WO2019045163A1 - Treatment planning device and method for radiation therapy based on robotic arm - Google Patents

Abstract

The present invention relates to a technology related to a treatment planning device and method for radiation therapy based on multiple robotic arms, and the treatment planning device according to one embodiment comprises: a reception unit for receiving a medical image obtained by capturing a region to be treated, information on a plurality of node regions on which radiation beams are irradiated by multiple robotic arms in the medical image, and radiation therapy planning data for each of the plurality of node regions; a radiation amount calculation unit for optimizing the number and angles of the radiation beams included in the radiation therapy planning data on the basis of linear programming, and calculating the radiation amount of the radiation beams included in the optimized data; a group allocation unit for dividing the plurality of node regions, in which optimization and radiation amount calculation have been completed, into a plurality of groups, and allocating each of the multiple robotic arms to each of the plurality of groups; and a scheduling unit for scheduling the irradiation order of the radiation beams in consideration of collision of the radiation beams irradiated from each of the allocated multiple robotic arms.

Description

Treatment planning system and method for radiation therapy based on robot arm

[0001] The present invention relates to a treatment planning apparatus and method for a radiation therapy based on a robot arm, and more particularly, to a treatment planning apparatus and method for a multi-robot arm based radiation therapy having at least two or more robot arms .

Currently, many hospitals provide radiation therapy to patients using a radiation therapy device such as a linear accelerator (LINAC), a brachytherapy, a Cyberknife, a Tomotherapy, and the like, Cyberknife provides radiation therapy using robot arm.

However, the CyberKnife is a single-robot arm-based radiotherapy device that combines existing treatment planning devices for cyber knife radiotherapy with multiple robots that require complex dose calculations for at least 100 radiation beams irradiated from multiple robot arms. It is difficult to apply it to a cancer-based treatment apparatus.

Accordingly, there is a need for a treatment planning apparatus applicable to a multi-robot arm-based radiation therapy apparatus that irradiates at least 100 radiation beams.

According to one embodiment, a treatment planning apparatus and a treatment planning apparatus capable of improving the efficiency, accuracy, and speed of radiation dose calculation by performing calculation of the radiation dose after optimizing the radiation beam irradiated by the multiple robot arm using linear programming I want to provide that method.

Further, according to one embodiment, there is provided a method for multi-robot arm-based radiation therapy that can improve the reliability of radiation therapy by scheduling the order of irradiation of the beam of radiation illuminated by each of the multiple robot arms, A treatment planning apparatus and a method thereof.

A treatment plan apparatus according to an embodiment of the present invention includes a medical image obtained by photographing a region to be treated, a plurality of node region information irradiated with a radiation beam by the multiple robot arms in the medical image, A receiving unit for receiving the treatment plan data; a receiving unit for receiving the treatment plan data, for calculating a radiation dose of the radiation beam, A group allocation unit for dividing a plurality of node areas into which a plurality of node regions for which optimization and calculation of radiation dose have been completed are divided into a plurality of groups and each of a plurality of groups is assigned to each of a plurality of groups; And a scheduling unit for scheduling the irradiation order of the radiation beam.

According to one aspect of the present invention, at least two images of magnetic resonance imaging (MRI), computed tomography (CT), and positron emission tomography (PET) images of an area to be treated are automatically matched, And a medical image matching unit.

According to one aspect, as a radiation treatment plan data, the receiving unit can receive the type, intensity, number, and angle of a radiation beam irradiated to each of a plurality of node regions.

According to one aspect, the radiation dose calculation unit optimizes the number of the radiation beams according to the anatomical position of the node region corresponding to the treatment region and the node region including the normal tissue among the plurality of node regions and determines the irradiation angle of the radiation beam Operation can be performed.

According to one aspect, the radiation dose calculator can actually calculate the radiation dose using the actually measured dose distribution information (Dose Distribution) by actually irradiating the radiation beam.

According to one aspect, the group assigning unit can classify the same number of groups as the number of the multiple robot arms.

According to one aspect, the scheduling unit may schedule the irradiation order of the radiation beams for the plurality of node regions included in each of the plurality of groups according to the collision angle information of the previously stored radiation beams.

According to one aspect, the scheduling unit can schedule the irradiation order of the radiation beams so that the radiation beams irradiated from each of the multiple robot arms are sequentially irradiated at different timings.

