Moving body pursuit irradiating device and positioning method using this device

A moving body pursuit irradiating device comprising:

• a linac for irradiating a medical treatment beam to a tumor;
• a tumor marker buried in the vicinity of the tumor;
• a first X-ray fluoroscope for picking up an image of said tumor marker from a first direction;
• a second X-ray fluoroscope for picking up the image of said tumor marker from a second direction at the same time as said first X-ray fluoroscope;
• first and second image input sections for digitizing first and second fluoroscopic images outputted from said first and second X-ray fluoroscopes;
• first and second recognition processing sections which execute template matching at a real time level at a predetermined frame rate by a shading normalization mutual correlation method for applying a template image of the tumor marker registered in advance to image information digitized by said first and second image input sections, and calculate first and second two-dimensional coordinates of said tumor marker;
• a central arithmetic processing section for calculating three-dimensional coordinates of said tumor marker from the first and second two-dimensional coordinates calculated by said first and second recognition processing sections;
• and
• an irradiating control section for controlling the irradiation of the medical treatment beam of said linac by said calculated three-dimensional coordinates of the tumor marker.