The ULICE Gantry M. Pullia M. Pullia CNAO Foundation 15‐17 January 2014 Modern Hadrontherapy Gantry Developments
The ULICE Gantry
M. PulliaM. PulliaCNAO Foundation
15‐17 January 2014 Modern Hadrontherapy Gantry Developments
PresentPresentOnly one gantry worldwide: L = 25 m x = 13 m, 600 t
It has everything, but it is
Very large, very heavy, very expensive
Fixed Isocenter360° rotationParallel scanning
(Udo Weinrich GSI)
Parallel scanning200 mm x 200 mm140 t magnets120 t shielding‐counterweight (Udo Weinrich, GSI)g g600 t total rotating mass
ULICEULICE
The ULICE project was launched in 2009 and is funded for four years by the p j y yEuropean Commission with 8.4 million Euros. It involves 20 European institutions coordinated by CNAO.
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(Courtesy of M. Cirilli)
ULICE WP6: Gantry designULICE WP6: Gantry design
Istituto Nazionale di Fisica Nucleare (INFN)
Work package number 6
Start date or starting event: M1
Work package title
Activity Type
Participant id
Carbon Ion Gantry
RTD
1CNAO
5MEDA
6Etoile
18INFN
4CERN
CNAO PartnershipN hi M i (100%)
Person-months per beneficiary 117 9 6 4 18
- Necchi Monica (100%)- Savazzi Simone (100%)- Viviani Claudio (100%); from the 1st September 2010 substituted by L t V l i (100%)
Involvement of industrial partners has been pursued,
other institutional and LanteValeria (100%)- Osorio Moreno Jhonnatan (100%) – PARTNER Project WP21
academic partners are participating, as well,
totally for free
5The ULICE project is co-funded by the European Commission under FP7Grant Agreement Number 228436.
Firms involvedSchärSchär
Th b ilt th t t t t PSI They built the two protons gantry at PSI (Villigen)PPS and PVS for the treatment rooms at CNAO (Pavia)
MT MT MechatronicsMechatronicsIt is an experienced international specialist in designing
d t ti t k i i h t i feasibility of the mechanical structure of a mobile isocentre gantry dimensions equal to 2/3 with respect to a fixed isocentre gantry
and constructing turn-key precision mechatronicsstructures including drive control hard- and software.They built the only existing carbon ion gantry in Heidelberg: turn-key supply including development, engineering fabrication erection measurement and
g y total structure cost 20% less than a fixed isocentre gantry
engineering, fabrication, erection, measurement and adjustment, commissioning and test.
Critical issues discussion Inputs useful for the treatment cabin KoneKone Inputs useful for the treatment cabin design Comparison of costs for the 3 different mechanical structures
KoneKoneThey have competences in special lifts (e.g. escalatorsand autowalks); they set the standard for safety,reliability, visual design, space savings and
ibaibaibaibaIBA has pioneered proton therapy. With proven efficacy in more than 50 000 patients worldwide
y g genvironmental performance. They revolutionized theelevator industry through their sustainable, energy-efficient designs.Design and study for the efficacy in more than 50,000 patients worldwide,
more than 50% of the world’s PT clinical centresdesigned and equipped by IBA. Their Universal Nozzle provides 4 delivery modes with millimetre precision including Pencil Beam
g yplatform and service lift system Cost estimate for the complete system Critical issues discussionCritical issues discussion
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with millimetre precision, including Pencil Beam Scanning
p y Critical issues discussion Inputs useful for the treatment cabin design Technical details of gantries
Critical issues discussion Inputs useful for the treatment cabin design Technical details of gantries
ULULICE ICE GantrGantryy DDesiesigngn WP6WP6
Start Date M1
End Date M36
Lead Beneficiary CNAO
Effort Planned @M36: 117 m/m @M36(Sep 12): >117 m/mEffort Planned @M36: 117 m/m @M36(Sep. 12): >117 m/m
Deliverables Submitted
JRA6.1 – “Functional specifications” (M9)JRA6.2 – “Conceptual design of the gantry explaining the choices made” (M30)JRA6.3 – “Conceptual design of a carbon ion gantry” (M36)p g g y ( )
M9 (July 2010): A report describing the optimized functional specificationsM30 (April 2012): Conceptual design of the gantry explaining the choicesmadeM36 (October 2012): Final design of the gantry describing the device the Milestones M36 (October 2012): Final design of the gantry describing the device, the design strategy and the performances achieved. It will include the papers published, the mechanical structure aspects that are considered to be more critical and some technical details concerning magnets and power supplies
Active Delays N.A.
The ULICE project is co-funded by the European Commission under FP7Grant Agreement Number 228436.