According to one aspect, the display control unit may further include a display control unit for providing the user with a menu corresponding to the operation result and the result in the treatment planning apparatus.

According to one aspect, the display control unit can provide a menu for confirming the dose distribution according to the optimization and calculation of the radiation dose.

According to one aspect, the display control unit provides a menu for confirming the dose distribution to at least one of a horizontal plane (Axial), a sagittal plane (Sagittal), a coronal plane (Coronal), a DVH (Dose Volume Histogram) .

According to one aspect, the display control unit may provide a menu for performing a recalculation of the dose of radiation at an arbitrary value set by the user after the optimization and the calculation of the dose of radiation are completed.

A treatment planning method according to an embodiment of the present invention includes a medical image obtained by imaging a region to be treated in a receiving unit, a plurality of node region information irradiated with a beam of radiation by the multiple robot arm in the medical image, The method comprising the steps of: receiving radiation therapy planning data for a radiation beam, the radiation beam comprising: a radiation dose calculation unit for calculating a radiation dose, Dividing a plurality of node regions into which a plurality of node regions for which optimization and calculation of radiation dose have been completed are divided into a plurality of groups and each of a plurality of groups is assigned to each of a plurality of groups; Taking into account the collision of the radiation beam irradiated from each of the multiple robot arms, scheduling the irradiation order of the radiation beam .

According to one aspect, the receiving step may receive, as radiotherapy planning data, the type, intensity, number, and angle of the radiation beam irradiated to each of the plurality of node regions.

According to one aspect, the calculating step may actually calculate the radiation dose through the actually measured dose distribution (Dose Distribution) information by actually irradiating the radiation beam.

According to one aspect, the scheduling step may schedule the irradiation order of the beam of radiation for a plurality of node areas included in each of the plurality of groups according to the collision angle information of the previously stored radiation beam.

According to one aspect, the scheduling step may schedule the order of irradiation of the radiation beam such that the radiation beams radiated from each of the multiple robot arms are sequentially irradiated at different timings.

According to one embodiment, the efficiency, accuracy, and speed of radiation dose calculation can be improved by performing the calculation of the radiation dose after optimizing the radiation beam irradiated by the multiple robot arms using linear programming.

Further, according to one embodiment, the order of irradiation of the radiation beams irradiated by each of the multiple robot arms can be scheduled to prevent collision between the radiation beams, thereby improving the reliability of the radiation therapy.

1 is a block diagram showing a treatment planning apparatus according to an embodiment of the present invention.

FIG. 2 is a view for explaining an embodiment of group assignment and scheduling performed by the treatment planning apparatus according to an embodiment of the present invention.

3 is a configuration diagram showing a treatment planning apparatus according to another embodiment of the present invention.

4A to 4B are views for explaining an embodiment of automatic matching of medical images performed by the treatment planning apparatus according to another embodiment of the present invention.

FIGS. 5A to 5E are views for explaining an embodiment of dose distribution confirmation performed by the treatment planning apparatus according to another embodiment of the present invention. FIG.

6 is a flowchart showing a treatment planning method according to an embodiment of the present invention.

It is to be understood that the specific structural or functional descriptions of embodiments of the present invention disclosed herein are presented for the purpose of describing embodiments only in accordance with the concepts of the present invention, May be embodied in various forms and are not limited to the embodiments described herein.

Embodiments in accordance with the concepts of the present invention are capable of various modifications and may take various forms, so that the embodiments are illustrated in the drawings and described in detail herein. However, it is not intended to limit the embodiments according to the concepts of the present invention to the specific disclosure forms, but includes changes, equivalents, or alternatives falling within the spirit and scope of the present invention.

The terms first, second, or the like may be used to describe various elements, but the elements should not be limited by the terms. The terms may be named for the purpose of distinguishing one element from another, for example without departing from the scope of the right according to the concept of the present invention, the first element being referred to as the second element, Similarly, the second component may also be referred to as the first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Expressions that describe the relationship between components, for example, "between" and "immediately" or "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms " comprises ", or " having ", and the like, are used to specify one or more of the features, numbers, steps, operations, elements, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the scope of the patent application is not limited or limited by these embodiments. Like reference symbols in the drawings denote like elements.

