# US 10,500,415 B2 · Gantry image guided radiotherapy system and related treatment delivery methods

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- Number: US 10,500,415 B2
- Document ID: US10500415B2
- Status: Granted
- Kind: B2
- Application number: 15/875,683
- Filed: 2018-01-19
- Published: 2018-06-28
- Granted: 2019-12-10
- Earliest claimed: 2010-02-24
- Assignees: Accuray Incorporated
- Applicants: Accuray Incorporated
- Inventors: Calvin R. Maurer, Jr.; Euan S. Thomson
- Web page: https://patentgrep.com/patent/US10500415B2

## CPC

- A61N 5/1039: {using functional images, e.g. PET or MRI}
- A61B 5/0035: {adapted for acquisition of images from more than one imaging mode, e.g. combining MRI and optical tomography}
- A61B 5/0059: {using light, e.g. diagnosis by transillumination, diascopy, fluorescence (photoacoustic A61B5/0093; optical measurement of heart rate A61B5/02416; optical measurement of blood flow A61B5/0261; optical measurement of analytes A61B5/1455)}
- A61B 6/025: {Tomosynthesis}
- A61B 6/032: {Transmission computed tomography [CT]}
- A61B 6/06: Diaphragms
- A61B 6/4014: {arranged in multiple source-detector units}
- A61B 6/4085: {Cone-beams}
- A61B 6/4435: {the source unit and the detector unit being coupled by a rigid structure}
- A61B 6/4452: {the source unit and the detector unit being able to move relative to each other}
- A61B 6/488: {involving pre-scan acquisition}
- A61N 5/10: X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy (A61N5/01 takes precedence)
- A61N 5/1042: {with spatial modulation of the radiation beam within the treatment head}
- A61N 5/1048: {Monitoring, verifying, controlling systems and methods}
- A61N 5/1049: {for verifying the position of the patient with respect to the radiation beam}
- A61N 5/1065: {Beam adjustment}
- A61N 5/1067: {in real time, i.e. during treatment}
- A61N 5/1081: {Rotating beam systems with a specific mechanical construction, e.g. gantries}
- A61N 5/1082: {having multiple beam rotation axes}
- A61N 5/1037: {taking into account the movement of the target, e.g. 4D-image based planning}
- A61N 2005/1061: {using an x-ray imaging system having a separate imaging source}
- A61N 2005/1062: {using virtual X-ray images, e.g. digitally reconstructed radiographs [DRR]}
- A61N 2005/1092: {Details}
- G01N 2223/308: support of radiation source
- A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q)

## Abstract

A radiation treatment apparatus, comprising a gantry structure comprising a beam member extending between first and second ends of the gantry structure. The radiation treatment apparatus also includes a radiation treatment head movably mounted to the beam member in a manner that allows (i) translation of the radiation treatment head along the beam member between the first and second ends, and (ii) gimballing of the radiation treatment head relative to the beam member, the gimballing comprising pivotable movement in at least one independent pivot direction defined with respect to the beam member. The radiation treatment apparatus also includes a patient couch operative coupled with the radiation treatment head in manner to provide movement of the patient couch relative to the radiation treatment head.

## Claims

### Claim 1

A radiation treatment apparatus, comprising:
a gantry structure; and
a radiation treatment head movably mounted to the gantry structure to allow gimballing of the radiation treatment head relative to the gantry structure, the gimballing comprising pivotable movement in at least one independent pivot direction defined with respect to the gantry structure, wherein the radiation treatment head has pivotable movement in a maximum angle range of +/−30 degrees to +/−45 degrees; and
a patient couch operatively coupled with the radiation treatment head to provide movement of the patient couch relative to the radiation treatment head.

### Claim 2 (depends on 1)

The radiation treatment apparatus of claim 1, wherein the patient couch and the radiation treatment head are movable to provide non-coplanar radiation treatment of a tissue volume.

### Claim 3 (depends on 2)

The radiation treatment apparatus of claim 2, further comprising a controller operatively coupled with the patient couch and the radiation treatment head, where to provide non-coplanar radiation treatment of a tissue volume the controller configured to control movement of the patient couch and gimbaling of the radiation treatment head to position a radiation beam generated by the radiation treatment head at the tissue volume.

### Claim 4 (depends on 1)

The radiation treatment apparatus of claim 1, wherein the patient couch is configured to manipulate the patient couch with three or more degrees of freedom.

### Claim 5 (depends on 4)

The radiation treatment apparatus of claim 4, where the three or more degrees of freedom comprise three orthogonal translations and one rotation.

### Claim 6 (depends on 1)

The radiation treatment apparatus of claim 1, where a transverse isocentric plane being defined that passes through the isocenter in a direction orthogonal to the rotation axis, wherein the pivotable movement is in at least two independent pivot directions including a first pivot direction around a first pivot axis generally parallel to the transverse isomeric plane and a second pivot direction around a second pivot axis nonparallel to the first pivot axis.

### Claim 7 (depends on 1)

The radiation treatment apparatus of claim 1, wherein the gantry structure is a rotatable gantry structure.

### Claim 8 (depends on 1)

The radiation treatment apparatus of claim 1, wherein the gimballing comprises pivotable movement in at least two independent pivot directions defined with respect to a beam member.

### Claim 9

A method of operating a radiation treatment apparatus, comprising:
translating a radiation treatment head movably mounted to a gantry structure;
gimballing, by a processing unit, the radiation treatment head relative to the gantry structure, the gimballing comprising pivotably moving the radiation treatment head in at least one independent pivot direction defined with respect to the gantry structure, where gimballing comprises pivotably moving the radiation treatment head with a maximum angle of approximately +/−30 degrees; and
moving, by the processing unit, a patient couch relative to the radiation treatment head.

### Claim 10 (depends on 9)

The method of claim 9, wherein moving the patient couch and gimballing the radiation treatment head enable non-coplanar radiation treatment of a tissue volume positioned near or around an isocenter of the radiation treatment apparatus.

### Claim 11 (depends on 9)

The method of claim 9, wherein moving the patient couch comprises manipulating the patient couch with three or more degrees of freedom.

### Claim 12 (depends on 11)

The method of claim 11, where the three or more degrees of freedom comprise three orthogonal translations and one rotation.

### Claim 13 (depends on 9)

The method of claim 9, further comprising rotating the radiation treatment head relative to the gantry structure.

### Claim 14 (depends on 9)

The method of claim 9, wherein gimballing comprises pivotably moving the radiation treatment head in at least two independent pivot directions defined with respect to the gantry structure.

### Claim 15

A non-transitory machine readable medium that, when executed by a processing unit, cause the processing unit to:
translate a radiation treatment head movably mounted to a beam member of a gantry structure;
gimbal, by the processing unit, the radiation treatment head relative to the gantry structure, the gimballing comprising pivotally moving the radiation treatment head in at least one independent pivot direction defined with respect to the gantry structure, wherein the processing unit further to gimbal the radiation treatment head with a maximum angle of approximately +/−30 degrees; and
move a patient couch relative to the radiation treatment head.

### Claim 16 (depends on 15)

The non-transitory machine readable medium of claim 15, wherein the processing unit to manipulate the patient couch with three or more degrees of freedom.

### Claim 17 (depends on 15)

The non-transitory machine readable medium of claim 15, wherein the processing unit further to rotate the radiation treatment head relative to the beam member.