Dynamic tracking of moving targets

US8989349B2 · kind B2 · utility

Assignee

• Accuray Incorporated · US

Inventors

• Euan Thomson · Los Gatos, US
• John R. Dooley · Castro Valley, US
• Gopinath Kuduvalli · San Jose, US
• James Wang · Palo Alto, US
• Eric Earnst · Saratoga, US
• Chris Raanes · Portola Valley, US

Key dates

• Filing date: Sep 30, 2004
• Grant date: Mar 24, 2015
• Expiry date: Apr 30, 2029

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61N2005/1062
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

Treatment targets such as tumors or lesions, located within an anatomical region that undergoes motion (which may be periodic with cycle P), are dynamically tracked. A 4D mathematical model is established for the non-rigid motion and deformation of the anatomical region, from a set of CT or other 3D images. The 4D mathematical model relates the 3D locations of part(s) of the anatomical region with the targets being tracked, as a function of the position in time within P. Using fiducial-less non-rigid image registration between pre-operative DRRs and intra-operative x-ray images, the absolute position of the target and/or other part(s) of the anatomical region is determined. The cycle P is determined using motion sensors such as surface markers. The radiation beams are delivered using: 1) the results of non-rigid image registration; 2) the 4D model; and 3) the position in time within P.