CN103157192A - Medical three-dimensional simulation moving platform and simulation moving method thereof - Google Patents
Medical three-dimensional simulation moving platform and simulation moving method thereof Download PDFInfo
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Abstract
The invention discloses a medical three-dimensional simulation moving platform and a simulation moving method thereof. The platform comprises a precise numerical control work table which is respectively connected with an X-direction stepping motor, a Y-direction stepping motor and a Z-direction stepping motor in the X direction, the Y direction and the Z direction, wherein the X-direction stepping motor is connected with an X-direction stepping motor driver, the Y-direction stepping motor is connected with a Y-direction stepping motor driver, the Z-direction stepping motor is connected with a Z-direction stepping motor driver, and the X-direction stepping motor driver, the Y-direction stepping motor driver, the Z-direction stepping motor driver and the precise numerical control work table are connected with a control device. A verifying method includes two parts: firstly, a target section confirming method of common abdmen-thorax tumours is verified through a three-dimensional moving model, defects of various methods are analyzed by comparing with objective real objects, and corresponding improving strategies are researched; and secondly, by simulating motion rules of the tumours and endangered organs, deformation rules of the tumours and the endangered organs caused by breathing movement are reaserched, and influences on tumour exposure dose accurate calculation from local electron concentration changes caused by the deformation rules are researched, and objective foundation is further provided for accurate assess and accumulation of a target section and the endangered organs.
Description
Technical field
The present invention relates to the tumor radiotherapy field of medical device, relate in particular to a kind of medical three dimension skimulated motion platform and skimulated motion method thereof.
Background technology
At present, malignant tumor has caused serious threat to human health.Radiation therapy technology is as one of three large treatment meanss of malignant tumor, and the healing contribution degree of malignant tumor is about 40%.Yet the curative effect of traditional radiation therapy is relatively poor, its main cause be tumor focus around usually can exist some to lonizing radiation comparatively responsive jeopardize organ, thereby limited the further raising of tumor region Radiotherapy dosimetry.Modern tumor accurate radiotherapy technology, three dimensional conformal radiation therapy (3-dimensional conformal radiation therapy for example, 3DCRT) and intensity modulated radiation therapy (intensity-modulated radiation therapy, IMRT) can delineate, formulate exactly by accurate tumor target area radiotherapy planning, and implement accurately radiotherapy, improved to a certain extent radiocurable curative effect.
Yet the Unknown Motion of tumor region in Patients During Radiotherapy as uncertain factors such as respiratory movement, heartbeat, gastrointestinal peristalsiss, is to affect the key factor that radiotherapy is accurately implemented.Therefore, develop a kind of sport simulated system or the model that can simulate tumor or human viscera organ's physiological movement, and come change in location of quantitative study tumor focus, normal organ and tissue on the impact of radiotherapy generation with this, important scientific meaning and clinical value are arranged.
Two key points are arranged: explication (especially thorax and abdomen malignant), tumor and the accurate calculating, assessment and the accumulation that jeopardize the radioactive dose of organ of tumor target area in the tumor accurate radiotherapy.Respiratory movement is the factor that has a strong impact on thorax and abdomen malignant accurate radiotherapy precision, not only affect accurately determining of position, target area, simultaneously the anatomical structure composition of region, target area had a great impact (affect the respective regions electron density and form, and then affect the calculating of radiotherapy dosage).Some scholars have done a large amount of research with regard to the above-mentioned two aspect problems that how to solve in the thorax and abdomen malignant accurate radiotherapy.But because realizing viviperception at present, most research can only be carried out by means of the motion die body, the commercialization die body is two-dimentional die body now, can only simulate the motion on both direction, can realize that really the three-dimensional motion die body of synchronous variant motion on the real-time three-dimensional direction there is not yet report.
At present the positioning means of tumor accurate radiotherapy is mainly orientated the master as with the CT simulation, how has very important significance from the accurate location that the simulation positioning stage addresses the thorax and abdomen malignant target area.At present existing a variety of CT location technologies are applied to clinical, as the 3D-CT under 3D-CT scans, freely breathes at a slow speed, 3D-CT scanning under the state of holding one's breath that the active respiratory control is assisted, 4D-CT etc.But these technology have separately applicable elements and weak point in process of clinical application, the domestic and international the most frequently used 3D-CT that remains under free breathing state scans at present simultaneously, how to check applicable elements and the weak point of different positioning means, how to use more advanced positioning means and go to verify and improve conventional location to be one of study hotspot of present Radiation Oncology.
