CN103566471B - Radiotherapy in lung cancer lump motion accompanying shield system - Google Patents
Radiotherapy in lung cancer lump motion accompanying shield system Download PDFInfo
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- CN103566471B CN103566471B CN201310479309.9A CN201310479309A CN103566471B CN 103566471 B CN103566471 B CN 103566471B CN 201310479309 A CN201310479309 A CN 201310479309A CN 103566471 B CN103566471 B CN 103566471B
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Abstract
The present invention proposes a kind of motion accompanying shield system of radiotherapy in lung cancer lump, and system includes data processor, apnea detector, radioactive source detector, motion accompanying shield and shield controller.Motion accompanying shield is used to be placed on above the therapeutic bed of existing radiotherapy apparatus, there is hood for protecting rider above shield, and the present invention proposes the realization of two kinds of hood for protecting rider, and the first hood for protecting rider can follow radioactive source to be moved around shield；The blade of hood for protecting rider can also make according to the tumor's profiles of different parts to be changed；Second hood for protecting rider considers that radioactive source is radiated once every certain angle, i.e., according to angle set in advance and transmitted intensity, is customized in hood for protecting rider and good in need blocks profile and thickness.Shield controller is connected with data processor and motion accompanying shield respectively, and for receiving the motion control instruction that data processor is sent, control motion accompanying shield is with respiratory movement.From multiple dimensions tumor mass can be followed to move, realize and the accurate of ray around lump is blocked.
Description
Technical field
The invention belongs to medicine equipment auxiliary treatment apparatus field, and in particular to a kind of radiotherapy in lung cancer lump motion accompanying shield system.
Background technology
During radiotherapy in lung cancer, the tumor motion caused by patient respiration can produce considerable influence to radiotherapy.For this influence, mainly there are three kinds of solutions at present.First method is to expand target of prophylactic radiotherapy with the tumour of abundant covering motion, and the more normal structures of patient can be made to receive radiation exposure in this way.Second method is gate radiotherapy technology, only held one's breath in patient or the breathing last period is to tumor region progress radiotherapy, thus the influence of tumor motion can be reduced to a certain extent, such as the american documentation literature of entitled " Methodandsystemforphysiologicalgatingofradiationtherapy " (US6690965B1), the well-regulated physiological movement of patient is detected by optics or video image system, when moving past a certain threshold value, just start gate-control signal, suspend the irradiation of radioactive source.Its major defect is that breathing to patient and state have certain requirement, and can increase the time of radiotherapy.
The third method is the dynamic radiotherapy technology occurred in recent years, according to the tumor motion situation detected in real time, and the position of dynamic adjustment beam or tumour realizes that beam and tumour are substantially aligned, so as to reduce the border of target area.Such as the patent document of entitled " image guiding and tracking method based on prediction " (Publication No. CN101428154A) and entitled " real-time tracking method for dynamic tumor " (Publication No. CN101423198A), quantified and analyzed by tumor anatomical structure image and breathing state feature set to input, set up the correlation of respiratory movement and tumor motion, and the image and breathing state feature of dynamic tumor are obtained in real time, pass through the breathing state feature after prediction time delay, determine corresponding shape of tumor constant interval image sequence, it is matched with the dynamic tumor image obtained in real time and optimal shape of tumor figure is therefrom chosen, to realize the motion tracking to tumour.The two patent documents are by the registration of multiple image come tracking of knub position, calculate than relatively time-consuming, the requirement of real-time tracking tumor motion can not be met, in addition, the patent document is to how the result for moving tracking of knub for Patients During Radiotherapy does not provide effective method.
