Images obtained by a camera system (10) arranged to obtain images of a patient (20) undergoing radio-therapy are processed by a modeling unit (56,58) which generates a model of the surface of a patient (20) being monitored. Additionally the patient monitoring system processes image data not utilized to generate a model of the surface of a patient being monitored to determine further information concerning the treatment of the patient (20). Such additional data can comprise data identifying the relative location of the patient and a treatment apparatus (16). This can be facilitated by providing a number or retro-reflective markers (30-40) on a treatment apparatus (16) and a mechanical couch (18) used to position the patient (20) relative to the treatment apparatus (16) and monitoring the presence and location of the markers in the portions of the images obtained by the stereoscopic camera (10).
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G06T 7/285 - Analysis of motion using a sequence of stereo image pairs
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
H04N 13/204 - Image signal generators using stereoscopic image cameras
2.
HYBRID CONTINUOUS POSITIVE PRESSURE AND SURFACE IMAGING SYSTEM AND METHOD
The present disclosure relates to a hybrid continuous positive pressure and surface imaging system for use in a radiotherapy system, including: a positive pressure unit adapted to apply a continuous positive pressure to lungs of a patient during radiotherapy; a surface camera system configured to continuously, or at intervals, capture body surface images of the patient; and a processing unit configured to continuously, or at intervals, model chest and/or abdominal movement of the patient in response to the applied continuous positive pressure based on the body surface images. The disclosure further relates to a computer-implemented method of providing real-time feedback to a positive pressure unit.
The present disclosure relates to a patient motion tracking system for automatic generation of a region of interest on a 3D surface of a patient positioned in a radiotherapy treatment room. More particularly, the disclosure relates to an assistive approach of a motion tracking system, by which a region of interest (ROI) is automatically generated on a generated 3D surface of the patient. Furthermore, a method for automatically generating a ROI on the 3D surface of the patient is described. In particular, all the embodiments refer to systems integrating methods for automatic ROI generation in a radiotherapy treatment setup.
A method of calibrating a monitoring system (10,14) is described in which a calibration phantom (70) is located with its center located approximately at the isocenter of a treatment room through which a treatment apparatus (16) is arranged to direct radiation, wherein the surface of the calibration phantom (70) closest to an image capture device (72) of the monitoring system (10,14) is inclined approximately 45° relative to the camera plane of an image capture device of the monitoring system. Images of the calibration phantom (70) are then captured using the image capture device (72) and the images are processed to generate a model of the imaged surface of the calibration phantom. The generated model of the imaged surface of the calibration phantom (70) is then utilized to identify the relative location of the center of the calibration phantom (70) and the camera plane of the image capture device (72) which is then utilized to determine the relative location of the camera plane of the image capture device and the isocenter of a treatment room.
Some embodiments are directed to an image director of a patient monitoring system to obtain calibration images of a calibration sheet or other calibration object at various orientations and locations. The images are then stored and processed to calculate camera parameters defining the location and orientation of the image detector and identifying internal characteristics of the image detector, and the information are stored. The patient monitoring system can be re-calibrated by using the image detector to obtain an additional image of a calibration sheet or calibration object. The additional image and the stored camera parameters are then used to detect any apparent change in the internal characteristics of the image detector (10)(S6-4).
The disclosed calibration method includes a calibration phantom positioned on an adjustable table on the surface of a mechanical couch, with the phantom's centre at an estimated location for the iso-centre of a radio therapy treatment apparatus. The calibration phantom is then irradiated using the apparatus, and the relative location of the center of the calibration phantom and the iso-centre of the apparatus is determined by analyzing images of the irradiation of the calibration phantom. The calibration phantom is then repositioned by the mechanical couch applying an offset corresponding to the determined relative location of the centre of the calibration phantom and the iso-centre of the apparatus to the calibration phantom. Images of the relocated calibration phantom are obtained, to which the offset has been applied, and the obtained images are processed to set the co-ordinate system of a stereoscopic camera system relative to the iso-centre of the apparatus.
A method monitors radiation incidence onto an object being prepared for and/or undergoing radiation delivery. The monitoring method includes: emitting a light field onto a surface of an object being prepared for and/or undergoing radiation delivery, the light field at least substantially corresponding to radiation incidence of the radiation delivery; monitoring the light field being reflected from the surface of the object; and processing the monitored light field to determine the radiation incidence of the radiation delivery relative to the object at least partially based on the monitored light field.
Bore based medical system comprising a camera carrier configured to be mounted in the bore-based medical systems and utilized for positioning and monitoring of patients during radiotherapy treatment
Disclosed is a bore based medical system comprising a camera carrier configured to be mounted in the bore based medical system and configured to monitor and/or track patient motion within said bore based medical system during radiotherapy, the bore based medical system comprising a rotatable ring-gantry configured to emit a radiotherapy beam focused at an iso-center of the bore based medical system, wherein the ring-gantry is configured to rotate at least partly around a through-going bore having a front side and a back side, configured to receive from said front side, a movable couch configured to be moved into and out from the through-going bore, wherein further the through-going bore comprises an inner side facing an inside of the bore, and wherein the camera carrier is configured to be mounted inside the bore in connection with the inner side of the through-going bore.
Disclosed herein are embodiments of a monitoring system for use with a medical apparatus to monitor the position of a patient. The monitoring system can include at least one visual sensor providing visual data, at least one processing unit configured to generate, based on the visual data, one or more views; and at least one display for displaying the one or more generated views.
The disclosed calibration method includes a calibration phantom positioned on an adjustable table on the surface of a mechanical couch, with the phantom's centre at an estimated location for the iso-centre of a radio therapy treatment apparatus. The calibration phantom is then irradiated using the apparatus, and the relative location of the center of the calibration phantom and the iso-centre of the apparatus is determined by analyzing images of the irradiation of the calibration phantom. The calibration phantom is then repositioned by the mechanical couch applying an offset corresponding to the determined relative location of the centre of the calibration phantom and the iso-centre of the apparatus to the calibration phantom. Images of the relocated calibration phantom are obtained, to which the offset has been applied, and the obtained images are processed to set the co-ordinate system of a stereoscopic camera system relative to the iso-centre of the apparatus.
The disclosed calibration method includes a calibration phantom positioned on an adjustable table on the surface of a mechanical couch, with the phantom's centre at an estimated location for the iso-centre of a radio therapy treatment apparatus. The calibration phantom is then irradiated using the apparatus, and the relative location of the center of the calibration phantom and the iso-centre of the apparatus is determined by analyzing images of the irradiation of the calibration phantom. The calibration phantom is then repositioned by the mechanical couch applying an offset corresponding to the determined relative location of the centre of the calibration phantom and the iso-centre of the apparatus to the calibration phantom. Images of the relocated calibration phantom are obtained, to which the offset has been applied, and the obtained images are processed to set the co-ordinate system of a stereoscopic camera system relative to the iso-centre of the apparatus.
Images obtained by a camera system (10) arranged to obtain images of a patient (20) undergoing radio-therapy are processed by a modeling unit (56,58) which generates a model of the surface of a patient (20) being monitored. Additionally the patient monitoring system processes image data not utilized to generate a model of the surface of a patient being monitored to determine further information concerning the treatment of the patient (20). Such additional data can comprise data identifying the relative location of the patient and a treatment apparatus (16). This can be facilitated by providing a number or retro-reflective markers (30-40) on a treatment apparatus (16) and a mechanical couch (18) used to position the patient (20) relative to the treatment apparatus (16) and monitoring the presence and location of the markers in the portions of the images obtained by the stereoscopic camera (10).
