UTILIZATION OF A TRANSPORTABLE CT-SCANNER FOR RADIOTHERAPY PROCEDURES

Abstract

The present application relates to a data processing system and method for determining the position of a soft tissue body part within a patient's body. The data processing method includes acquiring CT-image data including information about the position of the body part within a coordinate system assigned to a transportable CT-device, wherein the patient's body is positioned relative to the treatment device, and wherein the CT-device is configured to be positioned relative to the patient's body and/or relative to the treatment device, acquiring first transformation data including information about a first transformation between the coordinate system assigned to the CT-device and a coordinate system assigned to the treatment device, and determining, based on the CT-image data and the first transformation data, position data including information about the position of the body part within the coordinate system assigned to the treatment device.

Claims

1. A system for determining a position of a soft tissue body part within a patient's body, which is to be treated by radiotherapy with a treatment beam arrangement of at least one position of a treatment beam issued by a treatment device, the system comprising: a treatment device configured to issue the treatment beam arrangement; a patient couch configured to support a patient's body during radiotherapy; a transportable computed tomography device (CT-device) having an undercarriage by which the CT-device can be freely moved in two dimensions on a floor of a medical treatment area, the CT-device being configured to be transported to a radiotherapy treatment site, to be moved relative to the treatment device and/or the patient couch, and to acquire computed tomography image (CT-image) data of the patient's body; and a guiding unit configured to guide the CT-device along a path between a first position of the CT-device and a second position of the CT-device allowing for acquiring the CT-image data.

2. (canceled)

3. (canceled)

4. The system according to claim 1, wherein the guiding unit comprises at least one element selected from the group consisting of: an induction loop defining a guiding path; a sensor device assigned to the CT-device and configured to detect markings that define the guiding path; a transmitter emitting electromagnetic radiation, and a complementary receiver receiving the electromagnetic radiation, wherein the transmitter or the receiver is mounted to the CT-device, allowing the guiding unit to determine the path to the second position; and a mechanical coupling defining a coupling position of the CT-device with respect to the treatment device.

5. The system according to claim 1, further comprising: a computer comprising at least one processor configured to execute program instructions to determine the position of the soft tissue body part within the patient's body by: acquiring, at the at least one processor, CT-image data comprising information about the position of the soft tissue body part within a coordinate system assigned to the transportable CT-device having the undercarriage by which the CT-device can be freely moved in two dimensions on the floor of the medical treatment area, wherein the patient's body is positioned in a treatment position relative to the treatment device, and wherein the CT-device is configured to be positioned relative to the patient's body and/or relative to the treatment device; acquiring, at the at least one processor, first transformation data comprising information about a first transformation between the coordinate system assigned to the CT-device and a coordinate system assigned to the treatment device, wherein acquiring first transformation data includes using the guiding unit configured to guide the CT-device along the path between the first position of the CT-device and the second position of the CT-device allowing for acquiring the CT-image data; and determining, by the at least one processor and based on the CT-image data and the first transformation data, position data comprising information about the position of the soft tissue body part within the coordinate system assigned to the treatment device.

6. The system according to claim 5, further comprising at least one element selected from the group consisting of: a repositioning unit configured to reposition the patient couch, the treatment device and/or the transportable CT-device so as to reach a spatial arrangement allowing for acquiring CT-image data; a positioning imaging device assigned to the treatment device, and provided in a known spatial position relative to the treatment device; a position detection unit configured to determine a spatial position of the CT-device with respect to the treatment device; and the guiding unit further configured to determine the spatial position of the CT-device with respect to the treatment device and/or wherein the second position is predefined with respect to the treatment device.

7. The system according to claim 6, wherein the computer comprising the at least one processor configured to execute the program instructions to determine the position of the soft tissue body part within the patient's body further comprises: acquiring, at the at least one processor, imaging-arrangement data including information about a spatial arrangement of the soft tissue body part, the treatment device and the transportable CT-device, the spatial arrangement allowing for acquiring CT-image data of the soft tissue body part with the patient's body positioned on the patient couch of the treatment device; acquiring, at the at least one processor, current-arrangement data including information about a current spatial arrangement of the soft tissue body part, the treatment device and the transportable CT-device; and determining, by the at least one processor and based on the imaging-arrangement data and the current-arrangement data, rearrangement data including information about a rearrangement of the soft tissue body part, the treatment device and/or the transportable CT-device, to reach the spatial arrangement allowing for acquiring CT-image data.