Termed image-guided radiotherapy (image-guidedradiotherapy, IGRT) motion state of the technology to tumour in Patients During Radiotherapy carries out real-time tracking, according to the position or the position of patient of the motion dynamic adjustment radioactive source of tumour, make the focus of radioactive source and the center alignment of tumour.American documentation literature such as entitled " Dynamictrackingofmovingtargets " (Publication No. US20060074292) describes a kind of method that dynamic tumor tracks radiotherapy, three-dimensional computed tomography (the three-dimensionalcomputedtomography of collection is utilized before the treatment, 3D-CT) image sequence or other 3-D views set up four-dimensional Mathematical Modeling, to determine the relation between tumor target and anatomic region three-dimensional position, it is in treatment that the tumor image gathered in real time is registering with the progress of digital reconstruction radiotherapy image, so as to complete the tracking and positioning in real time of tumor target.The technical scheme is also required to obtain the position of tumour by image registration, it is impossible to meet the requirement of real-time tracking.The CyberKnife robots radiotherapy system of Accuray companies production, by X-ray linear accelerator (linearaccelerator, LINAC) it is arranged in an industrial robot arm, breathing tracing system makes medical personnel to keep track, detect and correct tumour over the course for the treatment of and moved, and is held one's breath without patient or using control of breathing technology.And positional information is sent to robots arm automatically, robots arm can relocate x-ray by six-freedom degree, make it to prospective tumor.Current CyberKnife robots radiotherapy system is applied to clinic.Existing IGRT equipment can reduce influence of the respiratory movement to radiotherapy to a certain extent, but these IGRT equipment prices are expensive, it is 2 to 3 times of conventional radiotheraphy equipment price, only a small number of hospitals are equipped with IGRT equipment at present, it is interior in recent years, most of hospital will be continuing with legacy equipment and conventional method and carry out radiotherapy to patient, even if some hospitals are equipped with IGRT equipment, traditional radiotherapy apparatus can be also used simultaneously.
Intensity modulated radiation therapy (intensitymodulatedradiationtherapy, IMRT) be strength regulated shape-adapted radiation therapeutic be three dimensional conformal radiation therapy one kind, it is desirable to dose intensity is adjusted by certain requirement in radiation field size.It is that under conditions of throughout radiation field size is consistent with target area profile, beam intensity is adjusted for the specific anatomy relationship of target area 3D shape and vital organs and target area.If patent document " a kind of focus type strength regulated shape-adapted radiation therapeutic machine " (Publication No. CN101058005) is by data processing equipment control Scan orientation bed progress three-shaft linkage, make focused spot layering that the tumor focus for irradiating patient is scanned or scanned along isodose with rectilinear direction and constantly changes instant scanning speed, realize the conformal distribution of exposure dose and adjust strong.
Patent document " image and the auxiliary mattress system of breathing guiding " (Publication No. CN101972515A) is realized based on image and respiration parameter detection, mattress motion is guided to compensate the motion of pulmonary masses by data processing, to realize the vernier focusing to patient lungs' lump.
For the detection of breathing, mainly have at present pressure sensor method, inductance volume graphical method, thermistor method, obtained by ecg information, the method such as impedance spirography and infrared camera detection.Patent document such as Publication No. CN2885122Y discloses one kind《Electro-optical abdominal breathing sensor》, Publication No. CN101212930 patent document also discloses that one kind《Device for detecting respiratory》, may be incorporated for detecting the breathing state for obtaining human body.
The content of the invention
The present invention proposes a kind of radiotherapy in lung cancer lump motion accompanying shield system, purpose is that the motion for alloing the system according to patient lungs' lump is adjusted in real time to shield, realize and the accurate of ray around lump is blocked, so that tumor locus is under the irradiation of radioactive source all the time, the destruction to tumour normal surrounding tissue is minimized.
