Patent Grant
9939130
An embodiment described herein relates to marker systems, and more specifically, to marker systems for use in the medical field.
Radiation therapy involves medical procedures that selectively expose certain areas of a human body, such as cancerous tumors, to high doses of radiation. The intent of the radiation therapy is to irradiate the targeted biological tissue such that the harmful tissue is destroyed. In certain types of radiotherapy, the irradiation volume can be restricted to the size and shape of the tumor or targeted tissue region to avoid inflicting unnecessary radiation damage to healthy tissue. For example, conformal therapy is a radiotherapy technique that is often employed to optimize dose distribution by conforming the treatment volume more closely to the targeted tumor.
Normal physiological movement represents a limitation in the clinical planning and delivery of conventional radiotherapy and conformal therapy. Normal physiological movement, such as respiration or heart motion, can cause a positional movement of the tumor or tissue region undergoing irradiation. If the radiation beam has been shaped to conform the treatment volume to the exact dimensions of a tumor, then movement of that tumor during treatment could result in the radiation beam not being sufficiently sized or shaped to fully cover the targeted tumoral tissue.
To address this problem, the size and/or shape of the radiation beam can be expanded by a “movement margin” (i.e., the predicted movement distance in any direction of the targeted tumor) to maintain full irradiation of the targeted tissue. The drawback to this approach is that this increased irradiation volume results in radiation being applied to otherwise healthy tissue that is located within the area of the expanded volume. In other words, motion during treatment necessitates the application of a radiation field of an expanded size that could negatively affect an unacceptably large volume of normal tissue surrounding the targeted treatment volume.
Another approach to this problem involves physiological gating of the radiation beam during treatment, with the gating signal synchronized to the movement of the patient's body. In this approach, instruments are utilized to measure the physiological state of the patient with reference to the particular physiological movement being examined. For example, respiration has been shown to cause movements in the position of a lung tumor in a patient's body. If radiotherapy is being applied to the lung tumor, then a position sensor or a strain gauge can be attached to the patient to measure the patient's respiration cycle. The radiation beam can be gated based upon certain threshold points within the measured respiratory cycle, such that the radiation beam is disengaged during periods in the respiration cycle that correspond to excessive movement of the lung tumor.
Applicant of the subject application believes that a new method and system for determining a physiological state, such as a breathing amplitude or a breathing phase, of a patient may be desirable.
A marker system includes: a marker block; a first marker coupled to the marker block; and a second marker coupled to the marker block; wherein the first marker and the second marker are configured to emit light from one or more light sources physically coupled to the marker block.
Optionally, the marker system further includes a first fiber optic configured to transmit light from the one or more light sources to the first marker, and a second fiber optic configured to transmit light from the one or more light sources to the second marker.
Optionally, the marker system further includes the one or more light sources.
Optionally, the one or more light sources comprise one LED at a LED unit.
Optionally, the one or more light sources comprise a plurality of LEDs at a LED unit.
Optionally, the one or more light sources are at the marker block.
Optionally, the one or more light sources are coupled to the marker block by an optical fiber cable.
Optionally, the marker system further includes the one or more light sources.
Optionally, the one or more light sources comprise a first LED at the first marker, and a second LED at the second marker.
Optionally, one of the one or more light sources is configured to emit infrared light.
Optionally, one of the one or more light sources is configured to emit light having at least a wavelength of 365 nm.
Optionally, one of the one or more light sources is configured to emit visible light.
Optionally, one of the one or more light sources is configured to emit light having a wavelength that is anywhere from 500 nm to 700 nm.
Optionally, one of the one or more light sources has a half angle that is anywhere between 65° and 75°.
Optionally, one of the one or more light sources is configured to emit light continuously.
Optionally, one of the one or more light sources is configured to emit light in pulses.
Optionally, the first marker and the second marker are detachably coupled to the marker block.
Optionally, the marker system also includes a third marker having a third LED, and wherein the first and the third LEDs have different respective half angles, the first marker is detachably coupled to the marker block at a first location, and the third marker is detachably coupled to the marker block at the first location when the first marker is detached from the marker block.
Optionally, the marker system also includes a camera for receiving light from the first marker and light from the second marker.
Optionally, the camera comprises a first filter for reducing ambient light.
Optionally, the first filter comprises a notch filter.
Optionally, the first filter is configured to reduce the ambient light while allowing at least some of the light from the first marker and at least some of the light from the second marker to transmit therethrough.
Optionally, the first filter is configured to reduce light being imaged by the camera to a bandwidth anywhere within a range of 10 nm to 100 nm.
Optionally, the first filter comprises a bandpass filter.
Optionally, the marker system further includes one or more neutral density filters for reducing ambient light intensity.
Optionally, the camera comprises one or a combination of a bandpass filter, high pass filter, low pass filter, and neutral density filter.
Optionally, the camera comprises one or more filters for reducing ambient light to a level that corresponds with a noise level of the camera while allowing light from the first and second markers to be imaged by the camera.
A marker system includes: a first marker configured to emit light, the first marker having a first base and a first securing mechanism at the first base for detachably securing the first marker to an object; and a second marker configured to emit light, the second marker having a second base and a second securing mechanism at the second base for detachably securing the second marker to the object; wherein the first marker and the second marker are configured to emit light provided from one or more light sources that are physically coupled to the first and second markers.
Optionally, the marker system further includes a first fiber optic for providing light to the first marker, and a second fiber optic for providing light to the second marker, wherein the one or more light sources are physically coupled to the first marker via the first fiber optic, and to the second marker via the second fiber optic.
Optionally, the one or more light sources comprise a first light source and a second light source, and wherein the first marker comprises the first light source coupled to the first base, and the second marker comprises the second light source coupled to the second base.
Optionally, the marker system further includes the one or more light sources.
Optionally, the one or more light sources comprise one or more LEDs.
Optionally, one of the one or more light sources is configured to emit infrared light.
Optionally, one of the one or more light sources is configured to emit light having at least a wavelength of 365 nm.
Optionally, one of the one or more light sources is configured to emit visible light.
Optionally, one of the one or more light sources is configured to emit light having a wavelength that is anywhere from 500 nm to 700 nm.
Optionally, one of the one or more light sources has a half angle that is anywhere between 65° and 75°.