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G06T 7/285 - Analysis of motion using a sequence of stereo image pairs
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
H04N 13/204 - Image signal generators using stereoscopic image cameras
13.
Patient motion tracking system configured for automatic ROI generation
The present disclosure relates to a patient motion tracking system for automatic generation of a region of interest on a 3D surface of a patient positioned in a radiotherapy treatment room. More particularly, the disclosure relates to an assistive approach of a motion tracking system, by which a region of interest (ROI) is automatically generated on a generated 3D surface of the patient. Furthermore, a method for automatically generating a ROI on the 3D surface of the patient is described. In particular, all the embodiments refer to systems integrating methods for automatic ROI generation in a radiotherapy treatment setup.
A method of calibrating a monitoring system (10,14) is described in which a calibration phantom (70) is located with its center located approximately at the isocenter of a treatment room through which a treatment apparatus (16) is arranged to direct radiation, wherein the surface of the calibration phantom (70) closest to an image capture device (72) of the monitoring system (10,14) is inclined approximately 45° relative to the camera plane of an image capture device of the monitoring system. Images of the calibration phantom (70) are then captured using the image capture device (72) and the images are processed to generate a model of the imaged surface of the calibration phantom. The generated model of the imaged surface of the calibration phantom (70) is then utilized to identify the relative location of the center of the calibration phantom (70) and the camera plane of the image capture device (72) which is then utilized to determine the relative location of the camera plane of the image capture device and the isocenter of a treatment room.
3D STEREOSCOPIC CAMERA MONITORING SYSTEM AND METHOD OF CALIBRATING A CAMERA MONITORING SYSTEM FOR MONITORING A PATIENT IN A BORE OF A MEDICAL SYSTEM FOR RADIATION TREATMENT
A camera monitoring system for a bore based medical apparatus is described, wherein the camera monitoring system comprises a first and a second image sensor mounted on opposing surfaces of a circuit board. The first image sensor is arranged to view an object from a first viewpoint via a first lens arrangement and a first mirror and the second image sensor is arranged to view the object from a second viewpoint via a second lens arrangement and a second mirror. By having the image sensors view an object via the mirrors, via the lens arrangements, the lens arrangements contribute to the effective separation of the first and second viewpoints enabling the size of the housing of the camera to be reduced. Furthermore, a method for calibrating a camera monitoring system in a bore based setup is described and also a configuration of arranging a camera monitoring system in connection with a bore based medical apparatus.
Bore based medical system comprising a camera carrier configured to be mounted in the bore-based medical systems and utilized for positioning and monitoring of patients during radiotherapy treatment
Disclosed is a bore based medical system comprising a camera carrier configured to be mounted in the bore based medical system and configured to monitor and/or track patient motion within said bore based medical system during radiotherapy, the bore based medical system comprising a rotatable ring-gantry configured to emit a radiotherapy beam focused at an iso-center of the bore based medical system, wherein the ring-gantry is configured to rotate at least partly around a through-going bore having a front side and a back side, configured to receive from said front side, a movable couch configured to be moved into and out from the through-going bore, wherein further the through-going bore comprises an inner side facing an inside of the bore, and wherein the camera carrier is configured to be mounted inside the bore in connection with the inner side of the through-going bore.
Some embodiments are directed to an image director of a patient monitoring system to obtain calibration images of a calibration sheet or other calibration object at various orientations and locations. The images are then stored and processed to calculate camera parameters defining the location and orientation of the image detector and identifying internal characteristics of the image detector, and the information are stored. The patient monitoring system can be re-calibrated by using the image detector to obtain an additional image of a calibration sheet or calibration object. The additional image and the stored camera parameters are then used to detect any apparent change in the internal characteristics of the image detector (10)(S6-4).
The present disclosure relates to a patient motion tracking system for automatic generation of a region of interest on a 3D surface of a patient positioned in a radiotherapy treatment room. More particularly, the disclosure relates to an assistive approach of a motion tracking system, by which a region of interest (ROI) is automatically generated on a generated 3D surface of the patient. Furthermore, a method for automatically generating a ROI on the 3D surface of the patient is described. In particular, all the embodiments refer to systems integrating methods for automatic ROI generation in a radiotherapy treatment setup.
A method of calibrating a monitoring system (10,14) is described in which a calibration phantom (70) is located with its center located approximately at the isocenter of a treatment room through which a treatment apparatus (16) is arranged to direct radiation, wherein the surface of the calibration phantom (70) closest to an image capture device (72) of the monitoring system (10,14) is inclined approximately 45° relative to the camera plane of an image capture device of the monitoring system. Images of the calibration phantom (70) are then captured using the image capture device (72) and the images are processed to generate a model of the imaged surface of the calibration phantom. The generated model of the imaged surface of the calibration phantom (70) is then utilized to identify the relative location of the center of the calibration phantom (70) and the camera plane of the image capture device (72) which is then utilized to determine the relative location of the camera plane of the image capture device and the isocenter of a treatment room.
09 - Scientific and electric apparatus and instruments
Goods & Services
Downloadable software for use in medical imaging; downloadable software for operating medical imaging apparatus; downloadable software, for use with patient position monitoring apparatus, for receiving, processing, transmitting, and displaying data and images; downloadable software for use with medical imaging equipment, for monitoring patient positioning and radiation beam delivery to improve radiotherapy targeting and treatment; all of the foregoing expressly excluding goods in dental and orthodontic fields
22.
Method of calibration of a stereoscopic camera system for use with a radio therapy treatment apparatus
The disclosed calibration method includes a calibration phantom positioned on an adjustable table on the surface of a mechanical couch, with the phantom's centre at an estimated location for the iso-centre of a radio therapy treatment apparatus. The calibration phantom is then irradiated using the apparatus, and the relative location of the center of the calibration phantom and the iso-centre of the apparatus is determined by analyzing images of the irradiation of the calibration phantom. The calibration phantom is then repositioned by the mechanical couch applying an offset corresponding to the determined relative location of the centre of the calibration phantom and the iso-centre of the apparatus to the calibration phantom. Images of the relocated calibration phantom are obtained, to which the offset has been applied, and the obtained images are processed to set the co-ordinate system of a stereoscopic camera system relative to the iso-centre of the apparatus.
A61B 6/00 - Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
23.
Bore based medical system comprising a camera carrier configured to be mounted in the bore-based medical systems and utilized for positioning and monitoring of patients during radiotherapy treatment
Disclosed is a bore based medical system comprising a camera carrier configured to be mounted in the bore based medical system and configured to monitor and/or track patient motion within said bore based medical system during radiotherapy, the bore based medical system comprising a rotatable ring-gantry configured to emit a radiotherapy beam focused at an iso-center of the bore based medical system, wherein the ring-gantry is configured to rotate at least partly around a through-going bore having a front side and a back side, configured to receive from said front side, a movable couch configured to be moved into and out from the through-going bore, wherein further the through-going bore comprises an inner side facing an inside of the bore, and wherein the camera carrier is configured to be mounted inside the bore in connection with the inner side of the through-going bore.