First deliverable: functional specifications
1. Online survey written with the collaboration of CNAO physicians2. Answers collection and analysisy3. Definition of the functional specifications First deliverable
Gantry functional specifications
Field size 15 x 15 cm2 or 10/15 x 20 cm2
Number of fields per session 4Penetration depth (range) 3 – 30 cm (corresponding energy: p = 60 - 220MeV;
C ion = 120 – 430 MeV/u)
Voxel dose accuracy ±1%Dose uniformity ±2.5%ose u o y .5%Voxels characterization 3 x 3 x 3 mm3
Voxels out of range 1%Field position accuracy ±0.5 mmSAD 4 mMaximum treatment time 30 minRequired space around isocentre 60 cmAchieved beam directions ALL
“Deliverable Report JRA6.1 – Functional specifications”, June 2010
The second milestone: conceptual design of the gantry
Analysis of different Fixed isocentre
Analysis of different gantry typologies PSI 1 - like
Mobile isocentre
C ti l
Riesenrad - like
Optics Comparison among
the various optics layoutsMagnets simulations Superconducting
Conventional
FFAGpsimulations
Optimization of the chosen beam line
FFAG
Room dimensioning
Gantry building d h i l
for the various layouts
Preliminary shielding studies
Room dimensioning
Sketchy mechanical structure designs
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and mechanical structure Rough cost estimates
Optimization for the chosen gantry typology
Mobile isocentre gantries2)1)
Patient and magnets rotate around the central axis –
ll bl d
Isocenter moves according to the beam direction – only one 90°bending magnet
smallest possible radiusg g
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Some layouts in the CNAO areaFixed Isocentre Fixed Isocentre v2Fixed Isocentre Fixed Isocentre v2
PSI 1 - like
11Riesenrad-
like
FFAG GantryFFAG Gantry
150‐400 MeV/u1500 kg of magnets1500 kg of magnetsVery large
12(courtesy of Dejan Trbojevic)
Various layouts in the CNAO area
ISOCENTRICgantry radius= 6.5mroom volume= 4950m3
concrete volume=6810m3
PSI1gantry radius= 4.6mroom volume= 3387m3
concrete volume=3960m3
RIESENRADgantry radius= 8.5mroom volume= 4152m3
concrete volume=5980m3concrete volume=5980m3
ISOCENTRICRoom 22 x 15 x 15 = 4950 m3
PSI 1RIESENRADRoom 10 x 19 x 19 = 3610 m3Room 11.5 x19 x 19 = 4152 m3
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PSI‐1Room 27 x 11.2 x 11.2 = 3387 m3
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AccessAccess
M. Pullia – Carbon ion gantries – ICTR‐PHE 2012 15
Access IIAccess II
Platform cabin
St iStairs
Magnet analysis 90° conventional
dipoleHelical coil
FFAG SC magnet
Toroidal double h li 90°helix 90°
SC magnet
17(Caspi‐Robin)
Conventional magnets90° dipole
Comparison between the 90° bending magnet with reduced aperture (GRF 15 x 15 cm2) and the reference 90° CNAO bending magnet (GFR 20 x 20 cm2)
GFRGFR (( 1515 xx 1515 cmcm22)) GFRGFR (( 2020 xx 2020 cmcm22))
MagneticMagnetic fieldfield [T][T] 11..814814 11..8787ΔB/B0 at GFR [-0.58x10-4, 1.375x10-4] [-0.8x10-4, 1.03x10-
4]Stored Energy [J] 882227.24 1213924.48Inductance [H] 0.26 0.47DissipatedDissipated DCDC powerpower [kW][kW] 426426..6464 613613..6565DC voltage [V] 164 1 269 16DC voltage [V] 164.1 269.16Inducted Voltage [V] 150.6 236.8Feeding current[A] 2600 2800Ampere-turns 156000 182400M tM t W i htW i ht [t ][t ] 7070 8282MagnetMagnet WeightWeight [tons][tons] 7070 8282
The (15 x 15 cm2) reduced magnet gap allows to save approximately 10 tons
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( ) g g p pp yand to save 30% of power consumption
Price estimate: magnets
Magnet typologyMagnet typologyFeature Conventional
CNAOSC
ÉtoileIron dominated
SCINFN Genova
FFAG helical coil
INFN Genova
90° dipole weight (tons)
80 17(1) 41
90° dipole cost (M€)
1.5 1+1.3(2) 2.5 - 3
Overall bending 120 41+2x16.5=74 3.5(3) + 5 Overall bending dipoles (tons)
120 41 2x16.5 74 3.5 5 cryostat
Overall magnets line cost (M€)
1.9(4) 3.0 (5) 5 5line cost (M€)
(1) Active shielding and cryostat included(2) M t (1 M€) t t d l (1 M€) PS
(3) FFAG magnets are combined function magnets(4) F 22 5° di l t i t(2) Magnet (1 M€), cryostat and cryocoolers (1 M€), PS,
instrumentation and miscellaneous ((0.3 M€). Manpower included, except MP from labs.
