der Patientpositionierung zu verifizieren. Wird der Toleranz von 5 MM nicht eingehalten muß der Patient erneut ausgerichtet und die Verifikation wiederholt werden. Wird der Toleranz auch dann nicht eingehalten, wird die Aufstellung verworfen und die gesamte Prozedur fängt mit einer neuen Probeaufstellung von vorne wieder an.In the subsequent treatments, the patient is then manually aligned based on these points. In the first treatment, an X-ray is again generated with a first short exposure. This is then compared to the original image created during the simulation Verify repeatability of patient positioning. Will not be the tolerance of 5 MM the patient must be re-aligned and the verification repeated. Will the Even if tolerance is not adhered to, the list is rejected and the entire procedure begins a new trial from scratch.

Das Problem ist nicht nur aus der Strahlentherapie bekannt, sondern kommt überall da vor, wo ein Körperteil über eine gewisse Zeit in eine genaue Position relativ zum Behandlungseinheit festgehalten werden muß.The problem is not only known from radiation therapy, but also occurs wherever one Body part held in a precise position relative to the treatment unit for a certain time must become.

Eine Alternative zu der rein manuelle Ausrichtung ist so aus dem Oral-Röntgen-Bereich bekannt (DE 36 32 878 C2), wo die Ausrichtung mit Hilfe von CCD-Kameras und Konturerfassung erfolgt.An alternative to the purely manual alignment is known from the oral x-ray area (DE 36 32 878 C2),  where the alignment takes place with the help of CCD cameras and contour detection.

Während der Behandlung muß die Position des Patients überwacht werden. Hierzu existieren Vorrichtungen, die die Lage der Ausrichtungspunkte und/oder Körper-Konturen mit Hilfe von Scanning-Techniken (DE 44 18 216 A1, EP 0 630 610 A1, DE 44 21 316 A1 und EP 0 753 285 A1) kontrollieren.The patient's position must be monitored during treatment. To do this exist Devices that measure the location of the alignment points and / or body contours Check scanning techniques (DE 44 18 216 A1, EP 0 630 610 A1, DE 44 21 316 A1 and EP 0 753 285 A1).

Problem und LösungProblem and solution

Der im Patentanspruch 1 angegebenen Erfindung liegt das Problem zugrunde, daß der Patient während des Behandlungsvorgangs nicht stilliegt. Alleine durch das Atmen oder durch Schlucken kommt es unvermeintlich zur Bewegung des Brustkorbs bzw. des Halses, wodurch ein Behandlungsobjekt in einem von diesen Regionen sich um bis 10 MM verschieben kann. The specified in claim 1 invention is based on the problem that the patient during of the treatment process does not stand still. It comes from breathing or swallowing alone inconceivable to the movement of the chest or neck, which creates a treatment object in one of these regions can shift by up to 10 MM.  

Dieses Problem wird durch die im Anspruch 1 angeführte automatische wiederholte Positionierung gelöst, indem jede Verschiebung des Behandlungsobjektes automatisch und sofort erkannt wird und eine gegengerichtete Bewegung der Liege auslöst, so daß das Behandlungsobjekt immer im Zentrum des Behandlungsfeldes zurückgebracht wird.This problem is solved by the automatic repetitive positioning mentioned in claim 1 solved by automatically and immediately recognizing each shift of the treatment object and one opposite movement of the couch triggers, so that the treatment object is always in the center of the Treatment field is brought back.

Die mit dieser Erfindung zu erzielende Vorteile bestehen darin, daß die Behandlung z. B. von Krebstumoren gezielter und dadurch mit weniger Strahlenbelastung für das gesunde Gewebe durchgeführt werden kann und daß die Behandlungen in kürzere Zeit und mit weniger Unterbrechungen durchgeführt werden können, wodurch die Behandlung kostengünstigere und qualitativ besser wird.The advantages to be achieved with this invention are that the treatment z. B. from Cancer tumors carried out more specifically and therefore with less radiation exposure to healthy tissue and that the treatments can be carried out in a shorter time and with fewer interruptions can be, which makes the treatment cheaper and better quality.

Technische AusführungTechnical design

Ein Ausführungsbeispiel der Erfindung ist in Fig. 1, 2 und 3 dargestellt und wird im folgenden naher beschrieben.An embodiment of the invention is shown in FIGS. 1, 2 and 3 and will be described in more detail below.