A kind of radiotherapy in lung cancer lump motion accompanying shield system that the present invention is provided, it is characterised in that the system includes data processor, apnea detector, motion accompanying shield and shield controller；
Apnea detector and motion accompanying shield are connected with data processor electric signal, and shield controller is connected with motion accompanying shield electric signal；
Data processor is used for the relational model set up between breathing state and tumour displacement, and sets up the relational model of source positions, motion accompanying guard positions and tumor shape；And displacement needed for the positional information prediction of the breathing state and radioactive source, motion accompanying shield according to reception and calculating motion accompanying shield, motion control instruction then is sent to shield controller, changes the position of motion accompanying shield；
Apnea detector is used to detecting the breathing state of patient, such as thorax change, belly fluctuations, lung capacity, the motion of tabula mould, the motion of lung tissue, breathing state is passed through wired or be wirelessly sent to data processor；
Motion accompanying shield is made up of radiation proof material, moved under the control of shield controller, for realize to knub position be accurately positioned and tumour outside position block；
Shield controller is used to receive the motion control instruction that data processor is sent, the shield motion of control motion accompanying.
Present system can according to the breathing state of patient, realize to patient tumors be accurately positioned and tumour outside position block.Present system can coordinate existing radiotherapy apparatus to be used together, without transforming existing radiotherapy apparatus, the radiotherapy function of image guiding just can be made it have, so as to realize the purpose for the function of only needing lower cost just can strengthen existing radiotherapy apparatus.The system can in real time, accurately predict the displacement of tumour, and motion accompanying guard positions are adjusted according to the tumour displacement of prediction.
Motion accompanying shield is made using radiation proof material, farthest reduces the beam toxicity suffered by the normal structure of patient.Meanwhile, the relation that the system is set up between the breathing state of patient and tumour displacement according to the breathing state and tumor anatomical structure image of synchronous acquisition, to breathing without special requirement for patient, therefore with preferable versatility.
In a word, present system can be realized blocks to the accurate of ray around lump so that tumor locus under the irradiation in radioactive source, is minimized the destruction to tumour normal surrounding tissue all the time.
Brief description of the drawings
Fig. 1 is the structure chart of present system；
Fig. 2 is a kind of structural representation of embodiment of the invention；
Fig. 3 is the structural representation of the motion accompanying shield of present example, wherein, 3a is top view, and 3b is front view；3c is the first hood for protecting rider schematic diagram.
Fig. 4 is the scheme of installation of the first hood for protecting rider；
Fig. 5 is the structural representation based on the first hood for protecting rider；
Fig. 6 is the scheme of installation of the second hood for protecting rider on shield of the present invention；
Fig. 7 is the structural representation for the apnea detector that present example is provided；
Fig. 8 is the actual breathing state and prediction breathing state schematic diagram of present example；
Fig. 9 is the prediction tumour displacement diagram of present example；
Description of reference numerals：1-data processor；2-apnea detector；3- radioactive source detectors；4-motion accompanying shield；5-synkinesia breath controller；6-image processing module；7-breathing state and tumour displacement relation analysis module；8-tumour displacement prediction module；9-motion-control module；21-impedance electrodes；22-impedance analysis instrument；3- radioactive source detectors；401- shields, 402- rays radius, the hood for protecting rider of 403- first, 404- shields base, 405- shields fixing groove, 406- guide rails and sliding block, 407- ball-screws, 408- shaft couplings, 409- mounting bases, 410- servomotors, 411- guide rails fix base plate.Wherein the first hood for protecting rider 403 is made up of blade driving motor 4031, hood for protecting rider blade 4032, hood for protecting rider motor 4033, driving wheel 4034.The hood for protecting rider of 501- second, 502- hood for protecting rider lump profiles, 503- dividing plates, 504- fixed connecting plates.
Embodiment
The embodiment to the present invention is described further below in conjunction with the accompanying drawings.Herein it should be noted that the explanation for these embodiments is used to help understand the present invention, but limitation of the invention is not constituted.As long as can be just mutually combined in addition, technical characteristic involved in each embodiment of invention described below does not constitute conflict each other.
As shown in figure 1, the radiotherapy in lung cancer lump motion accompanying shield system that the present invention is designed, including data processor 1, apnea detector 2, motion accompanying shield 4 and shield controller 5.