A method of calibrating a monitoring system (10,14) is described in which a calibration phantom (70) is located with its center located approximately at the isocenter of a treatment room through which a treatment apparatus (16) is arranged to direct radiation, wherein the surface of the calibration phantom (70) closest to an image capture device (72) of the monitoring system (10,14) is inclined approximately 45° relative to the camera plane of an image capture device of the monitoring system. Images of the calibration phantom (70) are then captured using the image capture device (72) and the images are processed to generate a model of the imaged surface of the calibration phantom. The generated model of the imaged surface of the calibration phantom (70) is then utilized to identify the relative location of the center of the calibration phantom (70) and the camera plane of the image capture device (72) which is then utilized to determine the relative location of the camera plane of the image capture device and the isocenter of a treatment room.
Images obtained by a camera system (10) arranged to obtain images of a patient (20) undergoing radio-therapy are processed by a modeling unit (56,58) which generates a model of the surface of a patient (20) being monitored. Additionally the patient monitoring system processes image data not utilized to generate a model of the surface of a patient being monitored to determine further information concerning the treatment of the patient (20). Such additional data can comprise data identifying the relative location of the patient and a treatment apparatus (16). This can be facilitated by providing a number or retro-reflective markers (30-40) on a treatment apparatus (16) and a mechanical couch (18) used to position the patient (20) relative to the treatment apparatus (16) and monitoring the presence and location of the markers in the portions of the images obtained by the stereoscopic camera (10).
H04N 13/204 - Image signal generators using stereoscopic image cameras
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G06T 7/285 - Analysis of motion using a sequence of stereo image pairs
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
26.
Patient motion tracking system configured for automatic ROI generation
The present disclosure relates to a patient motion tracking system for automatic generation of a region of interest on a 3D surface of a patient positioned in a radiotherapy treatment room. More particularly, the disclosure relates to an assistive approach of a motion tracking system, by which a region of interest (ROI) is automatically generated on a generated 3D surface of the patient. Furthermore, a method for automatically generating a ROI on the 3D surface of the patient is described. In particular, all the embodiments refer to systems integrating methods for automatic ROI generation in a radiotherapy treatment setup.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Downloadable and recorded computer software for medical imaging equipment; Computer hardware, namely, microprocessors, microchips, and downloadable and recorded software for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; all of the foregoing expressly excluding goods in the dental and orthodontic fields; Computer hardware and downloadable and recorded software for medical imaging apparatus; downloadable and recorded software for medical imaging equipment for interpreting position and movement information from patient images and improving radiotherapy targeting; all of the foregoing expressly excluding goods in the dental and orthodontic fields Medical devices for monitoring patient position and movement during radiotherapy; Radiological apparatus for medical purposes, namely, medical apparatus for use in image guided therapy; Medical apparatus for monitoring patient position; Scanners for medical use, namely, Medical and dental apparatus for dimensional measurement in the nature of a 3D scanner for human body, X-ray CT scanners; Medical devices for monitoring patient position and movement during image guided therapy; Medical devices for monitoring patient position and movement during preparation for radiotherapy; Medical apparatus for radiotherapy; all of the foregoing expressly excluding goods in the dental and orthodontic fields; replacement parts and fittings for all the aforesaid goods; Medical apparatus for monitoring patient movement; Medical apparatus for positioning patients; all of the foregoing expressly excluding goods in the dental and orthodontic fields
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Downloadable and recorded computer software for medical
imaging equipment, for interpreting position, respiratory
and movement information from patient images and improving
radiotherapy targeting; computer hardware and downloadable
and recorded computer software for operation, programming,
testing, monitoring, adjusting, verifying and maintaining of
medical imaging apparatus; downloadable and recorded
software for medical imaging equipment; computer hardware
and downloadable and recorded computer software for use with
medical patient monitoring apparatus, for receiving,
processing, transmitting and displaying data and images. Medical apparatus for use in image guided therapy; medical
apparatus for monitoring patient breathing; medical
apparatus for monitoring patient position; parts and
fittings for all the aforesaid goods; scanners for medical
use; devices used for monitoring patient position, breathing
and movement during preparation for radiotherapy; medical
apparatus used for monitoring patient position and movement
during radiotherapy; medical apparatus for monitoring
patient movement; devices used for monitoring patient
position, breathing and movement during preparation for
image guided therapy.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Downloadable and recorded computer software for medical imaging equipment, for interpreting position, respiratory and movement information from patient images and improving radiotherapy targeting; computer hardware and downloadable and recorded computer software for operation, programming, testing, monitoring, adjusting, verifying and maintaining of medical imaging apparatus; downloadable and recorded software for medical imaging equipment, namely, for interpreting position, respiratory and movement information from patient images and improving radiotherapy targeting for use with medical imaging equipment; computer hardware and downloadable and recorded computer software for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images Radiological apparatus for medical purposes, namely, medical apparatus for use in image guided therapy; medical apparatus for monitoring patient breathing; medical apparatus for monitoring patient position; replacement parts and fittings for all the aforesaid goods; scanners for medical use, namely, medical and dental apparatus for dimensional measurement in the nature of a 3D scanner for human body, X-ray CT scanners; medical apparatus and instruments used for monitoring patient position, breathing and movement during preparation for radiotherapy; medical apparatus used for monitoring patient position and movement
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
downloadable and recorded computer software for medical imaging equipment, for interpreting position, respiratory and movement information from patient images and improving radiotherapy targeting; Computer hardware and downloadable and recorded computer software for operation, programming, testing, monitoring, adjusting, verifying and maintaining of medical imaging apparatus; downloadable and recorded software for medical imaging equipment; computer hardware and downloadable and recorded computer software for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images. medical apparatus for use in image guided therapy; medical apparatus for monitoring patient breathing; medical apparatus for monitoring patient position; parts and fittings for all the aforesaid goods; scanners for medical use; devices used for monitoring patient position, breathing and movement during preparation for radiotherapy; Medical apparatus used for monitoring patient position and movement during radiotherapy; medical apparatus for monitoring patient movement; devices used for monitoring patient position, breathing and movement during preparation for image guided therapy.
31.
Method of calibration of a stereoscopic camera system for use with a radio therapy treatment apparatus
The disclosed calibration method includes a calibration phantom positioned on an adjustable table on the surface of a mechanical couch, with the phantom's centre at an estimated location for the iso-centre of a radio therapy treatment apparatus. The calibration phantom is then irradiated using the apparatus, and the relative location of the center of the calibration phantom and the iso-centre of the apparatus is determined by analyzing images of the irradiation of the calibration phantom. The calibration phantom is then repositioned by the mechanical couch applying an offset corresponding to the determined relative location of the centre of the calibration phantom and the iso-centre of the apparatus to the calibration phantom. Images of the relocated calibration phantom are obtained, to which the offset has been applied, and the obtained images are processed to set the co-ordinate system of a stereoscopic camera system relative to the iso-centre of the apparatus.
A61B 6/00 - Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
32.