Current various CT positioning means weak points are mostly found and assessed by clinical practice, the object of reference that still lacks an objective reality is verified and improves.More to the means of tumor simulation at present, different scholars has sought the simulation that different objects carries out tumor size and form: such as Rhizoma Solani tuber osi etc., but the tumor analogies that adopt at present are main mainly with rigid objects greatly, and still there are a lot of drawbacks in study movement to the impact of its shape.Now existing scholar simulates the tumor two dimensional motion, has made respirometric two-dimensional analog motion platform (application number: 200610057165.8).But two-dimension moving platform can only be confined to the simulation on two-dimensional directional, can't truly reflect the three-dimensional motion situation of tumor, reaches the impact that respiratory movement causes.Having the scholar to use the tumor motion that studies show that 4D-CT carries out thorax and abdomen malignant simulation location is not frank and outspoken two dimensional motion but the motion of a kind of complex three-dimensional, and the amplitude of moving on three-dimensional is also inconsistent, and its impact on the tumor accurate radiotherapy is also very complicated.Therefore research dynamic true reappearance tumor and jeopardize the motion of organ and the effect brought has very important significance on three-dimensional how.
Aspect the exploitation of organ movement's analog systems, Chinese patent (patent name: a kind of phantom motion platform and the method for carrying out motion simulation, application number: 200610057165.8), disclose a kind of phantom motion platform.This platform is made of telecontrol equipment, stepper motor driver and control device, the method of its motion simulation is: set in advance the parameters such as movement locus, amplitude and rotating speed, control device calculates required frequency, send to driver, control step driven by motor accurate digital control workbench moves, can set respectively different frequency, different amplitude is done straight line, rhombus and elliptic motion, the two dimensional motion of simulated organ systematically.Yet, on the one hand, due to the tumor in human body and jeopardize organ and usually move on three-dimensional, although simple two dimensional motion can be simulated the simple motion of tumor under particular case or other internal organs, be not inconsistent with the fact of in most cases internal organs three-dimensional motion; On the other hand, along with the continuous progress of Precise Radiotherapy in Oncology technology and perfect, the tumour radiotherapy technology has been stepped into the four-dimensional radiotherapy epoch, therefore, simple two dimensional motion simulation can not be satisfied clinical demand, has simulation tumor and the relevant sport simulated system of organ three-dimensional motion ability that jeopardizes in the urgent need to research and development.
Respirometric real simulation all has very important significance to assessment and the stages that improves current accurate radiotherapy: the explication of target area, target area and jeopardize organ dose's accurate Calculation and monitoring and the assessment of radiation therapy process.Domestic and international respirometric simulation at present is all based on two dimensional motion, and the research and development of three-dimensional motion die body and applied research rarely have report.Secondly three-dimensional motion die body can combine with the RPM system of VARIAN company and realize a kind of Simulation and analysis of dynamic 4D motion, so not only can verify and assess the various imaging means of tumor accurate radiotherapy (comprising CBCT and KV level plain film in CT, MRI, PET/CT, SPECT and termed image-guided radiotherapy system), and the target area that can cause with regard to respiratory movement and the organ electron density changes and corresponding dosiology is analyzed, can verify and improve the deformable registration algorithm as a reference with static state information in kind simultaneously.
In sum, respiratory movement is to produce the various uncertain factors keys of thorax and abdomen malignant accurate radiotherapy, and how really simulating respiratory movement has very important significance on the impact of tumor accurate radiotherapy.The research and development of three-dimensional motion die body and use the foundation that provides of carrying out of the accurate radiotherapy work of thorax and abdomen malignant will be provided, simultaneously by the three-dimensional motion die body to the checking of multiple imaging means be improved to the different levels Status of Radiation Therapy Units and carry out the accurate radiotherapy of tumor sound assurance is provided.
Summary of the invention
Purpose of the present invention is exactly in order to address the above problem, and a kind of medical three dimension skimulated motion platform and skimulated motion method thereof are provided, and it has the accurate controlled motion advantage on the three-dimensional of realizing on the three-dimensional simulation motion platform.
To achieve these goals, the present invention adopts following technical scheme:
A kind of medical three dimension skimulated motion platform, comprise telecontrol equipment, stepper motor driver and control device, described telecontrol equipment is the accurate digital control workbench, directions X, Y-direction and Z direction at the accurate digital control workbench are connected with respectively X-direction motor, Y-direction motor and Z-direction motor, X, Y, Z-direction motor are connected with X, Y, Z-direction stepper motor driver respectively, and X, Y, Z-direction stepper motor driver and accurate digital control workbench are connected with control device.