(4) Four 22.5° dipoles, two scanning magnets(5) 8 conv. quad, 2 conv. 45 d° dipole, 1 SC 90° dipole and 2
scanning magnets 19
Price estimate: power supplies
Power supply cost
ConventionalCNAO
SCÉtoile
Iron dominated SC INFN Genova
FFAG helical coilINFN Genova
l t b di 400 125(1) 500(2) t li bllast bending magnet (k€)
400 125(1) 500(2) not applicable
scanning magnets (k€)
2 x 90 2 x 80 As for CNAO As for CNAOmagnets (k€)
for total magnet line (k€)
1100 + quads (3) 700(4) As for CNAO 300
(1) 1 kA, 250 V, single quadrant, stability in the 1.E-4 range(2) High cost in the order of 500 k€, 400 V - 1000 A ( for ramping at 0.2 T/s)(3) PS cost for four 22.5° dipoles=4 x 130 k€, PS cost for single quadrupole=40 k€. Two quadrants PS considered.(4) PS f d l i l d d Si l d t PS id d(4) PS for quadrupoles included. Single quadrant PS considered.
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Price estimate: operational costs
Power consumption (1 year)Conventional
CNAOSC
ÉtoileIron dominated
SC FFAG helical coil
INFN GenovaINFN Genova
last bending magnet (k€)
165 MWh(1) 110 MWh 30 kW continuous + 100 MWh/year(2)
not applicable
scanning N/Agmagnets (k€)
/
for total magnet line (k€)
450MWh per year for
cryocoolers
9 cryocoolers - 90 kW continuosly
(1) P =400KW working days=330 working hours (2) 3 cryocoolers + power supply active power(1) Pave=400KW, working days=330, working hours per day=10, using factor carbon ion gantry=0.25. Power dissipated ONLY ramping (half of the time).
(2) 3 cryocoolers + power supply active power(3) During a treatment, magnets are used at 60%
of their nominal rating (depth scanning)
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March 2011: choice of typologyThe ULICE WP6 collaboration decided to realize the conceptual design of a 180°, normal conducting, mobile isocenter gantry, 20 x 20 cm2 field, revisiting the
layout of the Riesenrad gantry investigated by the PIMMSlayout of the Riesenrad gantry investigated by the PIMMS
Choice of the ULICE gantry layout
Reasons driving the choice
Innovative layout Cheaper mechanical structure
Well known magnet technologyL t l bl t SC t
g
Cheaper mechanical structure Design conceived for conventional
magnets
Layout scalable to SC magnets Less magnets in the gantry line
COSTS (M€) Fixed isocenter PSI-1 like Riesenrad-like( )
Mechanical Structure 120% Ries 5,1 105%
HIT 6,8 11,570%HIT
100%HIT
* D i S l MT M h t i S hä
Civil works 1,66 1,15 1,48
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* Darimec Srl MT- Mechatronics Schär
*(considering mechanical structure ONLY!)
Beam line
S h tS h tMatch 1
SynchrotronSynchrotronPhase shifter stepper
hMatch 2
RotatorRotator
Gantry
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PIMMS modular optics approachPIMMS modular optics approach
• Phase shifter‐stepper• Telescopic match2+gantry sectionTelescopic match2+gantry section• Rotator
0
00100001 x
'x
0
0
0
100001000010
zzx
z'zx'
1000010000100001
cos0sin00cos0sin
sin0cos00sin0cos
1000010000100001
cos0sin00cos0sin
sin0cos00sin0cos
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Optics studies: misalignments and correctionsmisalignments and corrections
Error sourcesError sources
• random misalignments• structural deformationsstructural deformations
• field excitation errors
Random error type Sigma
Ali t t l [ ] 0 3 10 3Alignment tolerances: x, s, y [m] 0.3 x 10-3
Tilt about all three co-ordinate axes, , , [rad] 0.3 x 10-3
Relative excitation error B/B and g/g 0.3 x 10-3
Relative excitation error B/B for the 90° dipole 0.1 x 10-3
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Magnet misalignment effectMagnet misalignment effect
Isocenter displacement for structuredeformation at various gantry angles
Isocenter displacement for randommagnet alignment errors in the gantry
0.60
0.80
1.00DY dipole tilt
all6.00E‐03
8.00E‐03
1.00E‐02 0°
30°
60°
90°
0 00
0.20
0.40
DX
dipole shift
quads shift2.00E‐03
4.00E‐03
‐0.40
‐0.20
0.00‐1.00 ‐0.50 0.00 0.50 1.00
‐4.00E‐03
‐2.00E‐03
0.00E+00‐1.00E‐02 ‐5.00E‐03 0.00E+00 5.00E‐03 1.00E‐02
‐1.00
‐0.80
‐0.60
‐1.00E‐02
‐8.00E‐03
‐6.00E‐03
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1.00E 02
Orbit margin and aperture after correction
rotator gantry Orbit correction independent of gantry angle
rotator gantry
Well inside magnet good field region