3D stereoscopic camera monitoring system and method of calibrating a camera monitoring system for monitoring a patient in a bore of a medical system for radiation treatment
A camera monitoring system for a bore based medical apparatus is described, wherein the camera monitoring system comprises a first and a second image sensor mounted on opposing surfaces of a circuit board. The first image sensor is arranged to view an object from a first viewpoint via a first lens arrangement and a first mirror and the second image sensor is arranged to view the object from a second viewpoint via a second lens arrangement and a second mirror. By having the image sensors view an object via the mirrors, via the lens arrangements, the lens arrangements contribute to the effective separation of the first and second viewpoints enabling the size of the housing of the camera to be reduced. Furthermore, a method for calibrating a camera monitoring system in a bore based setup is described and also a configuration of arranging a camera monitoring system in connection with a bore based medical apparatus.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Software for medical imaging equipment; computer hardware
and software, for use with medical patient monitoring
apparatus, for receiving, processing, transmitting and
displaying data and images; all of the foregoing expressly
excluding goods in the dental and orthodontic fields;
computer hardware and software for medical imaging
apparatus; software for medical imaging equipment for
interpreting position and movement information from patient
images and improving radiotherapy targeting; all of the
foregoing expressly excluding goods in the dental and
orthodontic fields. Devices used for monitoring patient position and movement
during radiotherapy; medical apparatus for use in image
guided therapy; medical apparatus for monitoring patient
position; scanners for medical use; devices used for
monitoring patient position and movement during image guided
therapy; devices used for monitoring patient position and
movement during preparation for radiotherapy; medical
apparatus for use in radiotherapy applications; all of the
foregoing expressly excluding goods in the dental and
orthodontic fields; parts and fittings for all the aforesaid
goods; medical apparatus for monitoring patient movement;
medical apparatus for positioning patients; all of the
foregoing expressly excluding goods in the dental and
orthodontic fields.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Software for medical imaging equipment; computer hardware
and software, for use with medical patient monitoring
apparatus, for receiving, processing, transmitting and
displaying data and images; all of the foregoing expressly
excluding goods in the dental and orthodontic fields;
computer hardware and software for medical imaging
apparatus; software for medical imaging equipment for
interpreting position and movement information from patient
images and improving radiotherapy targeting; all of the
foregoing expressly excluding goods in the dental and
orthodontic fields. Devices used for monitoring patient position and movement
during radiotherapy; medical apparatus for use in image
guided therapy; medical apparatus for monitoring patient
position; scanners for medical use; devices used for
monitoring patient position and movement during image guided
therapy; devices used for monitoring patient position and
movement during preparation for radiotherapy; medical
apparatus for use in radiotherapy applications; all of the
foregoing expressly excluding goods in the dental and
orthodontic fields; parts and fittings for all the aforesaid
goods; medical apparatus for monitoring patient movement;
medical apparatus for positioning patients; all of the
foregoing expressly excluding goods in the dental and
orthodontic fields.
35.
Multi-purpose object for a patient planning and treatment system
A multi-purpose object for calibrating, monitoring and/or tracking a patient in a treatment system and/or a treatment planning system is described, the multi-purpose object being made of transparent material and defining an internal space having one or more targets, wherein an upper surface is coated so as to define a pattern of transparent markings. The interior of the multi-purpose object can be back lit to present a high contrast surface image for a patient treatment, tracking or monitoring system.
A61B 6/00 - Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G06T 7/593 - Depth or shape recovery from multiple images from stereo images
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
36.
Method of calibrating a patient monitoring system for use with a radiotherapy treatment apparatus
Some embodiments are directed to an image director of a patient monitoring system to obtain calibration images of a calibration sheet or other calibration object at various orientations and locations. The images are then stored and processed to calculate camera parameters defining the location and orientation of the image detector and identifying internal characteristics of the image detector, and the information are stored. The patient monitoring system can be re-calibrated by using the image detector to obtain an additional image of a calibration sheet or calibration object. The additional image and the stored camera parameters are then used to detect any apparent change in the internal characteristics of the image detector (10)(S6-4).
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Computer hardware and software for medical imaging
apparatus; computer hardware and software, for use with
medical patient monitoring apparatus, for receiving,
processing, transmitting and displaying data and images;
software for medical imaging equipment; software for medical
imaging equipment for interpreting position and movement
information from patient images and improving radiotherapy
targeting; all of the foregoing expressly excluding goods in
the dental and orthodontic fields. Medical apparatus for use in radiotherapy applications;
medical apparatus for use in image guided therapy; scanners
for medical use; medical apparatus for monitoring patient
position; medical apparatus for monitoring patient movement;
medical apparatus for positioning patients; devices used for
monitoring patient position and movement during preparation
for radiotherapy; devices used for monitoring patient
position and movement during radiotherapy; devices used for
monitoring patient position and movement during image guided
therapy; parts and fittings for all the aforesaid goods; all
of the foregoing expressly excluding goods in the dental and
orthodontic fields.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Downloadable and recorded computer software for operating medical imaging equipment; computer hardware and downloadable and recorded computer software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; all of the foregoing expressly excluding goods in the dental and orthodontic fields; computer hardware and downloadable and recorded computer software for operating medical imaging apparatus; downloadable and recorded software for medical imaging equipment for interpreting position and movement information from patient images and improving radiotherapy targeting; all of the foregoing expressly excluding goods in the dental and orthodontic fields Devices used for monitoring patient position and movement during radiotherapy; medical apparatus for use in image guided therapy; medical apparatus for monitoring patient position; scanners for medical use, namely, surface guidance systems for radiation therapy and patient identification systems; devices used for monitoring patient position and movement during image guided therapy; devices used for monitoring patient position and movement during preparation for radiotherapy; medical apparatus for use in radiotherapy applications, namely, surface guidance systems for radiation therapy and patient identification systems; all of the foregoing expressly excluding goods in the dental and orthodontic fields; parts and fittings for all the aforesaid goods; medical apparatus for monitoring patient movement; medical apparatus for positioning patients; all of the foregoing expressly excluding goods in the dental and orthodontic fields
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Computer hardware and downloadable and recorded software for medical imaging apparatus; computer hardware and downloadable and recorded software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; downloadable and recorded software for medical imaging equipment; downloadable and recorded software for medical imaging equipment for interpreting position and movement information from patient images and improving radiotherapy targeting; all of the foregoing expressly excluding goods in the dental and orthodontic fields Medical apparatus for use in radiotherapy applications; medical apparatus for use in image guided therapy; scanners for medical use; medical apparatus for monitoring patient position; medical apparatus for monitoring patient movement; medical apparatus for positioning patients; devices used for monitoring patient position and movement during preparation for radiotherapy; devices used for monitoring patient position and movement during radiotherapy; devices used for monitoring patient position and movement during image guided therapy; parts and fittings for all the aforesaid goods; all of the foregoing expressly excluding goods in the dental and orthodontic fields
Images obtained by a camera system (10) arranged to obtain images of a patient (20) undergoing radio-therapy are processed by a modeling unit (56,58) which generates a model of the surface of a patient (20) being monitored. Additionally the patient monitoring system processes image data not utilized to generate a model of the surface of a patient being monitored to determine further information concerning the treatment of the patient (20). Such additional data can comprise data identifying the relative location of the patient and a treatment apparatus (16). This can be facilitated by providing a number or retro-reflective markers (30-40) on a treatment apparatus (16) and a mechanical couch (18) used to position the patient (20) relative to the treatment apparatus (16) and monitoring the presence and location of the markers in the portions of the images obtained by the stereoscopic camera (10).
H04N 13/204 - Image signal generators using stereoscopic image cameras
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G06T 7/285 - Analysis of motion using a sequence of stereo image pairs
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A patient monitor is disclosed for detecting patient movement or abnormal breathing. Images of a patient are obtained by a stereoscopic camera. These images are then processed by a 3D position determination module which determines measurements indicative of positions of at least part of a patient. The obtained measurements are then passed to a model generation module which generates a breathing model of the variation in position of the at least part of a patient during a breathing cycle. Subsequently abnormal breathing or patient movement can be detected by processing further images obtained by the stereoscopic camera to determine more measurements indicative of positions of at least part of a patient. These measurements are then compared with a stored breathing model by a comparison module. If abnormal breathing or patient movement is detected the comparison module sends a signal to a treatment apparatus to interrupt treatment until normal breathing resumes or alternatively to a mechanical couch to reposition the patient to account for the detected movement.
