Radiation treatment delivery system with outwardly movable radiation treatment head extending from ring gantry
View Patent ↗Systems, methods, and related computer program products for image-guided radiation treatment (IGRT) are described. For one preferred embodiment, an IGRT apparatus is provided comprising a gantry frame including a ring member, the ring member being rotatable around a substantially horizontal, longitudinally extending central axis, the ring member having first and second horizontally opposing ends. The IGRT apparatus further comprises a radiation treatment head coupled to the ring member by an arm member, the arm member being connected to the ring member at an arm member base. Preferably, the IGRT apparatus is further characterized in that the arm member extends outwardly from the first end of the ring member in a direction away from the second end and is supported only by the arm member base, and the radiation treatment head is dynamically movable in at least a longitudinal direction toward and away from the first end of the ring member.
1. An image-guided radiation treatment (IGRT) apparatus, comprising:
a gantry frame including a ring member, the ring member being rotatable around a substantially horizontal, longitudinally extending central axis, said ring member having first and second horizontally opposing ends;
a radiation treatment head coupled to said ring member in an outwardly movable manner by an arm member extending outwardly from said first end of said ring member in a direction away from said second end, said outward movability being characterized in that said radiation treatment head is movable in at least a longitudinal direction toward and away from said first end of said ring member; and
a spoke structure fixably mounted within the ring member and rotatable therewith around the central axis, wherein said arm member couples to said ring member at a shoulder joint that is translatably movable along said spoke structure, whereby a source-axis distance between the radiation treatment head and the central axis is dynamically variable by translation of said shoulder joint along said spoke structure.
2. The IGRT apparatus of claim 1 , said IGRT apparatus accommodating a treatment center at any of a plurality of longitudinal locations along the central axis by virtue of said longitudinal movability of the radiation treatment head, wherein said radiation treatment head is dynamically tiltable relative to a transverse treatment center plane for any of said longitudinal treatment center locations, whereby said IGRT apparatus is capable of noncoplanar radiation treatment for any of said longitudinal treatment center locations.
3. The IGRT apparatus of claim 2 , wherein said arm member comprises an articulated robot arm including said shoulder joint, said radiation treatment head being coupled to said articulated robot arm at a distal end thereof opposite said shoulder joint.
4. The IGRT apparatus of claim 3 , wherein said articulated robot arm includes a first arm segment coupled between said shoulder joint and an elbow joint and a second arm segment coupled between said elbow joint and a three degree-of-freedom wrist member, said radiation treatment head being coupled to and supported by said wrist member.
5. The IGRT apparatus of claim 3 , wherein said articulated robot arm is configured such that said radiation treatment head is dynamically movable into an apex treatment position in which a radiation treatment beam emanates therefrom at or near the central axis and is substantially parallel to the central axis.
6. The IGRT apparatus of claim 2 , wherein said radiation treatment head is dynamically tiltable along at least two tilt axes for any of said longitudinal treatment center locations, whereby said IGRT apparatus is further capable of accommodating off-central-axis treatment centers for any of said longitudinal treatment center locations.
7. The IGRT apparatus of claim 1 , said arm member being a first arm member, the IGRT apparatus further comprising:
a kV imaging source coupled to said gantry frame in an outwardly movable manner by a second arm member extending outwardly from said gantry frame on a same side thereof as said radiation treatment head; and
a kV imaging detector coupled to said gantry frame in an outwardly movable manner by a third arm member extending outwardly from said gantry frame on said same side as said radiation treatment head, said kV imaging detector being disposed generally opposite said kV imaging source relative to said central axis.
8. The IGRT apparatus of claim 7 , said second and third arm members comprising respective articulated robot arms having respective shoulder joints connected to said gantry frame, said kV imaging source and kV imaging detector being coupled to said second and third arm members, respectively, at respective distal ends thereof opposite said respective shoulder joints thereof.
9. The IGRT apparatus of claim 7 , wherein said second and third arm members are coupled to said ring member such that said kV imaging source and said kV imaging detector rotate in unison with said radiation treatment head around said central axis.