1 is a block diagram showing a treatment planning apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the treatment planning apparatus 100 calculates a radiation dose after optimizing a radiation beam included in the radiation treatment plan data based on linear programming, calculates a radiation dose, Schedules the irradiation order of the beam.

The treatment planning apparatus 100 includes a receiving unit 110, a radiation dose calculating unit 120, a group assigning unit 130, and a scheduling unit 140.

The receiving unit 110 according to one embodiment includes a medical image photographed with a region to be treated, a plurality of node region information irradiated with a beam of radiation by the multiple robot arm in the medical image, And receives data.

According to one aspect, the receiving unit 110 can receive, as the radiation treatment plan data, the type, intensity, number and irradiation angle of the radiation beam irradiated to each of the plurality of node regions.

For example, the medical image may be at least one of a magnetic resonance imaging (MRI), a computed tomography (CT), and a positron emission tomography (PET) image of a patient's area to be treated.

In the present invention, MRI, CT and PET images are exemplified as medical images but medical images photographed in other ways can be used.

The user can preset at least 100 or more node regions to which the radiation beam is irradiated in the medical image and generate the radiation treatment plan data for the predetermined node region.

Also, one node region may be irradiated with at least one radiation beam.

The radiation calculation unit 120 according to an embodiment optimizes the number and angle of the radiation beams included in the radiation treatment plan data based on linear programming and calculates the radiation dose of the radiation beam included in the optimized data .

More specifically, the radiation calculating section 120 performs the optimization operation based on the linear programming method prior to the calculation of the radiation dose for at least 100 radiation beams.

For example, the optimization operation based on the linear programming method can be performed by the following equation (1), and the matrix A can be derived as shown in the following equation (2) in equation (1).

[Equation 1]

&Quot; (2) "

Here, m and n is a natural number of 1 or more, and the horizontal axis of the matrix A (a _{m1, m2} a, ..., a _mn) is a plurality of node regions means the radiation dose received from each radiation beam, and a vertical axis (a _1n , a _2n , ..., a _mn ) refers to the amount of radiation that each node region receives from a single radiation beam.

According to one aspect, the radiation dose calculator 120 minimizes the number of the radiation beams according to the anatomical positions of the node region corresponding to the treatment region and the node region including the normal tissue among the plurality of node regions through optimization, Can be determined.

More specifically, the radiation dose calculator 120 controls the number and angle of irradiation of the radiation beam so as to maximize the effect of radiation therapy on the treatment site through optimization, and irradiates the normal tissue around the treatment site with a radiation beam The number of the radiation beams and the irradiation angle can be controlled so as to minimize the amount.

According to one aspect, the radiation dose calculator 120 may actually calculate the radiation dose using the actually measured dose distribution information by actually irradiating the radiation beam.

In the present invention, the calculation method of the radiation dose using the actually measured dose distribution information is described, but the radiation dose can be calculated by using various calculation algorithms.

As a result, the radiation dose calculator 120 according to an embodiment optimizes the radiation beam irradiated by the multiple robot arm using the linear programming method, and then calculates the radiation dose, thereby determining the efficiency, accuracy, and speed Can be improved.

The group assigning unit 130 according to an exemplary embodiment divides a plurality of node regions for which optimization and calculation of radiation dose are completed into a plurality of groups and assigns each of the plurality of robot arms to each of the plurality of groups.

According to one aspect, the group assigning unit 130 can divide the groups into the same number as the number of the multiple robot arms.

For example, if the number of robot arms is two, a plurality of node areas are divided into two groups. If the number of robot arms is four, a plurality of node areas can be divided into four groups. It can be assigned to groups in close proximity.

The scheduling unit 140 according to an embodiment schedules the irradiation order of the radiation beams in consideration of the collision of the radiation beams irradiated from each of the assigned multiple robot arms.

According to one aspect, the scheduling unit 140 may schedule the irradiation order of the radiation beams for the plurality of node regions included in each of the plurality of groups according to the collision angle information of the previously stored radiation beams.

More specifically, the scheduling unit 140 stores information about the collision angle at which collision between the radiation beams can occur when the radiation beams are simultaneously irradiated by each of the multiple robot arms. In order to prevent collision between the radiation beams, Based on the stored information, the order in which the beam of radiation is irradiated to the node area by each robotic arm can be scheduled.