A method of identifying portions of a model of a surface (204) of a patient which can be used to identify to position of a patient (20) is provided. A pre-existing model of the surface (204) of a patient is utilised to generate (102) simulated images of the projection of patterns of light onto the surface (204) of the patient (20). The simulated images are then processed (104) to generate a further model of the surface. Any differences between the model generated by processing the simulated images and the original model surface identifies portions of the surface (204) which cannot be reliably modelled and hence portions of a surface (204) which should not be used to monitor the positioning of a patient (20). The invention has particular application for identifying the reliability and accuracy of generated models of the surface (204) of a patient used for monitoring and positioning a patient (20) undergoing radiotherapy.
A method of calibrating a monitoring system (10,14) is described in which a calibration phantom (70) is located with its center located approximately at the isocenter of a treatment room through which a treatment apparatus (16) is arranged to direct radiation, wherein the surface of the calibration phantom (70) closest to an image capture device (72) of the monitoring system (10,14) is inclined approximately 45° relative to the camera plane of an image capture device of the monitoring system. Images of the calibration phantom (70) are then captured using the image capture device (72) and the images are processed to generate a model of the imaged surface of the calibration phantom. The generated model of the imaged surface of the calibration phantom (70) is then utilized to identify the relative location of the center of the calibration phantom (70) and the camera plane of the image capture device (72) which is then utilized to determine the relative location of the camera plane of the image capture device and the isocenter of a treatment room.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
software for medical imaging equipment; computer hardware and software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; all of the foregoing expressly excluding goods in the dental and orthodontic fields; Computer hardware and software for medical imaging apparatus; software for medical imaging equipment for interpreting position and movement information from patient images and improving radiotherapy targeting; all of the foregoing expressly excluding goods in the dental and orthodontic fields. devices used for monitoring patient position and movement during radiotherapy; medical apparatus for use in image guided therapy; medical apparatus for monitoring patient position; scanners for medical use; devices used for monitoring patient position and movement during image guided therapy; devices used for monitoring patient position and movement during preparation for radiotherapy; Medical apparatus for use in radiotherapy applications; all of the foregoing expressly excluding goods in the dental and orthodontic fields.; parts and fittings for all the aforesaid goods; medical apparatus for monitoring patient movement; medical apparatus for positioning patients; all of the foregoing expressly excluding goods in the dental and orthodontic fields.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
software for medical imaging equipment; computer hardware and software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; all of the foregoing expressly excluding goods in the dental and orthodontic fields; Computer hardware and software for medical imaging apparatus; software for medical imaging equipment for interpreting position and movement information from patient images and improving radiotherapy targeting; all of the foregoing expressly excluding goods in the dental and orthodontic fields. devices used for monitoring patient position and movement during radiotherapy; medical apparatus for use in image guided therapy; medical apparatus for monitoring patient position; scanners for medical use; devices used for monitoring patient position and movement during image guided therapy; devices used for monitoring patient position and movement during preparation for radiotherapy; Medical apparatus for use in radiotherapy applications; all of the foregoing expressly excluding goods in the dental and orthodontic fields.; parts and fittings for all the aforesaid goods; medical apparatus for monitoring patient movement; medical apparatus for positioning patients; all of the foregoing expressly excluding goods in the dental and orthodontic fields.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Computer hardware and software for medical imaging apparatus; computer hardware and software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; software for medical imaging equipment; software for medical imaging equipment for interpreting position and movement information from patient images and improving radiotherapy targeting; all of the foregoing expressly excluding goods in the dental and orthodontic fields. Medical apparatus for use in radiotherapy applications; medical apparatus for use in image guided therapy; scanners for medical use; medical apparatus for monitoring patient position; medical apparatus for monitoring patient movement; medical apparatus for positioning patients; devices used for monitoring patient position and movement during preparation for radiotherapy; devices used for monitoring patient position and movement during radiotherapy; devices used for monitoring patient position and movement during image guided therapy; parts and fittings for all the aforesaid goods; all of the foregoing expressly excluding goods in the dental and orthodontic fields.
Some embodiments are directed to a monitoring system for monitoring the positioning of a patient relative to a treatment apparatus operable to deliver radiation along a radiation path. A model generation module is arranged to generate a model of a surface of a patient being monitored. A comparison module determines a transformation required to match the generated model to the stored model target surface. An offset determination module then utilizes the transformation and data indicative of a current position of a treatment apparatus to determine an offset value indicative of the offset of the surface of a patient relative to an axis corresponding to a determined current radiation path for radiation generated by the treatment apparatus applied to a patient. If the offset value exceeds a threshold, a warning may be generated or treatment may be halted.
G06K 9/62 - Methods or arrangements for recognition using electronic means
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
48.
Method of calibrating a patient monitoring system for use with a radiotherapy treatment apparatus
A calibration sheet is located at a first position where its surface substantially corresponds to the expected position of a patient surface lying on a mechanical couch during treatment. Images of the calibration sheet are obtained and processed to ascertain relative locations and orientations of the image detectors obtaining the images and optical distortion parameters indicative of optical distortions present in the obtained images of the calibration sheet. The calibration sheet is then re-located to a known position relative to the iso-centre of the treatment apparatus and images of the re-located calibration sheet are obtained and processed to determine a transform corresponding to the relocation of the calibration sheet from the first position to the iso-centre of the treatment apparatus. Data indicative of optical distortions present in the images and data indicative of the locations and orientations of the image detectors relative to the iso-centre of the treatment apparatus are stored.