8. The system according to claim 6, wherein acquiring first transformation data includes using the position detection unit configured to determine the spatial position of the CT-device with respect to the treatment device, wherein the position detection unit comprises at least one element selected from the group consisting of: an optical tracking system; an electromagnetic tracking (EM-tracking) system; an ultrasound tracking system; a sensor assigned to an actuating element configured to induce a transport movement of the CT-device, the sensor being configured to determine a current position of the actuating element relative to a known initial position of the actuating element; a sensor device assigned to the CT-device and configured to detect markings that define a guiding path; and a tracking system comprising a 3D-range camera configured to determine three-dimensional surface structure.

9. The system according to claim 6, wherein the computer comprising the at least one processor configured to execute the program instructions to determine the position of the soft tissue body part within the patient's body further comprises: acquiring, at the at least one processor, positioning-image data comprising information about the position of the soft tissue body part within the coordinate system assigned to the treatment device; and determining, based on the positioning-image data and the CT-image data, the first transformation data, wherein the positioning imaging device assigned to the treatment device is used to acquire the positioning-image data, wherein the positioning-image data is registered with the CT-image data.

10. The system according to claim 9, wherein the computer comprising the at least one processor configured to execute the program instructions to determine the position of the soft tissue body part within the patient's body, and to further determine a consistency of registration of the soft tissue body part within the patient's body, comprises: acquiring, at the at least one processor and with the patient's body taking a position being different from a treatment position relative to the treatment device, planning computed tomography image (planning-CT image) data comprising information about the position of the soft tissue body part; acquiring, at the at least one processor, second transformation data comprising information about a second transformation between the coordinate system assigned to the planning-CT image data and the coordinate system assigned to the treatment device; and determining, by the at least one processor and based on the second transformation data, the planning-CT image data and the CT-image data, consistency data comprising information about whether positional registration of the soft tissue body part based on the planning-CT image data is valid for the patient's body taking the treatment position relative to the treatment device.

11. The system according to claim 10, wherein acquiring the second transformation data includes: registering the positioning-image data with the planning-CT image data, or registering the CT-image data with the planning-CT image data, wherein registering image data includes an elastic image fusion.

12. The system according to claim 10, wherein the computer comprising the at least one processor configured to execute the program instructions to determine the position of the soft tissue body part within the patient's body, and to further determine the consistency of registration of the soft tissue body part within the patient's body, comprises: acquiring, at the at least one processor, treatment constraints data comprising information about treatment constraints for radiotherapy of the body part with the treatment beam arrangement, the treatment constraints being defined on the basis of the planning-CT image data; and determining, by the at least one processor and based on the treatment constraints data and the consistency data, constraint consistency data comprising information about whether the treatment constraints are fulfilled for the patient's body taking the treatment position relative to the treatment device.

13. A system for determining a position of a soft tissue body part within a patient's body, which is to be treated by radiotherapy with a treatment beam arrangement of at least one position of a treatment beam issued by a treatment device, the system comprising: a treatment device configured to issue the treatment beam arrangement; a patient couch configured to support a patient's body during radiotherapy; a transportable computed tomography device (CT-device) having an undercarriage by which the CT-device can be freely moved in two dimensions on a floor of a medical treatment area, the CT-device being configured to be transported to a radiotherapy treatment site, to be moved relative to the treatment device and/or the patient couch, and to acquire computed tomography image (CT-image) data of the patient's body; and a position detection unit configured to determine a spatial position of the CT-device with respect to the treatment device.

14. The system according to claim 13, wherein the position detection unit comprises at least one element selected from the group consisting of: an optical tracking system; an electromagnetic tracking (EM-tracking) system; an ultrasound tracking system; a sensor assigned to an actuating element configured to induce a transport movement of the CT-device, the sensor being configured to determine a current position of the actuating element relative to a known initial position of the actuating element; a sensor device assigned to the CT-device and configured to detect markings that define a guiding path; and a tracking system comprising a 3D-range camera configured to determine three-dimensional surface structure.