Optionally, one of the one or more light sources is configured to emit light continuously.
Optionally, one of the one or more light sources is configured to emit light in pulses.
Optionally, the first securing mechanism comprises a first adhesive and a first cover covering the first adhesive, and the second securing mechanism comprises a second adhesive and a second cover covering the second adhesive.
Optionally, the marker system further includes a camera for receiving the light emitted from the first marker and the light emitted from the second marker.
Optionally, the camera comprises a first filter for reducing ambient light.
Optionally, the first filter comprises a notch filter.
Optionally, the first filter is configured to reduce the ambient light while allowing at least some of the light from the first marker and at least some of the light from the second marker to transmit therethrough.
Optionally, the first filter is configured to reduce light being imaged by the camera to a bandwidth anywhere within a range of 10 nm to 100 nm.
Optionally, the first filter comprises a bandpass filter.
Optionally, the marker system further includes one or more neutral density filters for reducing ambient light intensity.
Optionally, the camera comprises one or a combination of a bandpass filter, high pass filter, low pass filter, and neutral density filter.
Optionally, the camera comprises one or more filters for reducing ambient light to a level that corresponds with a noise level of the camera while allowing light from the first and second markers to be imaged by the camera.
A marker system comprising: a camera configured for receiving light emitted from a first marker and light emitted from a second marker; wherein the camera comprises one or more filters for reducing ambient light to a level that corresponds with a noise level of the camera while allowing light emitted from the first and second markers to be imaged by the camera.
Optionally, light emitted from the first marker and light emitted from the second marker are generated by one or more LEDs at the first and second markers or coupled to the first and second markers by fiber optics.
Optionally, the one or more filters comprise a notch filter.
Optionally, the one or more filters are configured to reduce light being imaged by the camera to a bandwidth anywhere within a range of 10 nm to 100 nm.
Optionally, the one or more filters comprise a bandpass filter.
Optionally, the one or more filters comprise one or more neutral density filters for reducing ambient light intensity.
Optionally, the camera comprises one or a combination of a bandpass filter, high pass filter, low pass filter, and neutral density filter.
A marker system, includes: a marker block; and a plurality of markers; wherein one of the plurality of markers is configured to absorb light at a first wavelength, and emit light at a second wavelength that is different from the first wavelength.
Optionally, the one of the plurality of markers comprises a fluorescent material.
Optionally, the fluorescent material comprises a TL-0156 fluorophore.
Optionally, the one of the plurality of markers is configured to emit the light at the second wavelength in response to absorbing the light at the first wavelength.
Optionally, the marker system further includes a camera for detecting the light emitted from the one of the plurality of markers.
Optionally, the camera comprises a light source configured to emit light at the first wavelength.
A marker system, includes: a marker block; and a plurality of markers; wherein one of the plurality of markers is configured to absorb light, and to provide an afterglow in response to the absorbed light after the light is absorbed.
A marker system includes: a first marker; and a second marker; wherein the first marker and the second marker are configured to emit light from one or more light sources coupled to the first marker and the second marker; and wherein the first marker and the second marker are configured to emit the light for detection by a camera.
Optionally, the system further includes a first fiber optic configured to transmit light from the one or more light sources to the first marker, and a second fiber optic configured to transmit light from the one or more light sources to the second marker.
Optionally, the system further includes the one or more light sources.
Optionally, the one or more light sources comprise one LED at a LED unit.
Optionally, the one or more light sources comprise a plurality of LEDs at a LED unit.
Optionally, the system further includes a marker block to which the first marker and the second marker are coupled.
Optionally, the system further includes the one or more light sources, wherein the one or more light sources are at the marker block.
Optionally, the system further includes the one or more light sources, wherein the one or more light sources are external to the marker block and are coupled to the marker block by an optical fiber cable.
Optionally, the first marker and the second marker are detachably coupled to the marker block.
Optionally, the first marker comprises a first LED, and the second marker comprises a second LED; wherein the marker system further comprises a third marker having a third LED; and wherein the first and the third LEDs have different respective half angles, the first marker is detachably coupled to the marker block at a first location, and the third marker is detachably coupled to the marker block at the first location when the first marker is detached from the marker block.
Optionally, the system further includes the one or more light sources.
Optionally, the one or more light sources comprise a first LED at the first marker, and a second LED at the second marker.
Optionally, one of the one or more light sources is configured to emit infrared light.
Optionally, one of the one or more light sources is configured to emit light having at least a wavelength of 365 nm.
Optionally, one of the one or more light sources is configured to emit visible light.
Optionally, one of the one or more light sources is configured to emit light having a wavelength that is anywhere from 500 nm to 700 nm.
Optionally, one of the one or more light sources has a half angle that is anywhere between 65° and 75°.
Optionally, one of the one or more light sources is configured to emit light continuously.
Optionally, one of the one or more light sources is configured to emit light in pulses.
Optionally, the system further includes the camera for receiving light from the first marker and light from the second marker.
Optionally, the camera comprises a first filter for reducing ambient light.
Optionally, the first filter comprises a notch filter.
Optionally, the first filter is configured to reduce the ambient light while allowing at least some of the light from the first marker and at least some of the light from the second marker to transmit therethrough.
Optionally, the first filter is configured to reduce light being imaged by the camera to a bandwidth anywhere within a range of 10 nm to 100 nm.
Optionally, the first filter comprises a bandpass filter.
Optionally, the system further includes one or more neutral density filters for reducing ambient light intensity.
Optionally, the camera comprises one or a combination of a bandpass filter, high pass filter, low pass filter, and neutral density filter.
Optionally, the camera comprises one or more filters for reducing ambient light to a level that corresponds with a noise level of the camera while allowing light from the first and second markers to be imaged by the camera.
Optionally, the first marker has a first base and a first securing mechanism at the first base for detachably securing the first marker to an object; and the second marker has a second base and a second securing mechanism at the second base for detachably securing the second marker to the object.
Optionally, the first securing mechanism comprises a first adhesive and a first cover covering the first adhesive, and the second securing mechanism comprises a second adhesive and a second cover covering the second adhesive.