Described control device comprises microcontroller, memory module, display module, keyboard input module, and wherein memory module, display module are connected with the keyboard input module and are connected with microcontroller.Described control device adopts the STC12C5A60S2 single-chip microcomputer as main control chip, the STC12C5A60S2 single-chip microcomputer is a series of single-chip microcomputers, this series monolithic is 40 pins, 2 16 bit timing devices are arranged, can be used to realize the speed governing of motor, chip is the single machine cycle single-chip microcomputer simultaneously, and instruction is carried out frequency and equaled the machine frequency, and this series monolithic operating frequency can reach 35MHz, can be in the situation that provide very high controlled frequency than high control precision for stepper motor driver.This series monolithic different model difference is that memory space is different, and other parameters are identical, and specific requirement is that the above Flash memory space of 20K comes storage program and 2K EEPROM memory space to be used for storing related data.
X, Y, Z-direction stepper motor driver and control device are connected with transformator, and transformator is connected with 220VAC, and transformator is respectively stepper motor driver by rectification, wave filter and control device provides 24V～80V and 5V DC voltage.
Control device partly uses+the 5V normal voltage: make power supply by general civil power AC220V, at first drop to DC5V through switch transformer, produce normal voltage+5V after rectifying and wave-filtering, offer control device, its ripple factor is quite little, and degree of stability is high, is not easy to produce to disturb.
The driving voltage of motor driver: motor driver can work between 24V～80VDC.Adopt high voltage that the high speed operation of motor torque keeping is not descended, the running stability when low-voltage helps driver to reduce temperature rise and increase low speed.Native system adopts the 70V DC voltage, and by being output as 70V, rated power provides for the Switching Power Supply of 600W, add power supply maximum output current be 6A, greater than the specified phase current of motor.
Described telecontrol equipment adopts linear rolling track to coordinate with ball-screw, and the rotation with motor on each direction is converted to rectilinear motion, and the move distance control accuracy reaches 0.025mm.Linear rolling track and ball-screw have all adopted preload, eliminated unnecessary gap, contact stiffness and positioning accuracy have been improved, under digital control system is controlled, pass through step motor drive, the interlock of X-Y-Z three-dimensional accurate digital control workbench realizes Arbitrary 3 D curvilinear motion track in the plane, realizes the gapless motion, has high accuracy, high efficiency, life-span length, little, the succinct practical characteristics of wearing and tearing.
It is three motors of 60HS44 that described motor adopts model, its minimum step angle is 1.8 degree, coordinate the segmentation function of corresponding stepper motor driver can realize less minimum step angle, can improve control accuracy, but can reduce the high rotation speed of motor.
Described stepper motor driver adopts three stepper motor drivers that match with motor, and described stepper motor driver all can provide synchronizing, 2 segmentations, 4 segmentations, 8 segmentations, 16 segmentations, 32 segmentations, 7 kinds of subdividing running patterns of 64 segmentations.Under the synchronizing mode, pulse will make electric machine rotation 1.8 degree, and a pulse makes electric machine rotation 0.9 degree during 2 segmentation, and during 4 segmentation, a pulse makes electric machine rotation 0.45 degree, and the rest may be inferred.
The present invention requires its affiliated axially workbench of single shaft driven by motor only need to do rectilinear motion, and rotating speed is higher, therefore adopt the synchronizing mode.X, y, z three-dimensional stepper motor driver are connected with control device with the accurate digital control workbench.the wiring of stepper motor driver is connected with input signal and is connected, input signal adopts the common anode utmost point mode of connection, the positive supply of control signal is connected on the terminal of common port, output line is connected on corresponding signal terminal, when low level appears in signal input part, corresponding inside optocoupler is open-minded, signal is inputted in stepper motor driver, the pulse signal input: signal lower saltus step from high to low is interpreted as a pulse by stepper motor driver, stepper motor driver will move according to corresponding sequential drive stepping motor this moment.
A kind of skimulated motion method of medical three dimension skimulated motion platform mainly comprises following steps:
At first setting in advance 5 kinds of different movement locus according to the characteristics of motion of tumor or human normal organ represents with numeral 0,1,2,3,4 respectively, represent that by modification the numeral of different motion track realizes when setting movement locus, the concrete steps during operation are as follows:
Step (1): the analogies of tumor or organ are positioned over the scanning area of system, then determine mathematic curve or form according to the actual motion feature of tumor or organ;
Step (2): resolve on three-dimensional respectively according to mathematic curve and the form of representative simulation thing three-dimensional motion rule, make and form respectively time kinematic parameter on three directions;
Step (3): the time kinematic parameter on three directions is written into the control device part;
Step (4): then connect the main power of three-dimensional motion verification system, control device will the control display module shows the path curves of the specific analogies of doing when using this system last time;
Step (5): by the keyboard input module, the specific skimulated motion track of selecting this to realize; Microcontroller reads " x is to amplitude ", " y is to amplitude ", " z is to amplitude " and " rotating speed " four groups of parameters of motion last time from memory module, by the keyboard input module, four groups of parameters are adjusted setting;
Step (6): " start/stop " key by the keyboard input module starts three-dimensional verification platform, and four groups of parameters that movement locus code and previous step are determined will the write memory module;
Step (7): microcontroller goes out to control the required step-by-step impulse frequency of motor movement according to movement locus code and four groups of calculation of parameter; Microcontroller sends step-by-step impulse and direction pulse to stepper motor driver, the control step motor movement, thus drive the accurate digital control working table movement;
Step (8): by " start/stop " bond Shu Yundong of keyboard input module, a three-dimensional simulation campaign is completed.