Die hierin enthaltene Morphing-Technik soll nur das Prinzip anschaulich machen. Je nach Rechnerkapazität können beliebig komplizierte Algorithmen implementiert werden.The morphing technique contained here is only intended to illustrate the principle. Depending on Computing algorithms of any complexity can be implemented.

Das System besteht aus zwei oder mehr CCD-Kameras über ein Behandlungstisch mit eine durch Servomotoren in mindesten 3 Freiheitsgrade verschieb- und verdrehbare Liegefläche sowie aus den zur Kamera und Tisch jeweils passenden Bildverarbeitungs- und Steuerungshardware. Vollständigkeitshalber gehört auch eine Behandlungseinheit sowie ein Patient zum System.The system consists of two or more CCD cameras over a treatment table with one through Servomotors with at least 3 degrees of freedom that can be moved and rotated as well as from the Suitable image processing and control hardware for camera and table. For completeness a treatment center and a patient also belong to the system.

Über dem Behandlungstisch werden die CCD-Kameras so befestigt, daß die optisch erkennbare Ausrichtungspunkte am Patient im Blickfeld des jeweiligen Kameras fallen. Die räumliche Position und Orientierung der einzelnen Kameras im Bezug auf einem festen Basiskoordinatensystem muß durch das Vermessen oder durch die Verwendung von Standardbefestigungsvorrichtungen definiert sein.The CCD cameras are attached above the treatment table in such a way that the optically recognizable ones Alignment points on the patient fall in the field of view of the respective camera. The spatial position and Orientation of the individual cameras in relation to a fixed base coordinate system must be done by the Measured or defined using standard fasteners.

Durch automatische Bildverarbeitung werden die Koordinaten der Ausrichtungspunkte in den jeweiligen Bildkoordinatensystemen (2-D) bestimmt. Da die räumliche Relationen der Kameras zum Raum und damit auch zueinander bekannt sind, kann aus den 2-D Bild-Informationen die Position des einzelnen Ausrichtungspunktes im Bezug auf dem dreidimensionellen Basiskoordinatensystem errechnet werden (Stereometrie).Through automatic image processing, the coordinates of the alignment points in the respective Image coordinate systems (2-D) determined. Because the spatial relations of the cameras to the room and The position of the individual can thus be known to one another from the 2-D image information Alignment point can be calculated in relation to the three-dimensional base coordinate system (Stereometry).

Dieses Ergebnis der Bildverarbeitung wird nun weitergeleitet an einem Analysemodul, wo die Positionsveränderung der einzelnen Ausrichtungspunkte zu den bei der Probeaufstellung ermittelten Soll-Positionen aber auch zu einander analysiert wird. Es wird dabei die matematische Transformationsvorschrift (Translation, Rotation und Verzerrung) gesucht, die die Ist-Positionen zur best möglichen Deckung mit den Soll-Positionen bringt. Mit diesem Morphing-Technik wird also die generelle Verschiebung sowie die evtl. Deformation des Behandlungsgebiets ermittelt. Mit Hilfe eines matematischen Gewebe-Models kann schließlich die Transformation des Behandlungsobjektes (z. B. Krebstumor) von der des Behandlungsgebiets abgeleitet werden.This result of the image processing is now forwarded to an analysis module, where the Change in position of the individual alignment points to those determined during the trial installation Target positions are also analyzed to each other. It becomes the mathematical one Transformation rule (translation, rotation and distortion) sought, which the actual positions to the best possible coverage with the target positions. With this morphing technique, the general Displacement and the possible deformation of the treatment area determined. With help of a Finally, the transformation of the treatment object (e.g. Cancer tumor) from that of the treatment area.

Die jederzeit ermittelte Transformation des Behandlungsobjektes beschreibt die momentane Positions- und Orientierungsfehler des Behandlungsobjektes, die es zu minimieren gilt. Aus der Transformationsvorschrift wird deshalb nun die Steuersignale für die einzelne Servomotoren der Liege berechnet, so daß die Liegefläche mit dem Patient das Behandlungsobjekt zurück in sein Soll-Position bringt.The transformation of the treatment object determined at any time describes the current position and Orientation errors of the treatment object that need to be minimized. From the The control signal for the individual servomotors of the bed is now the transformation rule calculated so that the lying surface with the patient returns the treatment object to its target position brings.