A marker system includes: a camera configured for receiving light emitted from a first marker and light emitted from a second marker; wherein the camera comprises one or more filters for reducing ambient light to a level that corresponds with a noise level of the camera while allowing light emitted from the first and second markers to be imaged by the camera.
Optionally, light emitted from the first marker and light emitted from the second marker are generated by one or more LEDs at the first and second markers or coupled to the first and second markers by fiber optics.
Optionally, the one or more filters comprise a notch filter.
Optionally, the one or more filters are configured to reduce light being imaged by the camera to a bandwidth anywhere within a range of 10 nm to 100 nm.
Optionally, the one or more filters comprise a bandpass filter.
Optionally, the one or more filters comprise one or more neutral density filters for reducing ambient light intensity.
Optionally, the camera comprises one or a combination of a bandpass filter, high pass filter, low pass filter, and neutral density filter.
A method performed using a marker system includes: generating light using one or more light sources; emitting the light at a plurality of markers that are coupled to the light sources; and detecting the light emitted from the plurality of markers using a camera; wherein the act of detecting comprises using one or more filters to reduce ambient light to a level that corresponds with a noise level of the camera while allowing light emitted from the markers to be imaged by the camera.
Optionally, the one or more light sources comprise one or more LEDs.
Optionally, the method further includes transmitting the generated light from the one or more light sources to the plurality of markers.
Optionally, the act of using the one or more filters comprises using a notch filter.
Optionally, the one or more filters are configured to reduce light being imaged by the camera to a bandwidth anywhere within a range of 10 nm to 100 nm.
Optionally, the act of using the one or more filters comprises using a bandpass filter.
Optionally, the act of using the one or more filters comprises using one or more neutral density filters for reducing ambient light intensity.
Optionally, the camera comprises one or a combination of a bandpass filter, high pass filter, low pass filter, and neutral density filter.
Optionally, the method further includes determining a position of an object to which the markers are coupled based at least in part on the detected light, wherein the act of determining the position is performed using a processor.
A marker system includes: a marker block; and a plurality of markers; wherein at least one of the plurality of markers is configured to absorb light at a first wavelength, and emit light at a second wavelength that is different from the first wavelength in response to absorbing the light at the first wavelength.
Optionally, the at least one of the plurality of markers comprises a fluorescent material.
Optionally, the fluorescent material comprises a TL-0156 fluorophore.
Optionally, the system further includes a camera for detecting the light emitted from the at least one of the plurality of markers.
Optionally, the camera comprises a light source configured to emit light at the first wavelength.
Optionally, at least one of the plurality of markers is configured to emit the light at the second wavelength in a form of an afterglow.
Other and further aspects and features will be evident from reading the following detailed description.
The drawings illustrate the design and utility of various features described herein, in which similar elements are referred to by common reference numerals. These drawings are not necessarily drawn to scale. In order to better appreciate how the above-recited and other advantages and objects are obtained, a more particular description will be rendered, which are illustrated in the accompanying drawings. These drawings depict only exemplary features and are not therefore to be considered limiting in the scope of the claims.
Various features are described hereinafter with reference to the figures. It should be noted that the figures are not drawn to scale and that the elements of similar structures or functions are represented by like reference numerals throughout the figures. It should be noted that the figures are only intended to facilitate the description of the features. They are not intended as an exhaustive description of the claimed invention or as a limitation on the scope of the claimed invention. In addition, an illustrated feature needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular feature is not necessarily limited to that feature and can be practiced in any other features even if not so illustrated.
Radiation System
In the illustrated embodiments, the radiation source 20 is a treatment radiation source for providing treatment energy. In other embodiments, the radiation source 20 may be a diagnostic radiation source for providing diagnostic energy (e.g., energy that is suitable for generating an image). In further embodiments, the radiation source 20 can be configured to selectively provide treatment energy and diagnostic energy. In some embodiments, the treatment energy is generally those energies of 160 kilo-electron-volts (keV) or greater, and more typically 1 mega-electron-volts (MeV) or greater, and diagnostic energy is generally those energies below the high energy range, and more typically below 160 keV. In other embodiments, the treatment energy and the diagnostic energy can have other energy levels, and refer to energies that are used for treatment and diagnostic purposes, respectively. In some embodiments, the radiation source 20 is able to generate X-ray radiation at a plurality of photon energy levels within a range anywhere between approximately 10 keV and approximately 20 MeV.
The control system 18 includes a processor 54, such as a computer processor, coupled to a source rotation control 40. The control system 18 may also include a monitor 56 for displaying data and an input device 58, such as a keyboard or a mouse, for inputting data. During a scan to acquire x-ray projection data (e.g., cone beam CT image data), the source 20 rotates about the patient 16. The rotation of the source 20 and the operation of the radiation source 20 are controlled by the source rotation control 40, which provides power and timing signals to the radiation source 20 and controls a rotational speed and position of the source 20 based on signals received from the processor 54. Although the control 40 is shown as a separate component from the gantry 12 and the processor 54, in alternative embodiments, the control 40 can be a part of the gantry 12 or the processor 54.
In some embodiments, the system 10 may be a treatment system configured to deliver treatment radiation beam towards the patient 16 at different gantry angles. During a treatment procedure, the source 20 rotates around the patient 16 and delivers treatment radiation beam from different gantry angles towards the patient 16. While the source 20 is at different gantry angles, the collimator 21 is operated to change the shape of the beam to correspond with a shape of the target tissue structure. For example, the collimator 21 may be operated so that the shape of the beam is similar to a cross sectional shape of the target tissue structure. In another example, the collimator 21 may be operated so that different portions of the target tissue structure receive different amount of radiation (as in an IMRT procedure).
In other embodiments, the system 10 may be an imaging system. In such cases, the collimator 21 may not be needed. During a radiation imaging procedure, the radiation source 20 generates and directs an x-ray beam towards the patient 16, while the detector 24 measures the x-ray absorption at a plurality of transmission paths defined by the x-ray beam during the process. The detector 24 produces a voltage proportional to the intensity of incident x-rays, and the voltage is read and digitized for subsequent processing in a computer. After image data at different gantry angles have been collected, the collected data are processed for reconstruction of a matrix (CT image), which constitutes a depiction of a density function of the bodily section being examined. By considering one or more of such sections, a skilled diagnostician can often diagnose various bodily ailments. In some cases, the one or more sections can also be used to perform treatment planning.