Beneficial effect of the present invention:
1 control system is separated with motor system, and the motion of indoor heating system in remote controlled radiation therapy process avoids operator to be subject to the radiotherapy radiation;
2 time dependent three-dimensional motion curves can be resolved on three directions respectively, form three-dimensional time series.Movement locus, amplitude and three groups of parameters of speed are the motion conditions of control system fully.Operator can set this three groups of parameters before system motion, and can change at any time in motor process and upgrade, until reach best skimulated motion effect;
3 consider the diversity that the people moves on three dimensions when autonomous or steady respiratory movement, this three-dimensional phantom motion verification platform system can be by three independent degree of freedom of controlling, realize the diversity of moving realizing that motion amplitude and the motion rhythm and pace of moving things are adjustable on three dimensions.
Simulation and the checking of different target area simulation positioning means are completed in 4 scannings by motion die body under different conditions, simulate the motion under various different conditions in the image procurement process as far as possible, can improve like this range of application and the using value of die body.
5 according to the 3D-CT image under resting state, the weak point of checking 3D-CT image segmentation, and then corresponding improvement strategy is proposed, thus the image after 3D-CT is cut apart reacts motion and the metamorphosis of target area better.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is control device structural representation of the present invention;
Fig. 3 (a) is circuit connection diagram 1 of the present invention;
Fig. 3 (b) is circuit connection diagram 2 of the present invention;
Fig. 4 is the connection layout of stepper motor driver of the present invention;
Fig. 5 is control method flow chart of the present invention;
Fig. 6 is specific embodiments of the invention one;
Fig. 7 is specific embodiments of the invention two;
Fig. 8 is specific embodiments of the invention three;
Fig. 9 is specific embodiments of the invention four.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment.
As Fig. 1, Fig. 2, Fig. 3 (a), Fig. 3 (b), shown in Figure 4, a kind of medical three dimension skimulated motion platform, comprise telecontrol equipment, stepper motor driver and control device, described telecontrol equipment is the accurate digital control workbench, directions X, Y-direction and Z direction at the accurate digital control workbench are connected with respectively X-direction motor, Y-direction motor and Z-direction motor, X, Y, Z-direction motor are connected with X, Y, Z-direction stepper motor driver respectively, and X, Y, Z-direction stepper motor driver and accurate digital control workbench are connected with control device.
Described control device comprises microcontroller, memory module, display module, keyboard input module, and wherein memory module, display module are connected with the keyboard input module and are connected with microcontroller.Described control device adopts the STC12C5A60S2 single-chip microcomputer as main control chip, the STC12C5A60S2 single-chip microcomputer is a series of single-chip microcomputers, this series monolithic is 40 pins, 2 16 bit timing devices are arranged, can be used to realize the speed governing of motor, chip is the single machine cycle single-chip microcomputer simultaneously, and instruction is carried out frequency and equaled the machine frequency, and this series monolithic operating frequency can reach 35MHz, can be in the situation that provide very high controlled frequency than high control precision for stepper motor driver.This series monolithic different model difference is that memory space is different, and other parameters are identical, and specific requirement is that the above Flash memory space of 20K comes storage program and 2K EEPROM memory space to be used for storing related data.
X, Y, Z-direction stepper motor driver and control device are connected with transformator, and transformator is connected with 220VAC, and transformator is respectively stepper motor driver by rectification, wave filter and control device provides 24V～80V and 5V DC voltage.
Control device partly uses+the 5V normal voltage: make power supply by general civil power AC220V, at first drop to DC5V through switch transformer, produce normal voltage+5V after rectifying and wave-filtering, offer control device, its ripple factor is quite little, and degree of stability is high, is not easy to produce to disturb.
The driving voltage of motor driver: motor driver can work between 24V～80VDC.Adopt high voltage that the high speed operation of motor torque keeping is not descended, the running stability when low-voltage helps driver to reduce temperature rise and increase low speed.Native system adopts the 70V DC voltage, and by being output as 70V, rated power provides for the Switching Power Supply of 600W, add power supply maximum output current be 6A, greater than the specified phase current of motor.