Der oben beschriebene Vorgang soll im Sekundentakt oder besser Zehntelsekundentakt wiederholt werden um schnell auch auf kurzfristige Bewegungen wie Atembewegungen reagieren zu können.The process described above should be repeated every second or better a tenth of a second in order to be able to react quickly to short-term movements such as breathing movements.

Es sind diverse Varianten und/oder Erweiterungen der Funktionalität denkbar. Z.B. kann anstatt das Tisch die Behandlungseinheit (z. B. Strahlungsgeber) positioniert werden. Neurale Netzwerke können in den Morphing-Prozeß eingesetzt werden und/oder bei der Bestimmung von physikalischen Zusammenhängen zwischen den Ausrichtungspunkte am Haut des Patientens und das Behandlungsobjekt im Körperinneren. Das Tisch könnte auch mit noch mehr Freiheitsgrade versehen werden oder in mehrere voneinander unabhängig bewegliche Segmente aufgeteilt werden.Various variants and / or extensions of the functionality are conceivable. E.g. can instead of the table the treatment center (e.g. radiation transmitter) can be positioned. Neural networks can be found in the Morphing process are used and / or in the determination of physical relationships between the alignment points on the patient's skin and the treatment object inside the body. The table could also be provided with even more degrees of freedom or in several of them independently movable segments can be divided.

Claims (1)

Verfahren zur automatischen Positionierung eines Patients relativ zum Behandlungseinheit mit Hilfe von CCD-Kameras und rechnergestützten Morphing-Technik dadurch gekennzeichnet, daß die Positionierung in Echt-Zeit wiederholt während des gesamten Behandlungsvorgang stattfindet, so daß das Behandlungsobjekt (z. B. Krebsgeschwulst) sich stets in einer feste Position befindet (z. B. zentral im Bestrahlungsfeld).Method for automatic positioning of a patient relative to the treatment unit with the aid of CCD cameras and computer-aided morphing technology, characterized in that the positioning takes place repeatedly in real time during the entire treatment process, so that the object to be treated (e.g. cancerous tumor) is always present in a fixed position (e.g. centrally in the radiation field).
DE19728788A 1997-07-05 1997-07-05 Position control of medical treatment table Withdrawn DE19728788A1 (en)

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DE19728788A DE19728788A1 (en) 1997-07-05 1997-07-05 Position control of medical treatment table

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19908903A1 (en) * 1999-03-02 2000-09-14 Deutsches Krebsforsch Localization unit for imaging and positioning devices
DE19916623A1 (en) * 1999-04-13 2000-11-30 Lorenz Smekal Device for recording sectional images through a human or animal body
DE19953177A1 (en) * 1999-11-04 2001-06-21 Brainlab Ag Method to position patient exactly for radiation therapy or surgery; involves comparing positions in landmarks in X-ray image and reconstructed image date, to determine positioning errors
WO2001076692A1 (en) * 2000-04-11 2001-10-18 Oncology Automation, Inc. Positioning systems and related methods
WO2002074500A2 (en) * 2001-03-02 2002-09-26 Wahrburg Juergen Device for display of the spatial position of a surgical instrument during an operation
WO2003053520A2 (en) 2001-12-12 2003-07-03 Medical Intelligence Medizintechnik Gmbh Radiotherapy system
EP1342488A3 (en) * 2002-03-07 2004-02-04 Siemens Aktiengesellschaft Method and device for repeated relative repositioning of a patient
GB2418495A (en) * 2004-09-24 2006-03-29 Vision Rt Ltd Image processing system for use with a patient postioning device
GB2436424A (en) * 2006-02-28 2007-09-26 Elekta Ab A reference phantom for a CT scanner
EP1874388A2 (en) * 2005-04-13 2008-01-09 University of Maryland, Baltimore Techniques for compensating movement of a treatment target in a patient
WO2008041092A2 (en) * 2006-10-05 2008-04-10 Sala, Remo Patient positioning and moving system for radiotherapy
EP1955734A1 (en) * 2007-02-06 2008-08-13 Siemens Schweiz AG Device for positioning a breathing person
EP2145650A1 (en) * 2001-08-24 2010-01-20 Mitsubishi Heavy Industries, Ltd. Radiation treatment apparatus
US7672429B2 (en) 2006-03-10 2010-03-02 Mitsubishi Heavy Industries, Ltd. Radiotherapy device control apparatus and radiation irradiation method
US8747382B2 (en) 2005-04-13 2014-06-10 University Of Maryland, Baltimore Techniques for compensating movement of a treatment target in a patient
DE102004004604B4 (en) * 2004-01-29 2016-12-29 Siemens Healthcare Gmbh Method and imaging system for compensating patient motion during continuous shooting in medical imaging
CN108325093A (en) * 2017-09-06 2018-07-27 睿谱外科系统股份有限公司 The integrated control radiosurgery systems of self-shileding
WO2019050551A1 (en) * 2017-09-06 2019-03-14 Zap Surgical Systems, Inc. Self-shielded, integrated-control radiosurgery system
US10702715B2 (en) 2016-11-15 2020-07-07 Reflexion Medical, Inc. Radiation therapy patient platform
US11058892B2 (en) 2017-05-05 2021-07-13 Zap Surgical Systems, Inc. Revolving radiation collimator
US11684446B2 (en) 2019-02-27 2023-06-27 Zap Surgical Systems, Inc. Device for radiosurgical treatment of uterine fibroids

