# US 11,439,848 B2 · Radiation irradiating system and moving object tracking system

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- Number: US 11,439,848 B2
- Document ID: US11439848B2
- Status: Granted
- Kind: B2
- Application number: 16/302,106
- Filed: 2017-05-11
- Published: 2019-05-16
- Granted: 2022-09-13
- Earliest claimed: 2016-05-24
- Assignees: Hitachi, Ltd.; National University Corporation Hokkaido University
- Applicants: Hitachi, Ltd.; National University Corporation Hokkaido University
- Inventors: Yusuke Fujii; Naoki Miyamoto; Kikuo Umegaki; Shinichi Shimizu; Toru Umekawa; Takahiro Yamada
- Web page: https://patentgrep.com/patent/US11439848B2

## CPC

- A61N 5/1049: {for verifying the position of the patient with respect to the radiation beam}
- A61N 5/1067: {in real time, i.e. during treatment}
- A61B 6/022: {Stereoscopic imaging}
- A61N 5/10: X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy (A61N5/01 takes precedence)
- A61N 5/107: {in real time, i.e. during treatment}
- A61N 5/1081: {Rotating beam systems with a specific mechanical construction, e.g. gantries}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3966: {Radiopaque markers visible in an X-ray image}
- A61N 2005/1061: {using an x-ray imaging system having a separate imaging source}
- A61N 2005/1074: {Details of the control system, e.g. user interfaces}
- A61N 2005/1087: {Ions; Protons}
- 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)

## Abstract

A template matching is performed on two fluoroscopic images by using a template image prepared in advance and a position corresponding to a high matching score is listed as a candidate for the position of a marker 29. From two lists of the candidates of the position of the marker 29, the lengths of common vertical lines for all combinations are calculated. Then, the position of the marker 29 is detected based on the matching score and the common vertical line. Then, based on the detected position of the marker 29, an amount of a proton beam to be irradiated to a target is controlled. Therefore, a tracking target can be accurately detected even when the conditions for X-ray fluoroscopy is severe, e.g., a thick object.

## Claims

### Claim 1

A radiation irradiating system comprising:
a radiation irradiating device configured to generate a radiation; and
two or more pairs of X-ray fluoroscopic devices including a first X-ray fluoroscopic device and a second X-ray fluoroscopic device and configured to capture fluoroscopic images of a tracking target, each pair including one X-ray measuring device and one X-ray generator;
wherein the radiation irradiating device is controlled to detect a position of the tracking target from a first fluoroscopic image captured by the first X-ray fluoroscopic device and a second fluoroscopic image captured by the second X-ray fluoroscopic device,
wherein values indicating an accuracy of detection of a plurality of candidates of a position of the tracking target from each of the first and second fluoroscopic images and values representing a correlation between the positions of the candidates in the first fluoroscopic image and the positions of the candidates in the second fluoroscopic image are calculated, wherein calculations are performed for a plurality of pairs of candidates from the first and second fluoroscopic images by applying weights to the values indicating the accuracy of detection of each candidate and to the values representing the correlation between the positions of the candidates to generate a plurality of results, wherein a pair of candidates is selected from the plurality of pairs of candidates based on the plurality of results and the position of the tracking target is detected from the selected pair of candidates, and the radiation is controlled to be irradiated onto the target based on the detected position of the tracking target, and
wherein each of the values representing the correlation is a length of a common vertical line that corresponds to the shortest distance between at least two lines that do not intersect each other and that are connecting the positions on the X-ray measuring devices corresponding to the position of the plurality of candidates on the first and second fluoroscopic images to the X-ray generators.

### Claim 2 (depends on 1)

The radiation irradiating system of claim 1, wherein
the tracking target is any one of a marker for identifying the target, the target itself, and a high-density region.

### Claim 3 (depends on 1)

The radiation irradiating system of claim 1, wherein
the radiation irradiating device is controlled to irradiate the radiation when the position of the tracking target is within a range specified in advance.

### Claim 4 (depends on 1)

The radiation irradiating system of claim 1, wherein
the radiation irradiating device is controlled to be switchable between a first mode for detecting a position of the tracking target based on the values representing the accuracy of the detection and the values representing the correlation; and a second mode for detecting a position of the tracking target based on only the values representing the accuracy of the detection.