Described telecontrol equipment adopts linear rolling track and ball-screw, and the rotation with motor on each axle is converted to rectilinear motion, and the move distance control accuracy can reach 0.025mm.Linear rolling track and ball-screw have all adopted preload, eliminated unnecessary gap, contact stiffness and positioning accuracy have been improved, under digital control system is controlled, pass through step motor drive, the interlock of X-Y-Z three-dimensional accurate digital control workbench realizes Arbitrary 3 D curvilinear motion track in the plane, realizes the gapless motion, has high accuracy, high efficiency, life-span length, little, the succinct practical characteristics of wearing and tearing.
It is three motors of 60HS44 that described motor adopts model, its minimum step angle is 1.8 degree, coordinate the segmentation function of corresponding stepper motor driver can realize less minimum step angle, can improve control accuracy, but can reduce the high rotation speed of motor.
Described stepper motor driver adopts three stepper motor drivers that match with motor, and described stepper motor driver all can provide synchronizing, 2 segmentations, 4 segmentations, 8 segmentations, 16 segmentations, 32 segmentations, 7 kinds of subdividing running patterns of 64 segmentations.Under the synchronizing mode, pulse will make electric machine rotation 1.8 degree, and a pulse makes electric machine rotation 0.9 degree during 2 segmentation, and during 4 segmentation, a pulse makes electric machine rotation 0.45 degree, and the rest may be inferred.
The present invention requires its affiliated axially workbench of single shaft driven by motor only need to do rectilinear motion, and rotating speed is higher, therefore adopt the synchronizing mode.X, y, z three-dimensional stepper motor driver are connected with control device with the accurate digital control workbench.the wiring of stepper motor driver is connected with input signal and is connected, input signal adopts the common anode utmost point mode of connection, the positive supply of control signal is connected on the terminal of common port, output line is connected on corresponding signal terminal, when low level appears in signal input part, corresponding inside optocoupler is open-minded, signal is inputted in stepper motor driver, the pulse signal input: signal lower saltus step from high to low is interpreted as a pulse by stepper motor driver, stepper motor driver will move according to corresponding sequential drive stepping motor this moment.
Specific implementation method when the three-dimensional motion verification platform is used for the accurate radiotherapy checking:
Respiratory movement is the key factor that affects the thorax and abdomen malignant accurate radiotherapy: it affects the accurate location of tumor target area on the one hand, affect on the other hand the accuracy that Radiotherapy dosimetry calculates, analyze respiratory movement to the impact of thorax and abdomen malignant accurate radiotherapy and propose corresponding improvement strategy and have very important significance to improving radiotherapy precision and therapeutic effect.Because can't realize the research of experiment made on the living at present, relying on the respiratory movement of respiratory movement simulation analysis to the tumor target area and jeopardizing the effect that organ produces is a kind of effectively and easily approach.The three-dimensional motion verification platform of this Research Institute carries out quality control for the stages of thorax and abdomen malignant accurate radiotherapy process and the quality assurance provides important tool: at first, applying three-dimensional motion die body determines that to the target area of common thorax and abdomen malignant means verify, by with the comparison of objective material object, analyze the deficiency that each means exist, study corresponding improvement strategy; By the characteristics of motion of simulating tumor and jeopardizing organ, research both Deformation Laws of causing of respiratory movement and the local electronic density that causes thereof change the impact that the tumor exposure dose is accurately calculated, and then for the target area with jeopardize the accurate evaluation of the organ amount of being subjected to and cumulatively provide more objective foundation.Now set forth with regard to the verification method of realizing.
1. the optimization of Radiation Therapy Simulation location CT scan condition
In chest and epigastrium tumor radiotherapy process, a key factor that affects the radiotherapy precision is respiratory movement, intestinal peristalsis promoting etc., therefore, in the CT scan process of Radiation Therapy Simulation location, the setting of the condition of scanning, such as the rotary speed of frame, the conditions of exposure of bulb etc. directly affects lump, organ movement's degree of comprising, the image quality of image and patient's light exposure and produces, and radiotherapy planning formulation and radiation therapy delivery after this had material impact.Therefore, the optimization that Radiation Therapy Simulation is located the CT scan condition has important clinical meaning, and this three-dimensional motion verification platform is the necessaries that the optimization of CT scan condition is located in chest and the simulation of epigastrium motion tumor radiotherapy.