According to one aspect, the scheduling unit 140 can schedule the irradiation order of the radiation beams so that the radiation beams radiated from each of the multiple robot arms are sequentially irradiated at different timings.

More specifically, in a case where the multiple robot arms are constituted by the first robot arm and the second robot arm, the first robot arm and the second robot arm can alternately irradiate the radiation beam at the timing of not overlapping each other.

It may also proceed to irradiate the beam of radiation for the second group assigned to the second robot arm after irradiation of the beam of radiation for the first group assigned to the first robot arm is completed.

As a result, the scheduling unit 140 according to one embodiment can improve the reliability of the radiation therapy by preventing collision between the radiation beams by scheduling the irradiation order of the radiation beams irradiated by each of the multiple robot arms.

Hereinafter, operations of the group assigning unit 130 and the scheduling unit 140 will be described in more detail with reference to FIG.

FIG. 2 is a view for explaining an embodiment of group assignment and scheduling performed by the treatment planning apparatus according to an embodiment of the present invention.

2, reference numeral 211 denotes a first robot arm; 212, a second robot arm; 221, a first group; 222, a second group; 230, do.

Although the number of the node regions 230 is represented by 20 in FIG. 2, the number of the node regions 230 is not limited thereto.

The group assigning unit 130 of FIG. 1 divides a plurality of node regions 230, which have been optimized and calculated by the radiation dose calculating unit 120 of FIG. 1, into a plurality of groups 221 and 222, One robot arm 211 is assigned to the first group 221 and the second robot arm 212 is assigned to the second group 230. [

1 includes a first robot arm 211 and a second robot arm 231 for a plurality of node regions 230 included in the first group 221 and the second group 222 Lt; RTI ID = 0.0 > 221 < / RTI >

Since the scheduling operation according to the embodiment is the same as that described above, detailed description will be omitted.

3 is a configuration diagram showing a treatment planning apparatus according to another embodiment of the present invention.

Referring to FIG. 3, the treatment planning apparatus 300 automatically adjusts a medical image, optimizes the radiation beam included in the radiation treatment plan data based on linear programming, calculates a radiation dose, Schedules the irradiation order of the radiation beam in consideration of the collision between the beams, and provides the user with a menu according to the operation result and the result in the treatment planning apparatus 300.

The treatment planning apparatus 300 includes a receiving unit 310, a radiation dose calculating unit 320, a group assigning unit 330, a scheduling unit 340, a medical image matching unit 350, and a display control unit 360 .

The receiving unit 310, the radiation dose calculating unit 320, the group assigning unit 330, and the scheduling unit 340 of the treatment planning apparatus 300 according to another embodiment may be configured such that the contents described in the treatment planning apparatus according to an embodiment, Therefore, redundant description will be omitted.

According to one aspect, the medical image matching unit 350 automatically matches at least two images among magnetic resonance imaging (MRI), computed tomography (CT), and positron emission tomography (PET) images of a region to be treated, And provides a medical image to the receiving unit 310.

The automatic matching operation in the medical image matching unit 350 will be described in more detail with reference to FIGS. 4A to 4B.

According to one aspect, the display control unit 360 can provide the user with a menu according to the result of the operation performed in the treatment planning apparatus 300 and the result.

According to one aspect, the display control unit 360 can provide a menu for confirming the dose distribution according to optimization and calculation of the radiation dose.

According to one aspect, the display control unit 360 can confirm the dose distribution by at least one of a horizontal plane (Axial), a sagittal plane (Sagittal), a coronal plane (Coronal), a DVH (Dose Volume Histogram) Menu can be provided.

The operation of providing the menu for displaying the dose distribution in the display control unit 360 according to another embodiment will be described in more detail with reference to FIGS. 5A to 5E.

According to one aspect, the display control unit 360 can provide a menu for performing a recalculation of the radiation dose to an arbitrary value set by the user after the radiation dose calculator 320 has optimized and calculated the radiation dose have.

4A to 4B are views for explaining an embodiment of automatic matching of medical images performed by the treatment planning apparatus according to another embodiment of the present invention.