As shown in the figure, the radiation system 10 is used with a marker system 200 that includes a marker block 202 and a camera 204. The camera 204 is coupled to the processor 54, which in accordance with some embodiments, may be a part of the marker system 200. Alternatively, instead of the processor 54, the camera 204 may be coupled to another processor (not shown). Also, in other embodiments, the marker system 200 may not include the camera 204. During use, the marker block 202 is coupled to the patient 16 (e.g., placed on the patient's chest, abdomen, or another body part), and the camera 204 is used to view the marker block 202. The camera 204 transmits image data to the processor 54, which processes the image data to determine a position and/or orientation of the marker block 202.
As shown in the figure, four lasers 60a-60d are positioned adjacent to the system 10. The lasers 60a-60d are configured to generate respective laser beams 62a-62d, which may be used to align the marker block 202 (and therefore, the patient 16) at a desired location. In the illustrated embodiments, lasers 60a, 60b are configured to generate and project laser beams 62a, 62b from opposite sides of the marker block 202, laser 60c is configured to generate and project laser beam 62c from above the marker block 202, and laser 60d is configured to generate and project laser beam 62d downwardly at an angle onto the marker block 202. In other embodiments, the lasers 60 may be configured to project the laser beams 62 from other directions. Each laser 60 may be mounted to any structure, such as a wall, a ceiling, a patient support, or another device. Although four lasers 60 are shown, in other embodiments, more or less than four lasers 60 may be used. For example, in other embodiments, only lasers 60a-60c are used.
Marker System
The marker block 202 includes a plurality of markers 208. Each marker 208 is configured to emit light. In the illustrated embodiments, each marker 208 includes a LED configured for emitting light. In some embodiments, each LED is configured to emit infrared light. In other embodiments, each LED is configured to emit visible light. In further embodiments, each LED may be configured to emit ultraviolet (UV) light. Also, in other embodiments, each LED may be configured for emitting light in different spectrums.
In some cases, each LED is configured to emit light having at least a wavelength of 890 nm (e.g., center wavelength of 890 nm). Also, in some embodiments, each LED is configured to emit light having a wavelength that is anywhere from 500 nm to 700 nm. In further embodiments, each LED is configured to emit light having a center wavelength of 365 nm.
In some embodiments, each LED has a half angle that is anywhere between 60° and 80°, and more preferably, anywhere between 65° and 75°, such as 70° (corresponding to full angle of ±70°). Each LED may be configured to emit light continuously, or in pulses. Emitting light in pulses may reduce an amount of energy required to operate the light source. In some embodiments, the markers 208 are fixedly coupled to the marker block 202. In other embodiments, the markers 208 are detachably coupled to the marker block 202. Also, in some embodiments, there may be a plurality of markers 208 with respective LEDs having different half angles. In such cases, certain markers 208 with LEDs having a desired half angle may be selectively chosen for detachably coupling to the marker block 202.
The camera 204 is configured for receiving light from the LEDs of the markers 208. In some embodiments, the camera 204 may include a filter system 209 that includes one or more filters for reducing ambient light. For example, in some embodiments, the camera 204 may include one or a combination of a notch filter, a high pass filter, a low pass filter, and a bandpass filter. In some cases, the filter(s) is configured to reduce ambient light while allowing at least some of the light from the LEDs of the markers 208 to transmit therethrough. For example, in some embodiments, the camera 204 includes one or more filters for reducing ambient light to a level that corresponds with a noise level of the camera 204 while allowing light from the LEDs of the markers 208 to be imaged by the camera 204. In further embodiments, the camera 204 may include one or more neutral density filters for reducing ambient light intensity. In still further embodiments, the camera 204 may include one or a combination of a bandpass filter, high pass filter, low pass filter, and neutral density filter. In other embodiments, the camera 204 may not include the filter system 209. For example, in other embodiments, the camera 204 may not include any notch filter, high pass filter, low pass filter, bandpass filter, and/or neutral density filter.
In some embodiments, the filter(s) may be configured to reduce light being imaged by the camera to a bandwidth anywhere within a range of 10 nm to 100 nm. Also, in some embodiments, the filter system 209 may include a narrow bandpass filter centered around the LED wavelength. For example, in some cases, the filter may have a passband of 10 nm, or any of other values. This ensures that only the LED emittance is visible in the camera image. Furthermore, in some embodiments, the filter system 209 may be configured to completely eliminate all light in the background while allowing only led light to be detected by the camera 204.
In some embodiments, the camera 204 may be a charge-couple device (“CCD”) camera having one or more photoelectric cathodes and one or more CCD devices. A CCD device is a semiconductor device that can store charge in local areas, and upon appropriate control signals, transfers that charge to a readout point. When light photons from the scene to be images are focused on the photoelectric cathodes, electrons are liberated in proportion to light intensity received at the camera. The electrons are captured in charge buckets located within the CCD device. The distribution of captured electrons in the charge buckets represents the image received at the camera. The CCD transfers these electrons to an analog-to-digital converter. The output of the analog-to-digital converter is sent to processing unit 206 to process the video image and to calculate the positions of the markers 208. In other embodiments, the camera 204 may be other types of imaging device. For example, in other embodiments, the camera 204 may be a CMOS camera.
As shown in
In operation, the marker block 202 is coupled to the patient 16. The marker block 202 may be placed on the patient 16, and/or may be secured to the patient 16 may a securing mechanism (e.g., adhesive, strap, clip, etc.). The LEDs of the markers 208 are then switched on, and as a result, light is emitted from the markers 208. In some embodiments, the marker block 202 includes a battery for providing power to energize the LEDs, and a switch for switching the LEDs on. The light from the LEDs of the markers 208 indicates the position of the markers 208. The camera 204, which is directed at patient 16, capture and detect the light emitted from the markers 208. The filter system 209 at the camera 204 filters out at least some of the ambient light while allowing light from the LEDs of the markers 208 to be captured by the camera 204. For example, the filter system 209 may reduce ambient light to a level that corresponds with a noise level of the camera 204 while allowing light from the LEDs of the markers 208 to be imaged by the camera 204. It should be noted that emitting light from the markers 208 for detection by the camera 204 is advantageous over markers that are reflectors configured to reflect light emitted from a camera. This is because emitting light from the markers 208 does not require a flood of light to illuminate towards the patient from the direction of the camera 204. Also, the detection of the markers 208 is more efficient.