Data processor 1 can be computer, embedded device or other devices that can carry out calculating processing, it is used for the relational model that (one) is set up before radiotherapy between breathing state and tumour displacement, and (two) are used for the relational model for setting up source positions, the position of motion accompanying shield 4 and tumor shape.The displacement according to needed for the positional information of the breathing state and radioactive source of reception, motion accompanying shield 4 is predicted and calculates motion accompanying shield 4, then sends motion control instruction to shield controller 5 in Patients During Radiotherapy, changes the position of motion accompanying shield 4.
Apnea detector 2 is any device that can be used for detecting patient respiratory state, the device is used for the breathing state for detecting patient, such as thorax change, belly fluctuations, lung capacity, the motion of tabula mould, the motion of lung tissue, breathing state are passed through wired or be wirelessly sent to data processor 1.
Motion accompanying shield 4 is used to be placed on above the therapeutic bed of existing radiotherapy apparatus, moved under the control of shield controller 5, for realize to knub position be accurately positioned and tumour outside position block.
Shield controller 5 is used to receive the motion control instruction that data processor 1 is sent, and control motion accompanying shield 4 is moved.
The structure of data processor 1 is exemplified below, as shown in Fig. 2 being provided with image processing module 6, breathing state and tumour displacement relation analysis module 7, tumour displacement prediction module 8 and motion-control module 9 in data processor；
Image processing module 6 is used for the tumor anatomical structure image sequence I being sequentially arranged for receiving data processor 11,I2,…,Ik, wherein k is the width number for setting up the tumor anatomical structure image received when breathing state and the relational model of tumour displacement, then to tumor anatomical structure image sequence I1,I2,…,IkHandled, the position of tumour, generation tumour Displacement Sequence D are determined from tumor anatomical structure image sequence1,D2,…,Dk, and by tumour Displacement Sequence D1,D2,…,DkIt is supplied to breathing state and tumour displacement relation analysis module 7.Breathing state is used in chronological order be arranged the breathing state of reception with tumour displacement relation analysis module 7, forms the first breathing state sequence A1,A2,…,Ak, according to the first breathing state sequence A1,A2,…,AkWith the tumour Displacement Sequence D of reception1,D2,…,Dk, the relational model set up using curve fitting algorithm between breathing state and tumour displacement, and the relational model is supplied to tumour displacement prediction module 8；
Tumour displacement prediction module 8 is used to arrange the breathing state that data processor 1 is received in chronological order in breathing state prediction model parameterses determination process, forms the second breathing state sequence B1,B2,…,Bm, m is the breathing state number for determining to receive during the parameter of breathing state forecast model, then with the second breathing state sequence B1,B2,…,BmFor training dataset, the parameter of breathing state forecast model is determined, and predicts the breathing state at patient's m+1 moment, the prediction breathing state B ' at m+1 moment is obtainedm+1；If i be used for receive breathing state at the time of count, initial value is m+1, in actual use, for according to data processor 1 i receptions breathing state BiWith the prediction breathing state B at i momenti' between difference, the parameter to breathing state forecast model is adjusted, and predicts the breathing state B ' at patient's i+1 momenti+1；According to the prediction breathing state B ' at i+1 momenti+1With breathing state and the relational model of tumour displacement, the prediction tumour displacement D ' at i+1 moment is calculatedi+1；
Motion-control module 9 is used for the prediction tumour displacement D ' at the i+1 moment predicted according to tumour displacement prediction module 8i+1With the prediction tumour displacement D' at i momentiBetween deviation calculate the amount of exercise M that motion accompanying shield 4 needs to movei+1。
Shield controller 5 controls motion accompanying shield 4 to move according to the motion control instruction of reception, so that the center of the tumour in i+1 moment patient bodies is under radioactive source.
The course of work of present system is specifically described below：
(1) present system is in use, the relational model first set up according to the following steps between the breathing state of patient and tumour displacement：
(1) data processor 1 is received by the breathing state and tumor anatomical structure image in one respiratory cycle of patient of apnea detector 2 and medical imaging devices synchronous acquisition by wired or wireless way, and tumor anatomical structure image is carried out to arrangement generation tumor anatomical structure image sequence I in chronological order1,I2,…,Ik, data processor 1 is sent to by wired or wireless way.