### Claim 5 (depends on 1)

The radiation irradiating system of claim 1, wherein
the radiation irradiating device is controlled to compare values representing the accuracy of detection with a first predetermined value and outputs the comparison result to a display unit.

### Claim 6 (depends on 1)

The radiation irradiating system of claim 1, wherein
the radiation irradiating device is controlled to not irradiate the radiation when a position corresponding to an optimal value representing the accuracy of the detection is not selected as a result of the weight application.

### Claim 7 (depends on 1)

The radiation irradiating system of claim 1, wherein
when a position corresponding to an optimal value representing the accuracy of the detection is not selected as a result of the weight application, the radiation irradiating device is controlled to output an alert signal for warning regarding the values representing the accuracy of the detection on a display unit.

### Claim 8 (depends on 1)

The radiation irradiating system of claim 1, wherein
the radiation irradiating device is controlled to set the position corresponding to an optimal value representing the accuracy of the detection as the position of the candidate of the tracking target.

### Claim 9

A radiation irradiating system comprising:
a radiation irradiating device configured to generate a radiation; and
two or more pairs of X-ray fluoroscopic devices including a first X-ray fluoroscopic device and a second X-ray fluoroscopic device and configured to capture fluoroscopic images of a tracking target, each pair including one X-ray measuring device and one X-ray generator;
wherein the radiation irradiating device is controlled to detect a position of the tracking target from a first fluoroscopic image captured by the first X-ray fluoroscopic device and a second fluoroscopic image captured by the second X-ray fluoroscopic device,
wherein values indicating an accuracy of detection of a plurality of candidates of a position of the tracking target from each of the first and second fluoroscopic images and values representing a correlation between the positions of the candidates in the first fluoroscopic image and the positions of the candidates in the second fluoroscopic image are calculated, wherein calculations are performed for a plurality of pairs of candidates from the first and second fluoroscopic images by applying weights to the values indicating the accuracy of detection of each candidate and to the values representing the correlation between the positions of the candidates to generate a plurality of results, wherein a pair of candidates is selected from the plurality of pairs of candidates based on the plurality of results and the position of the tracking target is detected from the selected pair of candidates, and the radiation is controlled to be irradiated onto the target based on the detected position of the tracking target, and
wherein each of the values representing the correlation is a distance between two or more lines that do not intersect each other and that are connecting the positions on the X-ray measuring devices corresponding to the positions of the plurality of candidates on the first and second fluoroscopic images and the X-ray generators, the distance being on a common axis.

### Claim 10

A moving object tracking system comprising:
two or more pairs of X-ray fluoroscopic devices including a first X-ray fluoroscopic device and a second X-ray fluoroscopic device and configured to capture fluoroscopic images of a tracking target, each pair including one X-ray measuring device and one X-ray generator,
wherein the moving object tracking system is configured to detect a position of the tracking target from a first fluoroscopic image photographed by the first X-ray fluoroscope device and a second fluoroscopic image photographed by the second X-ray fluoroscopic device, wherein
the moving object tracking system is configured to acquire a value representing an accuracy of detection of a candidate for the position of the tracking target from each of the first and second fluoroscopic images and values representing a correlation of the positions of the plurality of candidates in the first fluoroscopic image and the positions of the plurality of candidates in the second fluoroscopic image respectively acquired by the two or more X-ray fluoroscopic devices, wherein calculations are performed for a plurality of pairs of candidates from the first and second fluoroscopic images by applying weights to the values indicating the accuracy of detection of each candidate and to the values representing the correlation between the positions of the candidates to generate a plurality of results, wherein a pair of candidates is selected from the plurality of pairs of candidates based on the plurality of results and the position of the tracking target is detected from the selected pair of candidates,
wherein each of the values representing the correlation is a length of a common vertical line that corresponds to the shortest distance between at least two lines that do not intersect each other and that are connecting the positions on the X-ray measuring devices corresponding to the position of the plurality of candidates on the first and second fluoroscopic images to the X-ray generators.