The camera 204 generates video images that show the position of the markers 208 within its video frame. The video images contain mainly images of the LEDs and nothing else (or almost nothing else) in the field of view of the camera 204. The generated video images are sent to processing unit 206 (or another processor) for further processing.
The processing unit 206 (or another processor) receives video images from the camera 204. The processing unit 206 first processes each video image from the camera 204 to identify images of the markers 208 in the image frame. Based on the determined position of the markers 208, and the known relative positions among the markers 208, the processing unit 206 then determines the position (X, Y, Z) and/or orientation (θX, θY, θZ) of the marker block 202. In some embodiments, information regarding the location and orientation of the camera 204 is provided to the processing unit 206 to facilitate the computations of the position and/or orientation of the marker block 202.
A possible inefficiency in tracking the markers 208 is that the markers 208 may appear anywhere on the video frame, and all of the image elements of the video frame may have to be examined to determine the location of the markers 208. Thus, in an embodiment, the initial determination of locations for the markers 208 involves an examination of all of the image elements in the video frame. If the video frame comprises 640 by 480 image elements, then all 307200 (640*480) image elements are initially examined to find the location of the markers 208.
For real-time tracking of the markers 208, examining every image element for every video frame to determine the location of the markers 208 in real-time could consume a significant amount of system resources. Thus, in an embodiment, the real-time tracking of the markers 208 can be facilitated by processing a small region of the video frame, referred to herein as “tracking gate”, that is placed based on estimation of the locations of the already-identified markers 208 in the video frame. The previously determined location of a marker 208 is used to define an initial search range (i.e., the tracking gate) for that same marker in real-time. The tracking gate is a relatively small portion of the video frame that is centered at the previous location of the marker 208. The tracking gate is expanded only if it does not contain the new location of the marker 208. As an example, consider the situation when the previously determined location of a particular marker is image element (50,50) in a video frame. If the tracking gate is limited to a 50 by 50 area of the video frame, then the tracking gate for this example would comprise the image elements bound within the area defined by the coordinates (25,50), (75,50), (50,25), and (50,75). The other portions of the video frame are searched only if the marker 208 is not found within this tracking gate.
In other embodiments, there may be multiple tracking gates for multiple respective markers, or for multiple respective sets of markers (wherein a set may include one or more markers).
In some embodiments, the determined position and/or orientation of the marker block 202 can then be used to position the patient 16 at desired position and/or orientation. For example, the determined position of the marker block 202 may be compared with a prescribed position of the marker block 202. In such cases, if the determined position of the marker block 202 matches with the prescribed position, the patient 16 is then considered to be correctly positioned. On the other hand, if the determined position of the marker block 202 does not match the prescribed position, the patient 16 is then positioned (e.g., by moving the patient support 14) until the marker block 202 position matches with the prescribed position.
In other embodiments, the determined position and/or orientation of the marker block 202 can be used to determine the position of at least a portion of the patient 16. In such cases, the relative spatial relationship between the marker block 202 and the patient 16 is known or predetermined. As such, once the marker block 202 position is determined, the position of the portion of the patient 16 can then be determined (e.g., via the processing unit 206) based on the relative spatial relationship between the marker block 202 and the patient 16. In some embodiments, by continuously determining the position of the portion of the patient 16 in real time, the portion of the patient 16 can be tracked in real time. The tracked position of the patient 16 may be used to gate an application of radiation provided by the system 10. In further embodiments, the tracked position of the patient 16 may be used to perform tracking of a target region while an intensity modulated radiation therapy (IMRT) is being performed. In IMRT, a multi-leaf collimator is operated such that a first portion of the target region receives more radiation than a second portion of the target region during a treatment session.
In further embodiments, the determined position of the marker block 202 can be used to determine a level of activity accomplished by the patient 16. For example, if the marker block 202 is placed on the patient's chest, then the determined position of the marker block 202 can be used to determine a level of breathing performed by the patient 16. In some cases, by determining a plurality of positions of the marker block 202 over a period of time, the processing unit 206 can be configured to obtain a plurality of amplitude points that correspond to the patient's levels of breathing at various time points in that period. The determined amplitude points may be used to gate an execution of a procedure, such as, to gate an application of a treatment radiation to the patient 16 for treatment, or to gate an application of an imaging radiation to the patient 16 for imaging purpose. In other embodiments, the determined positions of the marker block 202 (or the amplitude points) may be used to gate a binning of image data, either in real time, or after the image data has been obtained. In further embodiments, the amplitude points may be used to perform tracking of a target region while IMRT is being performed.
In further embodiments, by determining a plurality of positions of the marker block 202 over a period of time, the processing unit 206 can be configured to obtain a plurality of phase points that correspond to different levels of completeness of a breathing cycle at various time points. For example, a phase value may have a value from 0° to 360°, with 0° representing a beginning of a respiratory cycle, and 360° representing an end of the respiratory cycle.
The determined phase values may be used to gate an execution of a procedure, such as, to gate an application of a treatment radiation to the patient 16 for treatment, or to gate an application of an imaging radiation to the patient 16 for imaging purpose. In further embodiments, the phase values may be used to perform tracking of a target region while IMRT is being performed.
In other embodiments, the determined phase values may be used to gate a binning of image data, either in real time while the image data is being obtained, or after the image data has been obtained. For example, in a 4D-CT imaging session, the marker system 200 may be used to determine the positions of the marker block 202 representing different breathing amplitudes of the patient 16, while a CT machine generates different projection images of the patient 16 at different respective gantry angles. The positions of the marker block 202 may be used to determine breathing phases for association with different projection images. For example, different projection images generated at different gantry angles but belonging to a same phase range (phase bin) may be associated together. The associated projection images may then be used to construct a volumetric CT image for that particular phase bin. Also, in some embodiments, different volumetric CT images for different phase bins may be constructed (e.g., using the processing unit 206 or another processor), and the sequence of volumetric CT images may be displayed in a video.