The phantom of different size and shapes is positioned over the load-carrying district of the three-dimensional motion verification platform of the present invention's exploitation, the tumor of the different size and shapes of simulation.make three-dimensional motion verification platform load-carrying district by different tracks campaign (one dimension, two dimension or three-dimensional), after kinestate is stable, radiotherapy localization CT arranges the different conditions of scanning, scanning load-carrying district and phantom thereof, obtain the 3-D view under different phantom different motion tracks and state, by analyzing the definition of 3-D view under the different scanning condition, the phantom CT value distortion factor, optimum scanning condition under the optimization such as the difference between phantom volume and phantom three-dimensional image volume and screening different situations, thereby complete optimization and checking that the CT scan condition is located in simulation, important reference data is provided for tumor radiotherapy is clinical.
2. the impact of accuracy is implemented in the research respiratory movement on Radiotherapy dosimetry
At present, all static CT is as the basis in the planning system to target area and the assessment that jeopardizes the organ amount of being subjected to, and the assessment of this static dosage can't realize being subjected to respiratory movement to affect the accurate evaluation of larger thorax and abdomen malignant dosage.Take the three-dimensional motion analog systems of the present invention design as carrier, the tumor (liver, pancreas, kidney, lung, esophagus, mammary gland etc.) of simulation different parts with and the mutual relation of adjacent organs, research different motion state downrange and the amount of being subjected to that jeopardizes organ, and then analyze respiratory movement to both impacts of the amount of being subjected to.Carry out target area and the measurements and calculations that jeopardize the organ amount of being subjected to by dosimeter, carry out simulation and the reconstruction of dose distribution with computer on the basis of measuring, thereby obtain the target area and jeopardize the dynamic dose distribution of organ.On this basis, with the methods analyst respiratory movement of setting up mathematical model and target area and jeopardize organ and be subjected to the relationship between quantities, set up respiratory movement and mathematical modeies of the amount of being subjected to both, and this mathematical model is used for the checking thorax and abdomen malignant in the actual radiation treatment dosage amount of being subjected to situation.
3. assess the usefulness of different respiratory movement control technologys
At present, the respiratory movement control technology that tumour radiotherapy is commonly used comprises that ITV delineates technology, the technology of holding one's breath, gate radiotherapy technology and follow the tracks of radiotherapy technology, yet various respiratory movement control strategies have its limitation, and for individual patient, its best respiratory movement technology is also indefinite.Utilize the motion of the different lumps of this three-dimensional motion analog platform simulation (size, shape) different conditions (track, speed), in conjunction with four-dimensional CT scan technology, obtain the four-dimensional image of lump, utilize the quality of the above-mentioned various respiratory movement strategies of this image studies and the optimum respiratory movement control technology under different lumps and different motion state.
In addition, the tumor that can complete respectively the different volumes size scans with 3D-CT under the RPM system is combined in the scanning of the 3D-CT under the free respiratory movement state of (difference that comprises respiratory rhythm and frequency) under the condition of not sharing a common fate, the initiatively 3D-CT scanning under the respiratory control state, and three-dimensional motion die body.After the CT scan image that obtains under different condition, take the 3D-CT image of resting state as foundation, at first study the difference of CT image treatment under different condition, then analyze the impact that respiratory movement carries out determining the target area on means of different (size, form, put border) outward, and then seek and improve each target area and determine means, thereby provide guidance for the application of the accurate radiotherapy means of thorax and abdomen malignant.
Verification method specific embodiments schematic diagram:
It is 1, as shown in Figure 6 in illustrating,
Step (6-1): complete die body by the transformation of two dimensional motion to three-dimensional motion, then complete the simulation of the four-dimensional movement take the time as medium in conjunction with the RPM system of VARIAN company;
Step (6-2): complete respectively under free breathing state, initiatively under respiratory control auxiliary screen gaseity and the scanning of 4D-CT, simultaneously the layout of the normal organ around die body carried out Simulation and analysis.
It is 2, as shown in Figure 7 in illustrating,
Step (7-1): the CT scan that realizes 3D under different condition: complete respectively under free breathing state, initiatively under respiratory control auxiliary screen gaseity and the scanning of 4D-CT;
Step (7-2): the still image under the active respiratory control state is as foundation, analyze respiratory movement different target areas are determined that means carry out the impact that the target area is determined, the difference of the size and geometric of means determined target areas is determined in different target areas, inquires into the weak point of various positioning means; Still image under the free respiratory control state analyzes as foundation the drawback that scans under free breathing state; Still image under the 4D-CT scanning mode is as foundation, analyzes the weak point of cutting apart mutually image when respiratory movement determines that on different target areas means are carried out the impact determined the target area with each;
Step (7-3): seek corresponding the solution and improvement project, instruct the different levels Status of Radiation Therapy Units to carry out accurate radiotherapy work.