15. The system according to claim 13, further comprising: a computer comprising at least one processor configured to execute program instructions to determine the position of the soft tissue body part within the patient's body by: acquiring, at the at least one processor, CT-image data comprising information about the position of the soft tissue body part within a coordinate system assigned to the transportable CT-device having the undercarriage by which the CT-device can be freely moved in two dimensions on the floor of the medical treatment area, wherein the patient's body is positioned in a treatment position relative to the treatment device, and wherein the CT-device is configured to be positioned relative to the patient's body and/or relative to the treatment device; acquiring, at the at least one processor, first transformation data comprising information about a first transformation between the coordinate system assigned to the CT-device and a coordinate system assigned to the treatment device, wherein acquiring first transformation data includes using the position detection unit configured to determine the spatial position of the CT-device with respect to the treatment device; and determining, by the at least one processor and based on the CT-image data and the first transformation data, position data comprising information about the position of the soft tissue body part within the coordinate system assigned to the treatment device.

16. The system according to claim 15, further comprising at least one element selected from the group consisting of: a repositioning unit configured to reposition the patient couch, the treatment device and/or the transportable CT-device so as to reach a spatial arrangement allowing for acquiring CT-image data; a guiding unit configured to guide the CT-device along a path between a first position of the CT-device and a second position of the CT-device allowing for acquiring the CT-image data, wherein the guiding unit is configured to determine the spatial position of the CT-device with respect to the treatment device, and/or wherein the second position is predefined with respect to the treatment device; and a positioning imaging device assigned to the treatment device, and provided in a known spatial position relative to the treatment device.

17. The system according to claim 16, wherein the computer comprising the at least one processor configured to execute the program instructions to determine the position of the soft tissue body part within the patient's body further comprises: acquiring, at the at least one processor, imaging-arrangement data including information about a spatial arrangement of the soft tissue body part, the treatment device and the transportable CT-device, the spatial arrangement allowing for acquiring CT-image data of the soft tissue body part with the patient's body positioned on the patient couch of the treatment device; acquiring, at the at least one processor, current-arrangement data including information about a current spatial arrangement of the soft tissue body part, the treatment device and the transportable CT-device; and determining, by the at least one processor and based on the imaging-arrangement data and the current-arrangement data, rearrangement data including information about a rearrangement of the soft tissue body part, the treatment device and/or the transportable CT-device, to reach the spatial arrangement allowing for acquiring CT-image data.

18. The system according to claim 16, wherein acquiring first transformation data includes using the guiding unit configured to guide the CT-device along the path between the first position of the CT-device and the second position of the CT-device allowing for acquiring the CT-image data, wherein the guiding unit is configured to determine the spatial position of the CT-device with respect to the treatment device, and wherein the second position is predefined with respect to the treatment device, the guiding unit comprises at least one element selected from the group consisting of: an induction loop defining the guiding path; a sensor device assigned to the CT-device and configured to detect markings that define the guiding path; a transmitter emitting electromagnetic radiation, and a complementary receiver receiving the electromagnetic radiation, wherein the transmitter or the receiver is mounted to the CT-device, allowing the guiding unit to determine the path to the second position; and a mechanical coupling defining a coupling position of the CT-device with respect to the treatment device.

19. The system according to claim 16, wherein the computer comprising the at least one processor configured to execute the program instructions to determine the position of the soft tissue body part within the patient's body further comprises: acquiring, at the at least one processor, positioning-image data comprising information about the position of the soft tissue body part within the coordinate system assigned to the treatment device; and determining, based on the positioning-image data and the CT-image data, the first transformation data, wherein the positioning imaging device assigned to the treatment device is used to acquire the positioning-image data, wherein the positioning-image data is registered with the CT-image data.

20. The system according to claim 19, wherein the computer comprising the at least one processor configured to execute the program instructions to determine the position of the soft tissue body part within the patient's body, and to further determine a consistency of registration of the soft tissue body part within the patient's body, comprises: acquiring, at the at least one processor and with the patient's body taking a position being different from a treatment position relative to the treatment device, planning computed tomography image (planning-CT image) data comprising information about the position of the soft tissue body part; acquiring, at the at least one processor, second transformation data comprising information about a second transformation between the coordinate system assigned to the planning-CT image data and the coordinate system assigned to the treatment device; and determining, by the at least one processor and based on the second transformation data, the planning-CT image data and the CT-image data, consistency data comprising information about whether positional registration of the soft tissue body part based on the planning-CT image data is valid for the patient's body taking the treatment position relative to the treatment device.

21. The system according to claim 20, wherein acquiring the second transformation data includes: registering the positioning-image data with the planning-CT image data, or registering the CT-image data with the planning-CT image data, wherein registering image data includes an elastic image fusion.