One advantage to using the marker block 202 is that with a-priori knowledge of the relative positions of the markers 208 on the marker block 202, it is possible to determine all six degrees of freedom (X, Y, Z, θX, θY, θZ) of the marker block 202 from a single camera view. In other words, only a single camera is required to derive the absolute coordinates of a marker block 202. This results because the relative positioning between the markers 208 on the marker block 202 are known, and the absolute coordinates and viewing orientation of the camera 204 are also known. The detected image of the marker block 202 by the camera 204 indicates the positioning of the visible reference locations 208 relative to the camera's viewing orientation. Because the actual relative positions between the markers 208 are known, the detected relative coordinates of the markers 208 from the camera image can be used to derive the absolute coordinate of the marker block 202. The marker block 202 is also advantageous because its configuration allows the camera 204 to detect the markers 208 accurately.
Although the marker system 200 has been described as having one camera 204, in other embodiments, the marker system 200 can have more than one camera. For example, in alternative embodiments, the marker system 200 may include two cameras which detect the markers 208. In such cases, the processor 54 receives image data from the two cameras, and determines a position of the marker block 202 using triangulation technique, as is known in the art. Also, in other embodiments, instead of a camera, the marker system 200 may include other types of optical devices that are capable of detecting the markers 208.
In other embodiments, instead of the shape shown in the above example, the marker block 202 can have different shapes.
In other embodiments, the marker block 202 may have a step configuration.
In some embodiments, each of the markers 208 has a LED with a circular shape. In other embodiments, each LED can have any of other shapes, such as a square, a rectangular, a triangular, an elliptical, or a customized shape. In further embodiments, instead of the LEDs of the markers 208 having the same shape, one or more LEDs of the markers 208 can have a shape that is different from the rest of the LEDs.
In the illustrated embodiments, the marker block 202 also includes markings 218a-218c. The markings 218 may be depressions located on the surface of the marker block 202. Alternatively, the markings 218 may be paint or materials (e.g., polymers) deposited on the surface of the marker block 202. During use, the markings 218 are used to align the marker block 202 with laser beams 62, thereby allowing the marker block 202 to be placed at a prescribed position and orientation. In particular, the marking 218a provides a target associated with laser beam 62a, the marking 218b provides a target associated with laser beam 62b, and marking 218c provides a target associated with laser beams 62c, 62d. In other embodiments, the marking feature may be applied for other embodiments of the marker block 202 described herein, such as the embodiments of the marker block 202 in
As shown in
In alternative embodiments, the surfaces 212, 214 may not be parallel, and may instead form an angle relative to each other.
In some embodiments, the camera 204 is so positioned relative to the marker block 202 such that a spacing 260 between the first and second surfaces 212, 214 (and therefore, between a marker 208 on the first surface 212 and another marker 208 on the second surface 214) measured in the viewing direction 262 of the camera 204 is a value that is at least 0.5 centimeter, and more preferably at least 1.0 centimeter (e.g., 3 centimeters). In some cases, the value of the spacing 260 may be the same as the value of the spacing 230. In other cases, the value of the spacing 260 may be different from the value of the spacing 230.
In the illustrated embodiments, the marker 208b is spaced at a distance 230 from a plane 302 that intersects the marker 208a and that is perpendicular to the normal 300a. In such configuration, the markers 208a, 208b are spaced from each other. In some embodiments, the distance 230 is at least 0.5 centimeter, and more preferably at least 1.0 centimeter. Also as shown in the figure, the surface 212 forms an angle 222 with a base 220. In some embodiments, the angle 222 is selected such that the markers 208a, 208b are oriented approximately towards the camera 204. In other embodiments, the angle 222 may be predetermined without regards to the location of the camera 204. In such cases, when using the marker block 202, the camera 204 is positioned such that the markers 208a, 208b face approximately towards the camera 204. In some embodiments, the camera 204 is positioned relative to the marker block 202 such that a distance between the markers 208a, 208b measured in a viewing direction of the camera 204 is at least 0.5 centimeter, and more preferably at least 1.0 centimeter.
The marker block 202 with markers 208 on multiple steps (like those shown in
Furthermore, the marker block 202 with markers 208 on multiple steps avoids a certain ambiguity that is present for marker blocks with all markers on one rectilinear plane.
In other embodiments, the marker block 202 can be formed with shapes to fit particular body parts. For example, molds or casts that match to specific locations on the body can be employed as marker blocks 202. Marker blocks 202 shaped to fit certain areas of the body facilitate the repeatable placement of the marker blocks 202 at particular locations on the patient. Alternatively, the marker blocks 202 can be formed to fit certain fixtures that are attached to a patient's body. For example, a marker block 202 can be formed within indentations and grooves that allow it to be attached to eyeglasses, to a patient's clothing, or to a patient's skin. In yet another embodiment, the fixtures are formed with integral marker block(s) 202 having markers 208 on them.
In further embodiments, instead of the structure 210 being a non-human object, the structure 210 may be a portion of the patient 16. In such cases, the first surface 212 would be a first portion of the patient 16, the second surface 214 would be a second portion of the patient 16, and the markers 208 are then individually secured to, or placed on, the portions of the patient 16. In some embodiments, each marker 208 may include a LED secured to a base, wherein the base has an adhesive for attachment to the patient 16 or to a patient's clothing. In some cases, the adhesive may be made from a biocompatible material to reduce a risk of a skin irritation.
Also, it should be understood by those skilled in the art that the marker system 200 can be used with different systems in different embodiments. For example, the radiation system 10 needs not be a treatment device, and may be any machine that is capable of generating a radiation beam. In some embodiments, the radiation system 10 may be any types of imaging or optical devices, such as a CT imaging device (e.g., a cone beam CT device), a laminar tomography machine, a MRI machine, a C-arm based x-ray imaging machine, a three dimensional angiography machine, or a PET machine. Also, in other embodiments, any of the marker systems 200 and/or methods described herein can be used with non-imaging devices, such as a positioner or a treatment machine that has no imaging capability. In further embodiments, any of the marker systems 200 and/or methods described herein can be used with a machine that has a plurality of radiation sources. For example, the machine can have a first radiation source for delivering diagnostic radiation (e.g., radiation having an energy level in the kilo-electron-volt range), and a second radiation source for delivering treatment radiation (e.g., radiation having an energy level in the mega-electron-volt range). As another example, the machine can also have a plurality of diagnostic radiation sources and/or one or more treatment radiation sources.
