Robotic arm for patient positioning assembly
Granted: April 17, 2012
Patent Number:
8160205
A robotic patient positioning assembly including a patient treatment couch, and a robotic arm coupled to the patient treatment couch. The robotic arm is configured to move the patient treatment couch along five rotational degrees of freedom and one substantially vertical, linear degree of freedom.
Controlling X-ray imaging based on target motion
Granted: March 6, 2012
Patent Number:
8130907
An image guided treatment is performed to treat a target. To perform the image guided treatment, measurement data indicative of target motion is acquired. A timing of one or more x-ray images is determined based on the measurement data. Treatment may be performed on the target using the position of the target.
Seven or more degrees of freedom robotic manipulator having at least one redundant joint
Granted: February 28, 2012
Patent Number:
8126114
A robotic treatment delivery system including a linear accelerator (LINAC), and a robotic manipulator coupled to the LINAC. The robotic manipulator is configured to move the LINAC along seven or more degrees of freedom, at least one of the seven degrees of freedom being a redundant degree of freedom.
Integrated variable-aperture collimator and fixed-aperture collimator
Granted: January 10, 2012
Patent Number:
8093572
An apparatus and method for coupling a fixed-aperture collimator to a variable-aperture collimator. The variable-aperture collimator may be an IRIS collimator having multiple leaves configured to open and close an aperture of the IRIS collimator within which the fixed-aperture collimator is retained.
Target tracking using direct target registration
Granted: January 3, 2012
Patent Number:
8090175
Systems, methods and apparatus to detect a treatment target having motion in up to three translational directions using direct registration of the target and track the target to synchronize a treatment beam with the motion of the target.
Use of a single X-ray image for quality assurance of tracking
Granted: December 27, 2011
Patent Number:
8086004
A method and system for aligning a volume of interest in a three-dimensional treatment coordinate system with a reference position using stereoscopic imaging data and for monitoring and correcting alignment of the volume of interest in the three-dimensional treatment coordinate system using monoscopic imaging data.
Frameless radiosurgery treatment system and method
Granted: December 27, 2011
Patent Number:
8086299
A method and apparatus for selectively and accurately localizing and treating a target within a patient are provided. A three dimensional mapping of a region surrounding the target is coupled to a surgical intervention. Two or more diagnostic beams at a known non-zero angle to one another may pass through the mapping region to produce images of projections within the mapping region in order to accurately localize and treat the target wherein the images are captured using one or more…
Treatment planning software and corresponding user interface
Granted: December 13, 2011
Patent Number:
8077936
A method and apparatus for treatment planning are described.
Constrained-curve correlation model
Granted: November 22, 2011
Patent Number:
8064642
A method and apparatus to develop an advanced correlation model of movement of a target within a patient, which needs less data points and can adapt to the changes of respiration behavior automatically.
Non-linear correlation models for internal target movement
Granted: September 27, 2011
Patent Number:
8027715
A method and apparatus to track non-linear internal target movement based on movement of an external marker.
Radiation treatment planning and delivery for moving targets in the heart
Granted: May 31, 2011
Patent Number:
7953204
Method and systems are disclosed for radiating a moving target inside a heart. The method includes acquiring sequential volumetric representations of an area of the heart and defining a target tissue region and/or a radiation sensitive structure region in 3D for a first of the representations. The target tissue region and/or radiation sensitive structure region are identified for another of the representations by an analysis of the area of the heart from the first representation and the…
Delineation on three-dimensional medical image
Granted: March 15, 2011
Patent Number:
7907772
A method and apparatus to delineate a volume of interest structure on a three-dimensional medical image. The apparatus includes a data storage device to store the three dimensional image and a digital processing device to delineate the volume of interest structure of the three-dimensional image.
Target tracking using direct target registration
Granted: February 22, 2011
Patent Number:
7894649
Systems, methods and apparatus for directly tracking radiation targets during image-guided radiation treatment using 2D contouring and adaptive windowing.
High quality volume rendering with graphics processing unit
Granted: February 15, 2011
Patent Number:
7889902
A technique for generating DRR (digitally reconstructed radiography) images includes dividing sample points along a ray trajectory through a 3-dimensional dataset of attenuation values into stages. Each of the stages includes a plurality of the sample points. The attenuation values are summed along the ray trajectory for each of the sample points. Intermediate summation values are computed for each of the stages along the ray trajectory and for each of the stages the attenuation values…
Patient positioning assembly
Granted: December 28, 2010
Patent Number:
7860550
A robotic patient positioning assembly for therapeutic radiation treatment includes a robotic positioning device for moving and supporting the patient during treatment, a sensor system for detecting the position of the robotic positioning device, and a controller operatively connected with the sensor system for receiving position data of the robotic positioning device and operatively connected to the robotic positioning device for controlling the motions of the robotic positioning…
Apparatus and method for radiosurgery
Granted: December 14, 2010
Patent Number:
7853313
A method and system is presented for treating moving target regions in a patient's anatomy by creating radiosurgical lesions. The method includes determining a pulsating motion of a patient separately from a determining of a respiratory motion, and directing a radiosurgical beam, from a radiosurgical beam source, to a target in the patient based on the determining of the pulsating motion. Directing the radiosurgical beam to the target may include creating a lesion in the heart to inhibit…
Image enhancement method and system for fiducial-less tracking of treatment targets
Granted: November 23, 2010
Patent Number:
7840093
A method and system are presented for enhancing one or more images of an object, so as to increase the visibility within the images of one or more structures within the object. The object may be an anatomical region of a patient, and may include one or more reference structures, for example skeletal structures or vertebral structures, and one or more treatment targets, for example tumors or lesions. An operator, for example a top-hat filter operator, selects at least a first neighborhood…
Multi-phase registration of 2-D X-ray images to 3-D volume studies
Granted: November 16, 2010
Patent Number:
7835500
A method for registering 2-D radiographic images to 3-D volume studies includes generating digitally reconstructed radiographs (DRRs) from a 3-D volume study. The DRR's are used as reference images to register a patient's position during image-guided radiosurgery. Stereoscopic X-rays of the patient are acquired during treatment, and multi-phase registration is used to register the DRRs with the X-ray images in two or more projections.
Precision registration of X-ray images to cone-beam CT scan for image-guided radiation treatment
Granted: November 9, 2010
Patent Number:
7831073
A method for precision registration of X-ray images to cone-beam CT scan for image-guided radiosurgery includes acquiring 2-D pre-treatment X-ray images of a region of interest, acquiring a 2-D X-ray image of the region of interest at approximately a time of treatment, registering the 2-D X-ray image with a corresponding 2-D pre-treatment X-ray image to obtain a 2-D registration result at approximately the time of treatment, and converting the 2-D registration result into a 3-D tracking…
Automatic generation of an envelope of constraint points for inverse planning
Granted: September 21, 2010
Patent Number:
7801349
A method of automatically generating an envelope of constraint points for a target region to optimize an inverse treatment plan by modifying the dose isocontour.