Referring to FIGS. 4A and 4B, the medical image matching unit 350 of FIG. 3 may include at least two medical images (MRI, CT, and PET images) Loading).

Next, the medical image matching unit 350 may automatically match the loaded medical image as shown at reference numeral 420, and the user may specify a separate area to increase the speed of image matching.

FIGS. 5A to 5E are views for explaining an embodiment of dose distribution confirmation performed by the treatment planning apparatus according to another embodiment of the present invention. FIG.

Referring to FIGS. 5A to 5E, the display controller 360 of FIG. 3 may provide a menu that allows the dose distribution to be viewed in various modes of view.

More specifically, the display control unit 360 includes a horizontal-based view mode 510, a sagittal-based view mode 520, a corrugated surface 530, Coronal-based view mode and a 3D-based view mode, shown at reference numeral 540, to provide information on the dose distribution.

In addition, the display control unit 360 may provide a menu for confirming information on the dose distribution through DVH (Dose Volume Histogram)

6 is a flowchart showing a treatment planning method according to an embodiment of the present invention.

The treatment planning method shown in FIG. 6 can be performed by a treatment planning apparatus according to an embodiment.

Referring to FIG. 6, in step 610, a treatment planning method according to an exemplary embodiment includes a medical image of a region to be treated at a receiving unit, a plurality of node region information to which a radiation beam is irradiated by the multiple robot arm, And receives radiation treatment plan data for each of a plurality of node regions.

According to one aspect, in step 610, the treatment planning method according to one embodiment may receive, as the radiation treatment plan data, the type, intensity, number, and angle of the radiation beam irradiated to each of the plurality of node areas.

In step 620, the treatment planning method according to an exemplary embodiment optimizes the number and angle of the radiation beams included in the radiation treatment plan data in the radiation dose calculation unit based on linear programming, Calculate the radiation dose of the beam.

According to one aspect, in step 620, the treatment planning method according to an exemplary embodiment may calculate the radiation dose through the actually measured dose distribution (Dose Distribution) information by actually irradiating the radiation beam.

In the treatment planning method according to an exemplary embodiment, in step 630, a plurality of node areas for which the optimization and radiation amount calculation are completed in the group allocation unit are divided into a plurality of groups and each of the plurality of robot arms is allocated to each of the plurality of groups.

In step 640, the treatment planning method according to an embodiment schedules the irradiation order of the radiation beams in consideration of the collision of the radiation beams irradiated from each of the multiple robot arms allocated in the scheduling unit.

According to one aspect, in step 640, the treatment planning method according to one embodiment may schedule the irradiation order of the radiation beams for the plurality of node regions included in each of the plurality of groups according to the collision angle information of the previously stored radiation beams.

According to one aspect, in step 640, the treatment planning method according to one embodiment may schedule the irradiation order of the radiation beams so that the radiation beams irradiated from each of the multiple robot arms are sequentially irradiated at different timings.

As a result, using the present invention, it is possible to improve the efficiency, accuracy, and speed of radiation dose calculation by performing calculation of radiation dose after optimizing at least 100 radiation beams irradiated by multiple robot arms using linear programming have.

In addition, the reliability of radiation therapy can be improved by scheduling the irradiation order of the radiation beams irradiated by each of the multiple robot arms to prevent collision between the radiation beams.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA) A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (17)