In the above embodiments, the marker block 202 has been described as having multiple markers 208 that emit light. In some embodiments, the markers 208 include respective LED units 1004 that may receive power from a battery 1000 in the marker block 202 (
In other embodiments, instead of having multiple LED units 1004 for the respective markers 208, two or more of the markers 208 may share the same LED unit 1004. In such cases, the marker block 202 may include a LED unit 1004 therein that provides light for two or more (e.g., all) of the markers 208 through fiber optics (or optical fibers) 1012 (
In further embodiments, the fiber optics 1012 may extend out of the marker block 202 to couple to a LED unit 1004 that is remote from the marker block 202 (
In some embodiments, each LED is configured to emit infrared light. In other embodiments, each LED is configured to emit visible light. In further embodiments, each LED may be configured to emit ultraviolet (UV) light.
As shown in the figure, the marker block 202 has a thin configuration, and the planar structure (with the top surface 500) supporting the LEDs is raised and supported by three support structures 518. Such configuration provides a marker block 202 that is lightweight, and allows the LEDs to be mounted at desired elevations. In other embodiments, the marker block 202 may have a planar bottom structure to which the LEDs are secured. In such cases, the marker block 202 may further include light-pipes (e.g., fiber optics) for transmitting light from the LEDs to the marker windows 510 at the top structure that is above the bottom structure. In one implementation, the light-pipes may be straight vertical light-pipes. In further embodiments, the light-pipes may have bends (e.g., 90° bends) to direct and/or spread the light out in a certain direction.
In the illustrated embodiments, the marker block 202 also includes markings 218 (which may be similar to those described with reference to
In the illustrated embodiments, the marker block 202 is attached to an electronic module 520 via a cable 522 (e.g., a lightweight tether). The module 520 is configured to provide a user interface for allowing a user to control the marker block 202. The module 520 has a power switch 530, which when activated, provides a constant current to power the LEDs for the respective markers 208. The module 520 also has one or more indicators 532 for indicating low battery and/or fault condition. In the illustrated embodiments, the module 520 includes rechargeable batteries (or battery) that are contained in a housing of the module 520, and are covered by a battery door 534 (
In further embodiments, both the marker block 202 and the module 520 may have respective battery compartments for accommodating their own batteries. In such cases, the marker block 202 may be selectively used with or without the module 520. Without the electronic module 520, the user has the advantage of not having to deal with coupling the marker block 202 with the module 520. With the electronic module 520, the user has the advantage of a longer operational time since the battery in the module 520 may be bigger and may last longer.
The cable 522 may be wrapped around the side of the module 520, which includes a channel 540 for accommodating the cable 522. Such feature permits easy carrying of the module 520 in one hand. The module 520 also includes a plurality of tabs 542 (e.g., strain relief tabs) at the perimeter for containing and protecting the wrapped cable 522. Each tab 542 has an opening for gripping the cable 522 (e.g., end of the cable 522). In some embodiments, one end of the cable 522 may be detachably coupling to the marker block 202. In other embodiments, one end of the cable 522 may be detachably coupling to the module 520. In further embodiments, opposite ends of the cable 522 may be detachably coupling to the marker block 202 and to the module 520, respectively. Detachably coupling the end of the cable 522 to one or both of the marker block 202 and the module 520 allows the marker block 202 and the module 520 to be serviced separately if needed. In other embodiments, the cable 522 may be fixedly secured to both the marker block 202 and the module 520 so that the cable 522 is not detachable from the marker block 202 and the module 520. In further embodiments, the module 520 may include a spring mechanism for automatically retracting the cable 522 into the channel 540 of the module 520. For example, in one implementation, the spring mechanism may be configured to automatically wind the cable 522 to thereby retract the cable 522.
In further embodiments, the module 520 may be coupled to the marker block 202 so that the assembly is easy to carry in one hand. For example, in some embodiments, the module 520 may be detachably coupled to a surface on the opposite side of the surface 500 (e.g., using a hook-and-loop connector, a snap-fit connector, a slide-in-groove connector, etc.). Such configuration allows the module 520 to be nested partially inside the marker block 202. In other embodiments, the marker block 202 may be nested at least partially inside the module 520.
In still further embodiments, the marker system 200 may not include the module. Instead, all electronics and batteries for the system 200 are enclosed within the marker block 202 itself. To minimize interference with operation of a radiation device, ultra-thin batteries may be used. For example, Thinergy battery from infinite Power Solutions may be used. In other embodiments, to further minimize interference with operation of a radiation device, the marker block 202 may not include any battery. Instead, the marker block 202 may include a power cable for detachably coupling to electrical outlet at a wall for receiving power.
In other embodiments, the marker block 202 of
In the above embodiments, the marker system 200 has been described as having a marker block 202. In other embodiments, the marker block 202 may not be included. For example, in other embodiments, the marker system 200 may include a plurality of markers 208 that can be individually detachably coupled to the patient 16 (
In further embodiments, the plurality of markers 208 may use the same LED unit. For example, in some embodiments, the plurality of markers 208 may have respective optical fiber 1012 coupled thereto, wherein the optical fibers 1012 are configured to transmit light from a LED unit 1004 (
In the above embodiments of
Also, in one or more of the embodiments of
Furthermore, in one or more of the embodiments of
In addition, in one or more of the embodiments of
In further embodiments, the marker system 200 may use one or more light sources that do not require a battery or power from an electrical outlet, and that do not use any reflector to reflect light for detection by the camera 204. For example, in some embodiments, each marker 208 may include a phosphorescent dye or material with a long afterglow lasting on the order of several minutes to several hours. In such cases, the material may be excited by irradiating it with light at an absorbing wavelength for a relatively long duration (e.g., on the order of several minutes to several hours). The light irradiation (for “charging” the marker material) may occur in a dedicated assembly/station that is not a part of the treatment system, and which may be located inside or outside of the treatment room. After the light irradiation is completed, the marker system 200 is then ready for use (e.g., in a treatment procedure). During a treatment procedure, the camera 204 detects light emitted from the phosphorescent markers 208. In such configuration, because the markers 208 themselves emit light, the system 200 does not require a light source to emit light from the direction of the camera 204, and the system 200 does not use any reflected light from the markers 208.