22. The system according to claim 20, wherein the computer comprising the at least one processor configured to execute the program instructions to determine the position of the soft tissue body part within the patient's body, and to further determine a consistency of registration of the soft tissue body part within the patient's body, comprises: acquiring, at the at least one processor, treatment constraints data comprising information about treatment constraints for radiotherapy of the body part with the treatment beam arrangement, the treatment constraints being defined on the basis of the planning-CT image data; and determining, by the at least one processor and based on the treatment constraints data and the consistency data, constraint consistency data comprising information about whether the treatment constraints are fulfilled for the patient's body taking the treatment position relative to the treatment device.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0075] In the following, the invention is described with reference to the enclosed figures which represent preferred embodiments of the invention. The scope of the invention is not however limited to the specific features disclosed in the figures, which show:

[0076] FIG. 1 shows a system according to the present invention comprising a treatment device, a patient couch and a transportable CT-device;

[0077] FIG. 2 shows a first example of a process sequence according to the present invention;

[0078] FIG. 3 shows a second example of a process sequence in accordance with the present invention.

DETAILED DESCRIPTION

[0079] FIG. 1 shows a radiotherapy system in accordance with the present invention comprising a transportable, i.e. freely movable CT-scanner 3. The radiotherapy system further comprises a conventional treatment device 1 comprising a linear accelerator (LINAC) emitting a treatment beam which is to irradiate a target within a patient's body lying on the treatment couch 2 of the treatment device 1.

[0080] In case updated CT-images have to be acquired with a patient lying on the patient couch 2, particularly right before or after a target of the patient's body is irradiated, the patient couch is rotated around a vertical axis to a position shown in FIG. 1. To gain maneuvering space for the circular gantry of the transportable CT-device 3, the accelerator head of the treatment device 1 can be tilted, as this is shown in FIG. 1, away from the location the CT-device 3 is planned to be positioned for acquiring CT-images of the patient. Moreover, the patient couch 2 can be moved relative to its base and away from the accelerator head of the treatment device 1.

[0081] After the treatment device 1 and the patient couch 2 are positioned to allow the CT-device to take at least one CT-image of the patient, the CT-device 3 is moved to a predetermined position relative to the treatment device 1 and the patient couch 2. For this purpose, an induction loop defines a predetermined path from an initial parking position (not shown in FIG. 1) in which the CT-device 2 can be manually brought by medical personnel after it has been used elsewhere. Starting from that parking position, the CT-device automatically moves along the path defined by an induction loop 4 of a guiding unit to its final position next to the patient couch 2.

[0082] Further, the system comprises an optical tracking system 6 having a camera array configured to identify the optical tracking markers 8 which are attached to the gantry of the CT-device 3. Since the camera array is provided in a predetermined positional arrangement relative to the treatment device 1, the position of the tracking markers 8 and therefore also the position of the CT-device 3 can be determined relative to the treatment device 1. Based on this relative position, any positional data derived from images acquired by the CT-device 3 can then be transformed into the coordinate system of the treatment device 1.

[0083] In the alternative, the induction loop 4 may be for example replaced by an array of optical tracking markers that would allow a tracking camera mounted to the CT-device to accurately determine the position of the CT-device 3 relative to the treatment device 1.

[0084] Provided that this relative position can be determined by the guiding unit with sufficient accuracy, the optical tracking system 6 may be omitted, but may also remain as a redundant system for determining the position of the CT-device 3.

[0085] A further possibility to transfer positional data from the coordinate system of the CT-device 3 to the coordinate system of the treatment device 1 is enabled by the positioning imaging device 5 that takes x-ray-images of the patient lying on the treatment couch 2. These x-ray-images have been acquired with respect to the coordinate system of the imaging device 1 and may be registered to the CT-images taken by the CT-device 3. The image registration will then allow for a transformation of any positional data derived from the CT-images into the coordinate system of the treatment device 1.

[0086] Further, the system comprises a computer 7 that provides the computing power necessary to perform the method steps as referred to above, and which is connected via at least one data link with the remaining components of the system shown in FIG. 1. A computer monitor 9 connected to the computer 7 may provide a user interface, that may in particular help medical personnel to manually move (in case it is desired not to use the induction loop 4 to automatically position the CT-device 3) the CT-device 3 next to the patient couch 2 for taking CT-images of the patient.

[0087] FIGS. 2 and 3 show two examples for a process sequence in accordance with the inventive method and are self-explanatory.