The disclosed calibration method includes a calibration phantom positioned on an adjustable table on the surface of a mechanical couch, with the phantom's center at an estimated location for the iso-center of a radio therapy treatment apparatus. The calibration phantom is then irradiated using the apparatus, and the relative location of the center of the calibration phantom and the iso-center of the apparatus is determined by analyzing images of the irradiation of the calibration phantom. The calibration phantom is then repositioned by the mechanical couch applying an offset corresponding to the determined relative location of the center of the calibration phantom and the iso-center of the apparatus to the calibration phantom. Images of the relocated calibration phantom are obtained, to which the offset has been applied, and the obtained images are processed to set the co-ordinate system of a stereoscopic camera system relative to the iso-center of the apparatus.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Computer hardware and software for medical imaging apparatus; computer hardware and software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; software for medical imaging equipment; software for medical imaging equipment for interpreting position and movement information from patient images and improving radiotherapy targeting; all of the foregoing expressly excluding goods in the dental and orthodontic fields. Medical apparatus for use in radiotherapy applications; medical apparatus for use in image guided therapy; scanners for medical use; medical apparatus for monitoring patient position; medical apparatus for monitoring patient movement; medical apparatus for positioning patients; devices used for monitoring patient position and movement during preparation for radiotherapy; devices used for monitoring patient position and movement during radiotherapy; devices used for monitoring patient position and movement during image guided therapy; parts and fittings for all the aforesaid goods; all of the foregoing expressly excluding goods in the dental and orthodontic fields.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Computer hardware and software for medical imaging apparatus; computer hardware and software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; software for medical imaging equipment; software for patient verification; software to verify identity of patient and confirm patient matches treatment regime; software for medical imaging equipment for interpreting position, respiratory and movement information from patient images and improving radiotherapy targeting; software for detecting moving parts of radiotherapy or image guided surgery or diagnostic imaging machines and preventing collisions between equipment and patients or other objects, but not including computer hardware and software for breath alcohol testers. Medical apparatus for use in radiotherapy applications; medical apparatus for use in image guided therapy; scanners for medical use; medical apparatus for monitoring patient position; medical apparatus for patient verification; medical apparatus for verification of patient identity and confirmation of patient matching to treatment regimes; medical apparatus for monitoring patient breathing; medical apparatus for monitoring patient movement; devices used for monitoring patient position, breathing and movement in connection with radiotherapy and image guided therapy and preparation therefor; devices for detecting moving parts of radiotherapy or image guided surgery or diagnostic imaging machines and preventing collisions between equipment and patients or other objects; parts and fittings for all the aforesaid goods but not including breath alcohol testers.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Computer hardware and software for medical imaging apparatus; computer hardware and software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; software for medical imaging equipment; software for medical imaging equipment, for interpreting position, respiratory and movement information from patient images and improving radiotherapy targeting. Medical apparatus for use in radiotherapy applications; medical apparatus for use in image guided therapy; scanners for medical use; medical apparatus for monitoring patient position; medical apparatus for monitoring patient breathing; medical apparatus for monitoring patient movement; devices used for monitoring patient position, breathing and movement during preparation for radiotherapy; devices used for monitoring patient position, breathing and movement during preparation for image guided therapy; parts and fittings for all the aforesaid goods.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Computer hardware and software for medical imaging apparatus; computer hardware and software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; software for medical imaging equipment; software for medical imaging equipment for interpreting position, respiratory and movement information from patient images and improving radiotherapy targeting. Medical apparatus for use in radiotherapy applications; medical apparatus for use in image guided therapy; scanners for medical use; medical apparatus for monitoring patient position; medical apparatus for monitoring patient breathing; medical apparatus for monitoring patient movement; devices used for monitoring patient position, breathing and movement during preparation for radiotherapy; devices used for monitoring patient position, breathing and movement during radiotherapy; devices used for monitoring patient position, breathing and movement during image guided therapy; parts and fittings for all the aforesaid goods.
A patient monitoring system for monitoring a patient undergoing radiotherapy comprising a projector operable to project a pattern of light onto a patient undergoing radiation treatment, a patient restraint operable to restrain the patient relative to a treatment apparatus, an image detector operable to obtain images of the patient, and a model generation module operable to process images of the patient obtained by the image detector to generate a model of the surface of a portion of the patient, wherein at least a portion of the patient restraint is colored and the model generation module is inhibited from generating a model of the colored portion of the patient restraint.
G06T 7/521 - Depth or shape recovery from the projection of structured light
G06T 7/593 - Depth or shape recovery from multiple images from stereo images
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 90/18 - Retaining sheets, e.g. immobilising masks
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
55.
Method of calibrating a patient monitoring system for use with a radiotherapy treatment apparatus
Some embodiments are directed to an image director of a patient monitoring system to obtain calibration images of a calibration sheet or other calibration object at various orientations and locations. The images are then stored and processed to calculate camera parameters defining the location and orientation of the image detector and identifying internal characteristics of the image detector, and the information are stored. The patient monitoring system can be re-calibrated by using the image detector to obtain an additional image of a calibration sheet or calibration object. The additional image and the stored camera parameters are then used to detect any apparent change in the internal characteristics of the image detector (10) (S6-4).
A radiation dosage monitoring system comprising a 3D camera operable to obtain images of a patient undergoing radiation treatment, the 3D camera being operable to detect Cherenkov radiation and any subsequent secondary and scattered radiation originating due the initial Cherenkov radiation emitted from a surface of the patient when the patient is irradiated by a radiation beam; and a processing module operable to process the images obtained by the 3D camera utilizing data indicative of chromophores present in a patient's skin to apply a correction factor to such images to account for absorption of Cherenkov radiation by chromophores in the skin when utilizing the images to generate a representation of radiation applied to the surface of the patient.
A patient monitoring system for monitoring a patient undergoing radiotherapy comprising a projector operable to project a pattern of light onto a patient undergoing radiation treatment, a patient restraint operable to restrain the patient relative to a treatment apparatus, an image detector operable to obtain images of the patient, and a model generation module operable to process images of the patient obtained by the image detector to generate a model of the surface of a portion of the patient, wherein at least a portion of the patient restraint is colored and the model generation module is inhibited from generating a model of the colored portion of the patient restraint.
A patient monitoring system for monitoring a patient undergoing radiotherapy comprising a projector operable to project a pattern of light onto a patient undergoing radiation treatment, a patient restraint operable to restrain the patient relative to a treatment apparatus, an image detector operable to obtain images of the patient, and a model generation module operable to process images of the patient obtained by the image detector to generate a model of the surface of a portion of the patient, wherein at least a portion of the patient restraint is colored and the model generation module is inhibited from generating a model of the colored portion of the patient restraint.
A radiation dosage monitoring system is disclosed comprising: a model generation module (58) operable to generate a 3D model of the surface of a portion of a patient (20) undergoing radiation treatment, an image detector (10) operable to detect Cherenkov radiation and any subsequent secondary and scattered radiation originating due to the initial Cherenkov radiation emitted from a surface of the patient (20) undergoing radiation treatment, a processing module (66) operable to determine estimations of radiation applied to the surface of a patient utilizing the images obtained by the image detector and the generated 3D model, and to utilize the determined estimations of radiation applied to the surface of the patient together with data indicative of the orientation of a radiation beam inducing emission of the Cherenkov radiation at a time when the radiation beam was applied to generate a 3D internal representation of the location of the portions of a patient irradiated by radiation resulting in the emission of the Cherenkov radiation.
Some embodiments are directed to a radiation dosage monitoring system including a model generation module configured to generate a 3D surface model of a portion of a patient undergoing radiation treatment, an image detector configured to detect Cherenkov radiation and any subsequent secondary and scattered radiation originating due to the initial Cherenkov radiation emitted from the patient, a processing module configured to determine estimations of radiation applied to the patient utilizing the images from the image detector and the 3D model, and to utilize the determined estimations of radiation applied to the patient together with data indicative of the orientation of a radiation beam inducing emission of the Cherenkov radiation at a time when the radiation beam was applied to generate a 3D internal representation of the location of the portions of a irradiated patient resulting in the emission of the Cherenkov radiation.
A monitoring system for use with radiotherapy apparatus comprising a target surface (36a,36b) having one or morethree-dimensional projections(38) provided thereon, each projection (38) having a multiplicity of planar side surfaces(S), a stereoscopic camera (14) operable to obtain images of thetarget surface (36a,36b), and a processing module (200) operable to process images obtained by the stereoscopic camera (14) of the target surface (36a,36b)together with data identifying the position and orientationof the stereoscopic camera (14)relative to a defined point in space to determine the positionsrelative to the defined point in spaceof the planar side surfaces (S)defined by the at least one or more three-dimensional projections (36a,36b). (Figure 2)
A method of assisting a patient (24) in controlling their position is disclosed. Reference position data (RP) indicative of a reference position of a patient is obtained. Actual position data (AT) is monitored and compared with the reference position data (RT) to determine a position deviation, and the intensity and/or brightness and/or hue angle and/or flicker rate of emitted light which is detectable by the patient as ambient light is changed if there is a position deviation.