Cited By (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19908903A1 (en) * 1999-03-02 2000-09-14 Deutsches Krebsforsch Localization unit for imaging and positioning devices
DE19908903C2 (en) * 1999-03-02 2001-04-26 Deutsches Krebsforsch Localization unit for imaging and positioning devices, their use and adapter module
DE19916623A1 (en) * 1999-04-13 2000-11-30 Lorenz Smekal Device for recording sectional images through a human or animal body
US6516046B1 (en) 1999-11-04 2003-02-04 Brainlab Ag Exact patient positioning by compairing reconstructed x-ray images and linac x-ray images
DE19953177A1 (en) * 1999-11-04 2001-06-21 Brainlab Ag Method to position patient exactly for radiation therapy or surgery; involves comparing positions in landmarks in X-ray image and reconstructed image date, to determine positioning errors
WO2001076692A1 (en) * 2000-04-11 2001-10-18 Oncology Automation, Inc. Positioning systems and related methods
US6956196B2 (en) 2000-04-11 2005-10-18 Oncology Automation, Inc. Systems for maintaining the spatial position of an object and related methods
WO2002074500A2 (en) * 2001-03-02 2002-09-26 Wahrburg Juergen Device for display of the spatial position of a surgical instrument during an operation
WO2002074500A3 (en) * 2001-03-02 2003-09-18 Juergen Wahrburg Device for display of the spatial position of a surgical instrument during an operation
EP2145650A1 (en) * 2001-08-24 2010-01-20 Mitsubishi Heavy Industries, Ltd. Radiation treatment apparatus
WO2003053520A2 (en) 2001-12-12 2003-07-03 Medical Intelligence Medizintechnik Gmbh Radiotherapy system
EP1342488A3 (en) * 2002-03-07 2004-02-04 Siemens Aktiengesellschaft Method and device for repeated relative repositioning of a patient
US7343189B2 (en) 2002-03-07 2008-03-11 Siemens Aktiengesellschaft Method and device for placing a patient repeatedly into the same relative position
DE102004004604B4 (en) * 2004-01-29 2016-12-29 Siemens Healthcare Gmbh Method and imaging system for compensating patient motion during continuous shooting in medical imaging
GB2418495A (en) * 2004-09-24 2006-03-29 Vision Rt Ltd Image processing system for use with a patient postioning device
US7348974B2 (en) 2004-09-24 2008-03-25 Vision Rt Limited Image processing system for use with a patient positioning device
GB2418495B (en) * 2004-09-24 2010-04-28 Vision Rt Ltd Image processing system for use with a patient positioning device
GB2465297A (en) * 2004-09-24 2010-05-19 Vision Rt Ltd Generating control instructions for a mechanical couch
GB2465297B (en) * 2004-09-24 2010-07-21 Vision Rt Ltd Image processing system for use with a patient positioning device
EP1874388A2 (en) * 2005-04-13 2008-01-09 University of Maryland, Baltimore Techniques for compensating movement of a treatment target in a patient
EP1874388A4 (en) * 2005-04-13 2011-09-07 Univ Maryland Techniques for compensating movement of a treatment target in a patient
US8747382B2 (en) 2005-04-13 2014-06-10 University Of Maryland, Baltimore Techniques for compensating movement of a treatment target in a patient
GB2436424A (en) * 2006-02-28 2007-09-26 Elekta Ab A reference phantom for a CT scanner
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