3, as shown in Figure 8,
Step (8-1): after the simulation of completing the three-dimensional motion die body is located, carry out the radiotherapy treatment planning design according to 3D-CT phase images in a period of time for foundation, then with 3D-CT all the other the time phase image analyze by the deformable registration algorithm, obtain that the target area of phase and the crisis organ amount of being subjected to are not assessed simultaneously;
Step (8-2): the foundation of mathematical model is carried out with respirometric relation in the target area that obtains and the amount of being subjected to that jeopardizes organ, and the mathematical model that establishes is being tested proved and improvement by die body.
4, as shown in Figure 9,
Step (9-1): the image scanning of 3D motion module body;
Step (9-2): the CT of different condition simulation positioning image enters step (9-3) or (9-8) according to actual needs;
Step (9-3): the research of deformable registration algorithm;
Step (9-4): the improvement of deformable registration algorithm and checking enter step (9-5), (9-6), (9-7), (9-9);
Step (9-5): the CT simulated positioner positions, and enters step (9-10);
Step (9-6): linear accelerator accelerates, and enters step (9-11);
Step (9-7): the termed image-guided radiotherapy system guides, and enters step (9-12);
Step (9-8): 4D-CT scanning enters step (9-9);
Step (9-9): point-to-point deformable registration between dynamic 4D-CT image enters step (9-14);
Step (9-10): respiratory movement and CT image authentication enter step (9-13);
Step (9-11): dosage verifying enters step (9-13);
Step (9-12): pendulum bit error correction and target area and crisis organ dose's assessment and checking enter step (9-13);
Step (9-13): carry out the selection of radiation treatment plan, finish;
Step (9-14): tumor target area and jeopardize the point-to-point dosage stack of organ, finish.
After corresponding deformable registration mathematical model, realize point-to-point deformable registration between dynamic 4D-CT image by using this mathematical model, and then realize the tumor target area and jeopardize the point-to-point dosage stack of organ.
This three-dimensional motion verification platform the key technical indexes that checking obtains when being used for radiotherapy:
(1) motion of the die body of developing can realize three-dimensional (left and right up and down before and after) and continuous synchronization variant motion.The kinematic accuracy of all directions can reach 1mm, and motion frequency is at 15-30 time/minute.Can realize the simulation of four-dimensional movement and cut apart with the associating of respiratory movement monitoring device, and can obtain continuous Dynamic CT image by CT scan.
Table 1: the parameter area of each axially-movable of three-dimensional motion die body.
(2) by the design of independent controling circuit plate, the respirometric amplitude that the motion die body is simulated and the rhythm and pace of moving things are necessary for adjustable, can realize conversion and the application of different parameters (frequency and amplitude).
(3) motion of motion die body can be identified and can be converted to analogue signal by the RPM system, and by the motion of motion die body fore-and-aft direction is combined with the RPM system, realizing that die body moves can tracked and labelling.
(4) motion amplitude of motion die body and the rhythm and pace of moving things are respiratory movements adjustable and that can simulate different condition, by the design of independent controling circuit plate, can realize conversion and the application of parameter as shown in table 1.
(5) the tumor load-carrying district of motion die body is without metal material, can support the weight of 2Kg.
(6) in the motion die body analogies of tumor must be on form, quality, density with kinds of tumor near (selecting the organ or tissue of animal), the weight of tumor is between 0.1Kg-0.5Kg, density and muscular tissue likeness in form, form is out of shape less in motor process.
As shown in Figure 5, preferred forms of the present invention:
At first set in advance 5 kinds of different movement locus according to the characteristics of motion of tumor or human normal organ and represent with numeral 0,1,2,3,4 respectively, can represent that the numeral of different motion track realizes by modification when setting movement locus.Concrete steps during operation are as follows:
Step (1): the analogies of tumor or organ are positioned over the scanning area of system, then determine mathematic curve or form according to the actual motion feature of tumor or organ;
Step (2): resolve on three-dimensional respectively according to mathematic curve and the form of representative simulation thing three-dimensional motion rule, make and form respectively time kinematic parameter on three directions;
Step (3): the time kinematic parameter on three directions is written into the control device part;
Step (4): then connect the main power of three-dimensional motion verification system, control device will the control display module shows the path curves of the specific analogies of doing when using this system last time;
Step (5): by the keyboard input module, the specific skimulated motion track of selecting this to realize; Microcontroller reads " x is to amplitude ", " y is to amplitude ", " z is to amplitude " and " rotating speed " four groups of parameters of motion last time from memory module, can adjust setting to four groups of parameters by the keyboard input module;
Step (6): " start/stop " key by the keyboard input module starts three-dimensional verification platform, and four groups of parameters that movement locus code and previous step are determined will the write memory module;
Step (7): microcontroller goes out to control the required step-by-step impulse frequency of motor movement according to movement locus code and four groups of calculation of parameter; Microcontroller sends step-by-step impulse and direction pulse to stepper motor driver, the control step motor movement, thus drive the accurate digital control working table movement;
Step (8): by " start/stop " bond Shu Yundong of keyboard input module, a three-dimensional simulation campaign is completed.