An image detector (10) of a patient monitoring system is used (S6-1) to obtain a set of calibration images of a calibration sheet (100) or other calibration object at various orientations and locations. These obtained calibration images are then stored and processed to calculate camera parameters defining the location and orientation of the image detector and parameters identifying internal characteristics of the image detector and the calculated parameters are stored (S6-2). Subsequently the patient monitoring system is re-calibrated by using (S6-3) the image detector (10) to obtain an additional image of a calibration sheet (100) or calibration object. The additional image and the stored camera parameters are then used to detect any apparent change in the internal characteristics of the image detector (10) (S6-4). If a change in the internal characteristics of an image detector (10) is detected, a further set of calibration images are obtained using the image detector (10) and the camera parameters for the image detector are recalculated using the further set of calibration images. If no change in the internal characteristics of an image detector is detected, the recalibration of the patient monitoring system is achieved by recalculating (s6-9) the camera parameters for the image detector using the stored set of calibration images and the additional image of the calibration object obtained by the image detector.
Some embodiments are directed to a calibration method including a calibration phantom positioned on an adjustable table on the surface of a mechanical couch, with the phantom's center at an estimated location for the iso-center of a radio therapy treatment apparatus. The calibration phantom is then irradiated using the apparatus, and the relative location of the center of the calibration phantom and the iso-center of the apparatus is determined by analyzing images of the irradiation. The calibration phantom is then repositioned by the mechanical couch applying an offset corresponding to the determined relative location of the center of the calibration phantom and the iso-center of the apparatus to the calibration phantom. Images of the relocated calibration phantom are obtained, and the images are processed to set the co-ordinate system of a 3D camera system relative to the iso-center of the apparatus.
A calibration sheet (100) is located (S4-1) at a first position where its surface substantially corresponds to the expected position of a surface a patient (20) lying on a mechanical couch (18) during treatment. Images of the calibration sheet (100) are obtained and processed (S-4-2, S4-3) to ascertain the relative locations and orientations of the image detectors obtaining the images and optical distortion parameters indicative of optical distortions present in the obtained images of the calibration sheet (100). The calibration sheet (100) is then re-located (S4-4) to a known position relative to the iso-centre of the treatment apparatus and images of the re-located calibration sheet (100) are obtained and processed (S4-5, S4-6) to determine a transform corresponding to the relocation of the calibration sheet (100) from the first position to the iso-centre of the treatment apparatus. Data indicative of optical distortions present in the images obtained by the image detectors of the calibration sheet (100) in the first position, and data indicative of the locations and orientations of the image detectors relative to the iso-centre of the treatment apparatus are stored.
Images obtained by a camera system (10) arranged to obtain stereoscopic images of a patient (20) undergoing radio-therapy are processed by a modeling unit (56,58) which generates a model of the surface of a patient (20) being monitored. Additionally the patient monitoring system processes image data not utilized to generate a model of the surface of a patient being monitored to determine further information concerning the treatment of the patient (20). Such additional data can comprise data identifying the relative location of the patient and a treatment apparatus (16). This can be facilitated by providing a number or retro-reflective markers (30-40) on a treatment apparatus (16) and a mechanical couch (18) used to position the patient (20) relative to the treatment apparatus (16) and monitoring the presence and location of the markers in the portions of the images obtained by the stereoscopic camera (10).
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
H04N 13/204 - Image signal generators using stereoscopic image cameras
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G06T 7/285 - Analysis of motion using a sequence of stereo image pairs
A patient monitor is disclosed for detecting patient movement or abnormal breathing. Images of a patient are obtained by a stereoscopic camera. These images are then processed by a 3D position determination module which determines measurements indicative of positions of at least part of a patient. The obtained measurements are then passed to a model generation module which generates a breathing model of the variation in position of the at least part of a patient during a breathing cycle. Subsequently abnormal breathing or patient movement can be detected by processing further images obtained by the stereoscopic camera to determine more measurements indicative of positions of at least part of a patient. These measurements are then compared with a stored breathing model by a comparison module. If abnormal breathing or patient movement is detected the comparison module sends a signal to a treatment apparatus to interrupt treatment until normal breathing resumes or alternatively to a mechanical couch to reposition the patient to account for the detected movement.
A patient monitoring system can include stereoscopic cameras connected to a computer which includes a 3D position determination module operable to process stereoscopic images of a patient to identify 3D positions of a plurality of points on the surface of an imaged patient. A target model store can store a target model including data identifying 3D positions of a set of vertices of a triangulated 3D wire mesh model and connectivity indicative of connections between vertices. A matching module can identify the triangles in a target model surface stored in the target model store closest to points identified by the 3D position determination module and calculate a rigid transformation which minimizes point to plane distances between the identified points and the planes containing the triangles of the target model surface identified as being closest to those points.
An exemplary embodiment of a 3D camera system for a patient positioning and monitoring system is described. In the system a pair of image detectors are provided where the image detectors are each associated with a heater thermally connected to conducting pads provided at the periphery of the image detectors. The heaters and conducting pads act to contain the image detectors in a substantially constant temperature micro climate thereby preventing external temperature variations from causing the relative positions of the image detectors to change so as to record portions of images as different pixels and hence reduce the consistency with which the identification of matching portions of images obtained by the image detectors can be utilized to determine the 3D positions of imaged objects.
A head positioning device for use in radio therapy is described for positioning a patient's head. The head positioning device comprises a head plate for supporting a patient's head; a base plate for connection to a mechanical couch; and a head plate adjustment assembly connecting the head plate to the base plate wherein the head plate adjustment assembly is arranged to vary the relative pitch, yaw and roll of the head plate relative to the base plate. The head positioning device is arranged to be attached to a mechanical couch with the head plate and the head plate adjustment assembly cantilevered off the end of the couch and the head plate adjustment assembly suspended beneath the head plate and the base plate.
A method of calibration of a stereoscopic camera system (10,12) for use with a radio therapy treatment apparatus (14) is provided. Initially a calibration phantom (18) is positioned on an adjustable table (20) on the surface of a mechanical couch (16) with the phantom's centre at an estimated location for the iso-centre of a radio therapy treatment apparatus (14). The calibration phantom (18) is then irradiated using the radio therapy treatment apparatus (14) and the relative location of the centre of the calibration phantom and the iso-centre of the radio therapy treatment is determined by analysing images of the irradiation of the calibration phantom (18). The calibration phantom (18) is then repositioned by the mechanical couch (16) applying an offset corresponding to the determined relative location of the centre of the calibration phantom and the iso-centre of the radio therapy treatment apparatus (14) to the calibration phantom (18). The stereoscopic camera system (10,12) then proceeds to obtain images of the relocated calibration phantom (18) to which the offset has been applied and processes the obtained images to set the co-ordinate system of the stereoscopic camera system (10,12) relative to the iso-centre of the radio therapy treatment apparatus (14).
Images obtained by a camera system (10) arranged to obtain stereoscopic images of a patient (20) undergoing radio-therapy are processed by a modeling unit (56,58) which generates a model of the surface of a patient (20) being monitored. Additionally the patient monitoring system processes image data not utilized to generate a model of the surface of a patient being monitored to determine further information concerning the treatment of the patient(20). Such additional data can comprise data identifying the relative location of the patient and a treatment apparatus (16). This can be facilitated by providing a number or retro-reflective markers (30-40) on a treatment apparatus (16) and a mechanical couch (18) used to position the patient (20) relative to the treatment apparatus (16) and monitoring the presence and location of the markers in the portions of the images obtained by the stereoscopic camera (10).