10. The IGRT apparatus of claim 7 , said kV imaging source and said kV imaging detector forming a first kV imaging source-detector pair, said IGRT apparatus further comprising a second kV imaging source-detector pair coupled to said gantry frame in an outwardly movable manner by fourth and fifth arm members, respectively, said first and second kV imaging source-detector pairs being mutually positioned in a stereoscopic imaging configuration around said central axis.
11. The IGRT apparatus of claim 10 , said second, third, fourth, and fifth arm members comprising respective articulated robot arms having respective shoulder joints connected to said gantry frame, said first and second kV imaging sources and first and second kV imaging detectors being coupled to second, third, fourth, and fifth arm members, respectively, at respective distal ends thereof opposite said respective shoulder joints thereof.
12. The IGRT apparatus of claim 10 , wherein said second, third, fourth, and fifth arm members are coupled to said ring member such that said first and second kV imaging source-detector pairs rotate in unison with said radiation treatment head around said central axis.
13. The IGRT apparatus of claim 1 , wherein said arm member comprises an articulated robot arm including a first arm segment coupled between said shoulder joint and an elbow joint and a second arm segment coupled between said elbow joint and an at least one degree of freedom wrist joint, said radiation treatment head being coupled to and supported by said wrist joint.
14. The IGRT apparatus of claim 13 , wherein said radiation treatment head is a LINAC including one of a 90-degree and 270-degree bending magnet for promoting physical compactness thereof in a radial dimension around the central axis.
15. An image-guided radiation treatment (IGRT) apparatus, comprising:
a gantry frame including a ring member, the ring member being rotatable around a substantially horizontal, longitudinally extending central axis, said ring member having first and second horizontally opposing ends; and
a radiation treatment head coupled to said ring member by an arm member, said arm member being connected to said ring member at an arm member;
a spoke structure fixably mounted within the ring member and rotatable therewith around the central axis, wherein said arm member couples to said ring member at said arm member base which is translatably movable along said spoke structure, whereby a source-axis distance between the radiation treatment head and the central axis is dynamically variable by translation of said shoulder joint along said spoke structure;
wherein:
said arm member extends outwardly from said first end of said ring member in a direction away from said second end and is supported only by said arm member base; and
said radiation treatment head is dynamically movable in at least a longitudinal direction toward and away from said first end of said ring member.
16. The IGRT apparatus of claim 15 , said IGRT apparatus accommodating a treatment center at any of a plurality of longitudinal locations along the central axis by virtue of said longitudinal movability of the radiation treatment head, wherein said radiation treatment head is dynamically tiltable relative to a transverse treatment center plane for any of said longitudinal treatment center locations, whereby said IGRT apparatus is capable of noncoplanar radiation treatment for any of said longitudinal treatment center locations.
17. The IGRT apparatus of claim 16 , wherein said arm member comprises an articulated robot arm including said arm member base, said radiation treatment head being coupled to said articulated robot arm at a distal end thereof opposite said shoulder joint.
18. The IGRT apparatus of claim 17 , wherein said articulated robot arm includes a first arm segment coupled between said arm base member and an elbow joint and a second arm segment coupled between said elbow joint and a three degree-of-freedom wrist member, said radiation treatment head being coupled to and supported by said wrist member.
19. The IGRT apparatus of claim 15 , said arm member being a first arm member, the IGRT apparatus further comprising:
a kV imaging source coupled to said gantry frame in an outwardly movable manner by a second arm member extending outwardly from said gantry frame on a same side thereof as said radiation treatment head; and
a kV imaging detector coupled to said gantry frame in an outwardly movable manner by a third arm member extending outwardly from said gantry frame on said same side as said radiation treatment head, said kV imaging detector being disposed generally opposite said kV imaging source relative to said central axis.
20. The IGRT apparatus of claim 19 , said second and third arm members comprising respective articulated robot arms having respective shoulder joints connected to said gantry frame, said kV imaging source and kV imaging detector being coupled to said second and third arm members, respectively, at respective distal ends thereof opposite said respective shoulder joints thereof.
21. The IGRT apparatus of claim 20 , wherein said second and third arm members are coupled to said ring member such that said kV imaging source and said kV imaging detector rotate in unison with said radiation treatment head around said central axis.