Although above-mentionedly by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (8)
1. medical three dimension skimulated motion platform, comprise telecontrol equipment, stepper motor driver and control device, described telecontrol equipment is the accurate digital control workbench, it is characterized in that, directions X, Y-direction and Z direction at the accurate digital control workbench are connected with respectively X-direction motor, Y-direction motor and Z-direction motor, X, Y, Z-direction motor are connected with X, Y, Z-direction stepper motor driver respectively, and X, Y, Z-direction stepper motor driver and accurate digital control workbench are connected with control device.
2. a kind of medical three dimension skimulated motion platform as claimed in claim 1, it is characterized in that, described control device comprises microcontroller, memory module, display module, keyboard input module, and wherein memory module, display module are connected with the keyboard input module and are connected with microcontroller; Described control device adopts the STC12C5A60S2 single-chip microcomputer as main control chip.
3. a kind of medical three dimension skimulated motion platform as claimed in claim 1, it is characterized in that, X, Y, Z-direction stepper motor driver and control device are connected with transformator, transformator is connected with 220VAC, and transformator is respectively stepper motor driver by rectification, wave filter and control device provides 24V～80V and 5V DC voltage.
4. a kind of medical three dimension skimulated motion platform as claimed in claim 1, it is characterized in that, described telecontrol equipment adopts linear rolling track to coordinate with ball-screw, and the rotation with motor on each direction is converted to rectilinear motion, and the move distance control accuracy reaches 0.025mm.
5. a kind of medical three dimension skimulated motion platform as claimed in claim 1, is characterized in that, it is three motors of 60HS44 that described motor adopts model, and its minimum step angle is 1.8 degree.
6. a kind of medical three dimension skimulated motion platform as claimed in claim 1, it is characterized in that, described stepper motor driver adopts three stepper motor drivers that match with motor, and described stepper motor driver all can provide synchronizing, 2 segmentations, 4 segmentations, 8 segmentations, 16 segmentations, 32 segmentations, 7 kinds of subdividing running patterns of 64 segmentations.
7. a kind of medical three dimension skimulated motion platform as claimed in claim 1, it is characterized in that, the wiring of stepper motor driver is connected with input signal and is connected, input signal adopts the common anode utmost point mode of connection, the positive supply of control signal is connected on the terminal of common port, output line is connected on corresponding signal terminal, when low level appears in signal input part, corresponding inside optocoupler is open-minded, signal is inputted in stepper motor driver, the pulse signal input: signal lower saltus step from high to low is interpreted as a pulse by stepper motor driver, stepper motor driver will move according to corresponding sequential drive stepping motor this moment.
8. the skimulated motion method of the described a kind of medical three dimension skimulated motion platform of above-mentioned arbitrary claim, is characterized in that, mainly comprises following steps:
At first setting in advance 5 kinds of different movement locus according to the characteristics of motion of tumor or human normal organ represents with numeral 0,1,2,3,4 respectively, represent that by modification the numeral of different motion track realizes when setting movement locus, the concrete steps during operation are as follows:
Step (1): the analogies of tumor or organ are positioned over the scanning area of system, then determine mathematic curve or form according to the actual motion feature of tumor or organ;
Step (2): resolve on three-dimensional respectively according to mathematic curve and the form of representative simulation thing three-dimensional motion rule, make and form respectively time kinematic parameter on three directions;
Step (3): the time kinematic parameter on three directions is written into the control device part;
Step (4): then connect the main power of three-dimensional motion verification system, control device will the control display module shows the path curves of the specific analogies of doing when using this system last time;
Step (5): by the keyboard input module, the specific skimulated motion track of selecting this to realize; Microcontroller reads " x is to amplitude ", " y is to amplitude ", " z is to amplitude " and " rotating speed " four groups of parameters of motion last time from memory module, by the keyboard input module, four groups of parameters are adjusted setting;
Step (6): " start/stop " key by the keyboard input module starts three-dimensional verification platform, and four groups of parameters that movement locus code and previous step are determined will the write memory module;
Step (7): microcontroller goes out to control the required step-by-step impulse frequency of motor movement according to movement locus code and four groups of calculation of parameter; Microcontroller sends step-by-step impulse and direction pulse to stepper motor driver, the control step motor movement, thus drive the accurate digital control working table movement;
Step (8): by " start/stop " bond Shu Yundong of keyboard input module, a three-dimensional simulation campaign is completed.
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