In another example, each marker 208 may include a fluorescent dye or other fluorescent material that absorbs light at one wavelength (e.g., a first center wavelength) and emits light at a different wavelength (e.g., a second center wavelength) in response to absorbing the light at the first wavelength. In one implementation, the camera 204 may include a ring illuminator that direct light at the absorbing wavelength of the fluorescent material, and a bandpass filter whose passband is at the emitting wavelength of the fluorescent material. Thus, the camera 204 does not detect any reflection of the illuminating light (provided from the ring illuminator), and only detects the light emitted from the fluorescent markers 208. An example of fluorescent material that may be used is the TL-0156 fluorophore from Tailorlux, which absorbs light at 450 nm, and emits light at 735 nm.
Thus, as used in this specification, the term “light source” may refer to any source that provides light without using a reflector that reflects light provided from an external illuminator aimed towards the reflector. For example, the term “light source” may refer to a source that generates light using power received from a power source, such as a battery or an electrical outlet. As another example, the term “light source” may refer to a source having a material that emits light in response to the material absorbing energy (such as light from another source, heat, etc.).
Also, in other embodiments, instead of using markers that emit light and camera that detects light, other types of energy/signal emitting devices and signal detectors may be used. For example, in other embodiments, electromagnetic field beacons may be used as markers that emit electromagnetic signals. In one implementation, Calypso beacons available from Varian Medical Systems, Inc. may be placed on a marker block. The beacons provide electromagnetic emission and the positions of the beacons may be detected by an electromagnetic detector array that is exterior to the patient. In some embodiments, the beacons may be excited by an external source. In further embodiments, instead of light or electromagnetic signal, the markers may emit other types of signal.
Computer System Architecture
The computer system 1600 may be coupled via the bus 1602 to a display 167, such as a cathode ray tube (CRT), for displaying information to a user. An input device 1614, including alphanumeric and other keys, is coupled to the bus 1602 for communicating information and command selections to processor 1604. Another type of user input device is cursor control 1616, such as a mouse, a trackball, or cursor direction keys for communicating direction information and command selections to processor 1604 and for controlling cursor movement on display 167. This input device typically has two degrees of freedom in two axes, a first axis (e.g., x) and a second axis (e.g., y), that allows the device to specify positions in a plane.
In some embodiments, the computer system 1600 can be used to perform various functions described herein. According to some embodiments, such use is provided by computer system 1600 in response to processor 1604 executing one or more sequences of one or more instructions contained in the main memory 1606. Those skilled in the art will know how to prepare such instructions based on the functions and methods described herein. Such instructions may be read into the main memory 1606 from another computer-readable medium, such as storage device 1610. Execution of the sequences of instructions contained in the main memory 1606 causes the processor 1604 to perform the process steps described herein. One or more processors in a multi-processing arrangement may also be employed to execute the sequences of instructions contained in the main memory 1606. In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions to implement the various embodiments described herein. Thus, embodiments are not limited to any specific combination of hardware circuitry and software.
The term “computer-readable medium” as used herein refers to any medium that participates in providing instructions to the processor 1604 for execution. Such a medium may take many forms, including but not limited to, non-volatile media, volatile media, and transmission media. Non-volatile media includes, for example, optical or magnetic disks, such as the storage device 1610. Volatile media includes dynamic memory, such as the main memory 1606. Transmission media includes coaxial cables, copper wire and fiber optics, including the wires that comprise the bus 1602. Transmission media can also take the form of acoustic or light waves, such as those generated during radio wave and infrared data communications.
Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, or any other magnetic medium, a CD-ROM, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, and EPROM, a FLASH-EPROM, any other memory chip or cartridge, a carrier wave as described hereinafter, or any other medium from which a computer can read.
Various forms of computer-readable media may be involved in carrying one or more sequences of one or more instructions to the processor 1604 for execution. For example, the instructions may initially be carried on a magnetic disk of a remote computer. The remote computer can load the instructions into its dynamic memory and send the instructions over a telephone line using a modem. A modem local to the computer system 1600 can receive the data on the telephone line and use an infrared transmitter to convert the data to an infrared signal. An infrared detector coupled to the bus 1602 can receive the data carried in the infrared signal and place the data on the bus 1602. The bus 1602 carries the data to the main memory 1606, from which the processor 1604 retrieves and executes the instructions. The instructions received by the main memory 1606 may optionally be stored on the storage device 1610 either before or after execution by the processor 1604.
The computer system 1600 also includes a communication interface 1618 coupled to the bus 1602. The communication interface 1618 provides a two-way data communication coupling to a network link 1620 that is connected to a local network 1622. For example, the communication interface 1618 may be an integrated services digital network (ISDN) card or a modem to provide a data communication connection to a corresponding type of telephone line. As another example, the communication interface 1618 may be a local area network (LAN) card to provide a data communication connection to a compatible LAN. Wireless links may also be implemented. In any such implementation, the communication interface 1618 sends and receives electrical, electromagnetic or optical signals that carry data streams representing various types of information.
The network link 1620 typically provides data communication through one or more networks to other devices. For example, the network link 1620 may provide a connection through local network 1622 to a host computer 1624 or to equipment 1626 such as a radiation beam source or a switch operatively coupled to a radiation beam source. The data streams transported over the network link 1620 can comprise electrical, electromagnetic or optical signals. The signals through the various networks and the signals on the network link 1620 and through the communication interface 1618, which carry data to and from the computer system 1600, are exemplary forms of carrier waves transporting the information. The computer system 1600 can send messages and receive data, including program code, through the network(s), the network link 1620, and the communication interface 1618.
Although particular features have been shown and described, it will be understood that they are not intended to limit the claimed invention, and it will be made obvious to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the claimed invention. The specification and drawings are, accordingly to be regarded in an illustrative rather than restrictive sense. The claimed invention is intended to cover all alternatives, modifications and equivalents.
This application claims priority to and the benefit of U.S. Provisional Patent Application No. 61/798,060, filed on Mar. 15, 2013, the entire disclosure of which is expressly incorporated by reference herein.
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