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Monitor misalignment effectMonitor misalignment effect0 0005
0
0.0005DY
DX Strict alignment tolerance for
‐0.0005
‐0.0025 ‐0.002 ‐0.0015 ‐0.001 ‐0.0005 0 0.0005g
four dedicated monitors(0.2 mm for 0.6 mm at isocenter)
‐0.001CosLike_x
SinLike x
‐0 002
‐0.0015SinLike_x
CosLike_y
SinLike y
‐0.0025
0.002SinLike_y
29 2222 /2/2 dySdxSyCxCRISO
Dipole and stiffening structureDipole and stiffening structure
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The ULICE gantry: mechanical structurewithout bracketswithout brackets
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London Eye
10th March 2011 32
The ULICE gantry: mechanical structurewith half bracketswith half brackets
‐1.37 mm
Gantry mass: 350 t
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The ULICE gantry: mechanical structurewith bracketswith brackets
34< 0.5 mm deformation
Gantry room
35
Gantry room
Even shorter and save one shelf/support
Modern Hadrontherapy Gantry Developments 36
The rotator frame
steel, 20 mm thick
Mass = 12.4 tons2 Length x width x height) = 9.8 x 1.3 x 1.9 m3
Rings inner diameter = 850 mm
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Stress analysis and deformations
Maximum stress concentration (18 MPa) in the connection areas between the rings and the two external wings. Maximum deformation (0.3 mm) at the end of the
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two wings. The deformations order of magnitude is compatible with the optics constraints.
Effect of the rotator on the magnet fieldEffect of the rotator on the magnet field
Tension bars
RotatorRotator structure
CAD design of the rotator structure
2D geometry implemented in the FEM code
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Bracket gantry: offer from Schaer
±0.5 mm isocenter
Mechanical structure &
assembling (k€)5920
assembling (k€)
Patient cabin &
PPS (k€)3960
40
PPS (k€)
PVS (k€) 1360
Platform and lift: Kone study & offerPlatform provides access to the treatment cabin Access to thePlatform provides access to the treatment cabin. Access to theplatform is guaranteed by an auxiliary lift connecting the entrancefloor to the platform, wherever the platform is.The platform follows the cabin keeping the cabin floor and thep p gplatform at the same height, during the gantry rotation. A sliding doorsystem provides access to the patient enclosure following thehorizontal cabin position while keeping the rest of the platform closed.p p g p
Load Speed Travel Doors Hoist Power Landing
Functional specifications
(kg) (m/s) (m) W x H (mm) (kW)Platform 3000 0.15 14 1400 x 2100 hydraulic 42 Variable
Lift 2000 1.6 14 1400x2100 electric 18.5 Variable
The lift is powered from an uninterruptable power source, with battery backup
Budgetary quotation
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The ULICE gantry: Beam Based Alignment
Isocenter position moves and is not easy to measure/verify/define
Measure where the beam isand put the isocenter there…
PVS BPIS
COUCH
One robot arm with two “tools”
42CNAO treatment room #2: PPS and PVS
Final delivery Oct 2012Final delivery Oct 2012
Modern Hadrontherapy Gantry Developments 43
The ULICE gantry: cost estimates(conservative/rigid case)(conservative/rigid case)Magnets (k€) 1705
Magnets PS (k€) 975
Mechanical structure &
assembling (k€)5920
(-1300 first pillar)assembling (k€)
Patient cabin &
PPS (k€)3960
PPS (k€)
PVS (k€) 1360
P ti t h dli g (k€) 225Patient handling (k€) 225
Gantry room (k€) 1500
Platform and lift (k€) 1740Platform and lift (k€) 1740TOTAL (k€) 16085
+ conventional plants, cooling and ventilation, access control…
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p , g ,common to any solution
Conclusions
whether cost or space or other aspect have to whether cost or space or other aspect have to be privileged depends on the user
appreciable sa ings in the total cost rtappreciable savings in the total cost wrtstandard design are possible
ti d bit ti i d d t f th optics and orbit corrections independent of the gantry angle are possible
b b d i li h l i beam based patient alignment may help in reducing weight and cost.
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Thank you for your attentionThank you for your attention
Modern Hadrontherapy Gantry Developments 46