A receiving unit for receiving a plurality of node region information to which a radiation beam is irradiated by the multiple robot arm in the medical image and radiation treatment plan data for each of the plurality of node regions; A radiation dose calculator for optimizing the number and angle of the radiation beams included in the radiation treatment plan data based on linear programming and calculating a radiation dose of the radiation beam included in the optimized data; A group assigning unit for dividing a plurality of node regions into which the optimization and the calculation of the radiation dose are completed into a plurality of groups and allocating each of the plurality of robot arms to each of the plurality of groups; A scheduling unit for scheduling the irradiation order of the radiation beam in consideration of the collision of the radiation beams irradiated from each of the plurality of robot arms, A treatment planning device for multi-robot arm-based radiotherapy. The method according to claim 1, A method of automatically matching at least two images among magnetic resonance imaging (MRI), computed tomography (CT), and positron emission tomography (PET) images of a region to be treated and providing the automatically matched medical image to the receiving unit Further comprising a matching portion  Treatment Planning System for Radiotherapy Based on Multiple Robotic. The method according to claim 1, The receiving unit The radiation treatment plan data including a type, an intensity, a number, and an irradiation angle of the radiation beam irradiated to each of the plurality of node regions Treatment Planning System for Radiotherapy Based on Multiple Robotic. The method according to claim 1, The radiation dose calculator The number of the radiation beams is minimized according to the anatomical position of the node region corresponding to the treatment region and the node region including the normal tissue among the plurality of node regions through the optimization and the irradiation angle of the radiation beam is determined Treatment Planning System for Radiotherapy Based on Multiple Robotic. The method according to claim 1, The radiation dose calculator The radiation beam is actually irradiated and the radiation dose is calculated using the actually measured dose distribution (Dose Distribution) information Treatment Planning System for Radiotherapy Based on Multiple Robotic. The method according to claim 1, The group assigning unit Wherein the plurality of robot arms are divided into the same number as the number of the multiple robot arms Treatment Planning System for Radiotherapy Based on Multiple Robotic. The method according to claim 1, The scheduling unit And scheduling the irradiation order of the radiation beams for the plurality of node regions included in each of the plurality of groups according to the collision angle information of the stored radiation beams Treatment Planning System for Radiotherapy Based on Multiple Robotic. The method according to claim 1, The scheduling unit And scheduling the irradiation order of the radiation beams so that the radiation beams irradiated from each of the multiple robot arms are sequentially irradiated at different timings Treatment Planning System for Radiotherapy Based on Multiple Robotic. The method according to claim 1, And a display control unit for providing a user with a result of the operation in the treatment planning apparatus and a menu according to the result Treatment Planning System for Radiotherapy Based on Multiple Robotic. 10. The method of claim 9, The display control unit And provides a menu for confirming the dose distribution (Dose Distribution) according to the optimization and calculation of the radiation dose Treatment Planning System for Radiotherapy Based on Multiple Robotic. 11. The method of claim 10, The display control unit And provides a menu for confirming the dose distribution by at least one of a horizontal plane (Axial), a sagittal plane (Sagittal), a coronal plane (Coronal), a DVH (Dose Volume Histogram) Treatment Planning System for Radiotherapy Based on Multiple Robotic. 10. The method of claim 9, The display control unit After the optimization and the calculation of the radiation dose have been completed, a menu for performing a recalculation of the radiation dose at an arbitrary value set by the user is provided Treatment Planning System for Radiotherapy Based on Multiple Robotic. The method comprising: receiving a medical image of a region to be treated in a receiving unit; receiving a plurality of node region information to which a radiation beam is irradiated by the multiple robot arm in the medical image; and radiation treatment plan data for each of the plurality of node regions; Optimizing the number and angle of the radiation beams included in the radiation treatment plan data in a radiation dose calculation unit based on linear programming and calculating a radiation dose of the radiation beam included in the optimized data; ; Dividing a plurality of node regions into which the optimization and radiation dose calculation have been completed in a group assigning unit into a plurality of groups and allocating each of the plurality of robot arms to each of the plurality of groups; Scheduling the irradiation order of the radiation beam in consideration of the collision of the radiation beams irradiated from each of the multiple robot arms allocated in the scheduling unit A therapeutic planning method for multi-robot arm based radiation therapy. 14. The method of claim 13, The receiving step The radiation treatment plan data including a type, an intensity, a number, and an irradiation angle of the radiation beam irradiated to each of the plurality of node regions Treatment planning method for multiple - robot cancer - based radiation therapy. 14. The method of claim 13, The step of calculating The radiation beam is actually irradiated and the radiation dose is calculated through the actually measured dose distribution information Treatment planning method for multiple - robot cancer - based radiation therapy. 14. The method of claim 13, Wherein the scheduling comprises: And scheduling the irradiation order of the radiation beams for the plurality of node regions included in each of the plurality of groups according to the collision angle information of the stored radiation beams Treatment planning method for multiple - robot cancer - based radiation therapy. 14. The method of claim 13, Wherein the scheduling comprises: And scheduling the irradiation order of the radiation beams so that the radiation beams irradiated from each of the multiple robot arms are sequentially irradiated at different timings Treatment planning method for multiple - robot cancer - based radiation therapy.

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