A 3D camera system (10) for a patient positioning and monitoring system is described. In the system a pair of image detectors (50) are provided where the image detectors (50) are each associated with a heater (64) thermally connected to conducting pads (68) provided at the periphery of the image detectors (50). The heaters (64) and conducting pads (68) act to contain the image detectors (50) in a substantially constant temperature micro climate thereby preventing external temperature variations from causing the relative positions of the image detectors to change so as to record portions of images as different pixels and hence reduce the consistency with which the identification of matching portions of images obtained by the image detectors (50) can be utilized to determine the 3D positions of imaged objects.
A patient monitoring system and method is described. The monitoring system comprises a set of stereoscopic cameras (10) orientated to obtain images of a patient (20) on a mechanical couch (18). The cameras (10) are connected to a computer 14 which includes a 3D position determination module (26) operable to process stereoscopic images of a patient to identify 3D positions of a plurality of points on the surface of an imaged patient;a target model store (32) operable to store a target model comprising data identifying 3D positions of a set of vertices of a triangulated 3D wire mesh model and connectivity indicative of connections between vertices; anda matching module (34) operable to identify the triangles in a target model surface stored in the target model store closest to points identified by the 3D position determination module and calculate a rigid transformation which minimizes point to plane distances between the identified points and the planes containing the triangles of the target model surface identified as being closest to those points. The determined transformation can be utilized to instruct the mechanical couch (18) to position the patient (20) in a position corresponding to the stored target model or alternatively to inhibit a treatment apparatus (16) from operating if the patient is more than a threshold amount out of position.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Computer hardware and software for medical imaging apparatus; computer hardware and software, for use with medical patient monitoring apparatus, for receiving, processing, transmitting and displaying data and images; software for medical imaging equipment, namely, for interpreting position and movement information from patient images and improving radiotherapy targeting; all of the foregoing expressly excluding goods in the dental and orthodontic fields Medical apparatus for use in radiotherapy applications; medical apparatus for use in image guided therapy; scanners for medical use; medical apparatus for monitoring patient position; medical apparatus for monitoring patient movement; medical apparatus for positioning patients; devices used for monitoring patient position and movement during preparation for radiotherapy; devices used for monitoring patient position and movement during radiotherapy; devices used for monitoring patient position and movement during image guided therapy; parts and fittings for all the aforesaid goods; all of the foregoing expressly excluding goods in the dental and orthodontic fields
A blank for a head restraint is disclosed. The blank includes a frame and a sheet extending across the frame wherein a main aperture and a pair of auxiliary apertures are provided in the sheet. The arrangement of the apertures is such that when the sheet is deformed upon placement on a patient's head, the main aperture is such to leave a patient's face substantially free of the sheet and the auxiliary apertures are such to cause a retaining strut to be formed by portions of the sheet between the main aperture and the auxiliary apertures.
A61F 11/00 - Methods or devices for treatment of the ears or hearing sense ; Non-electric hearing aids; Methods or devices for enabling ear patients to achieve auditory perception through physiological senses other than hearing sense; Protective devices for the ears, carried on the body or in the hand
A patient monitor is disclosed for detecting patient movement or abnormal breathing. Images of a patient are obtained by a stereoscopic camera. These images are then processed by a 3D position determination module which determines measurements indicative of positions of at least part of a patient. The obtained measurements are then passed to a model generation module which generates a breathing model of the variation in position of the at least part of a patient during a breathing cycle. Subsequently abnormal breathing or patient movement can be detected by processing further images obtained by the stereoscopic camera to determine more measurements indicative of positions of at least part of a patient. These measurements are then compared with a stored breathing model by a comparison module. If abnormal breathing or patient movement is detected the comparison module sends a signal to a treatment apparatus to interrupt treatment until normal breathing resumes or alternatively to a mechanical couch to reposition the patient to account for the detected movement.
A blank (1) for a head restraint is disclosed. The blank (1) comprises: a frame (2); and a sheet (3) extending across the frame (2) wherein a main aperture (10) and a pair of auxiliary apertures (12,13) are provided in the sheet (3), the arrangement of the apertures (10,12,13) being such that when the sheet (3) is deformed upon placement on a patient's head (4) the main aperture (10) is such to leave a patient's face substantially free of the sheet (3) and the auxiliary apertures (12,13) are such to cause a retaining strut (22) to be formed by portions of the sheet (3) between the main aperture (10) and the auxiliary apertures (12,13).
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A patient monitor is disclosed for detecting patient movement or abnormal breathing. Images of a patient are obtained by a stereoscopic camera. These images are then processed by a 3D position determination module which determines measurements indicative of positions of at least part of a patient. The obtained measurements are then passed to a model generation module which generates a breathing model of the variation in position of the at least part of a patient during a breathing cycle. Subsequently abnormal breathing or patient movement can be detected by processing further images obtained by the stereoscopic camera to determine more measurements indicative of positions of at least part of a patient. These measurements are then compared with a stored breathing model by a comparison module. If abnormal breathing or patient movement is detected the comparison module sends a signal to a treatment apparatus to interrupt treatment until normal breathing resumes or alternatively to a mechanical couch to reposition the patient to account for the detected movement.
Three camera rigs are connected by wiring to a computer. The computer is also connected to a treatment apparatus. A mechanical couch is provided as part of the treatment apparatus such that under the control of the computer the relative positions of the mechanical couch and the treatment apparatus may be varied. The camera rigs obtain video images of a patient lying on the mechanical couch. The computer processes these images to generate a three-dimensional model of the surface of the patient relative to the treatment apparatus.
A patient monitor is disclosed for detecting patient movement or abnormal breathing. Images of a patient (20) are obtained by a stereoscopic camera (10). These images are then processed by a 3D position determination module (25) which determines measurements indicative of positions of at least part of a patient. The obtained measurements are then passed to a model generation module (32) which generates a breathing model of the variation in position of the at least part of a patient during a breathing cycle. Subsequently abnormal breathing or patient movement can be detected by processing further images obtained by the stereoscopic camera (10) to determine more measurements indicative of positions of at least part of a patient. These measurements are then compared with a stored breathing model (34) by a comparison module (36). If abnormal breathing or patient movement is detected the comparison module (36) sends a signal to a treatment apparatus (16) to interrupt treatment until normal breathing resumes or alternatively to a mechanical couch (18) to reposition the patient to account for the detected movement.
An image processing system (1-5) is provided which obtains images of a patient (8) from multiple view points and which then generates positioning instructions for a mechanical couch (7) to vary the position of a patient. A number of techniques are disclosed in order to calibrate the image processing system so as to enable the image processing system to identify the iso center of radiation beams generated by a treatment apparatus (6). Techniques for processing generated 3 dimensional models to monitor a patient's breathing are also disclosed.
A patient positioning system for a radiation therapy system (100). The positioning system includes multiple external measurement devices (124) which obtain position and orientation measurements of components of the radiation therapy system (100) which are movable and/or are subject to flex or other positional variations from nominal. The external measurements provide corrective positioning feedback to more precisely register the patient and align them with the delivery axis (142) of a radiation beam. The positioning system monitors the relative positions of movable components of the radiation therapy system and plans an efficient movement procedure when indicated. The positioning system also plans the movement to avoid collisions either between the components of the radiation therapy system (100) as well as with personnel that may intrude into a movement envelope. The positioning system can be provided as an integral part of a radiation therapy system (100) or can be added as an upgrade to existing radiation therapy systems.
Radiotherapy applications and devices used for positioning patients during radiotherapy and image guided surgery, namely, biometric systems comprised of cameras, monitors, real-time displays, databases, and proprietary software