(2) the tumor anatomical structure image sequence I that image processing module 6 is received to data processor 11,I2,…,IkHandled, generation tumour Displacement Sequence D1,D2,…,Dk, and by tumour Displacement Sequence D1,D2,…,DkIt is supplied to breathing state and tumour displacement relation analysis module 7.
(3) breathing state that breathing state receives data processor 1 with tumour displacement relation analysis module 7 is arranged in chronological order, forms the first breathing state sequence A1,A2,…,Ak, according to the first breathing state sequence A1,A2,…,AkWith the tumour Displacement Sequence D of reception1,D2,…,Dk, the relational model set up using curve fitting algorithm between breathing state and tumour displacement, and the relational model is supplied to tumour displacement prediction module 8.Curve fitting algorithm can use least square method, B-spline or other fitting algorithms.
(2) after the relational model between the breathing state of patient and tumour displacement is set up, pre-acquired breathing state, determines the parameter of breathing state forecast model according to the following steps：
(1) motion accompanying shield 4 is placed on above the therapeutic bed of radiotherapy apparatus, initial alignment is carried out to shield；
(2) breathing state of at least one respiratory cycle of patient lain low in therapeutic bed is gathered using apnea detector 2, and breathing state is sent to the image processing module 6 of data processor 1 by wired or wireless way；
(3) breathing state that tumour displacement prediction module 8 provides image processing module 6 is arranged in chronological order, forms the second breathing state sequence B1,B2,…,Bm, then with the second breathing state sequence B1,B2,…,BmFor training dataset, the parameter of breathing state forecast model is determined, and predicts the breathing state B ' at patient's m+1 momentm+1, Kalman filter, minimum mean square self-adaption filter, artificial neural network or other Forecasting Methodologies can be used by determining the parameter and the breathing state at prediction m+1 moment of breathing state forecast model.
(3) after the parameter of breathing state forecast model is determined, according to the following steps using present system：
(1) the breathing state B of patient is detected in real time by apnea detector 2 at i (i initial values the are m+1) momenti, and by breathing state BiData processor 1 is sent to by wired or wireless way；
(2) the breathing state B that tumour displacement prediction module 8 is received according to data processor 1iWith the breathing state B ' at the i moment of predictioniBetween difference, the parameter to breathing state forecast model is adjusted；
(3) the breathing state B that tumour displacement prediction module 7 is received according to data processor 1i, l-1 reception before breathing state Bi-l+1,Bi-l+2,…,Bi-1With the parameter of the breathing state forecast model after adjustment, the breathing state B ' at patient's i+1 moment is predictedi+1, l is constant here, represents the number of historical data required during prediction, and the method for parameter of the method that the breathing state for predicting patient and the parameter for adjusting breathing state forecast model are used with determining breathing state forecast model is identical；
(4) tumour displacement prediction module is according to the breathing state B ' at the i+1 moment of predictioni+1With breathing state and the relational model of tumour displacement, the prediction tumour displacement D ' at i+1 moment is calculatedi+1；
(5) motion-control module 9 is according to the prediction tumour displacement D ' at i+1 momenti+1With the prediction tumour displacement D ' at i momentiBetween deviation calculate the amount of exercise M that motion accompanying shield 4 needs to movei+1, and motion control instruction is sent into shield controller 5 by data processor 1；
(6) shield controller 5 controls motion accompanying shield 4 to move according to the motion control instruction of reception, so that the center of the tumour in i+1 moment patient bodies is in radioactive source.
(7) judge whether the time of radiotherapy completes, if radiotherapy has not timed out, make i=i+1, go to (1) and proceed radiotherapy；Otherwise Patients During Radiotherapy terminates.
Example：
In this example, selection computer is used as data processor 1.Apnea detector 2 can use existing various breathing detection sensors or detection means, it would however also be possible to employ structure as shown in Figure 7, it is made up of impedance detecting electrode 21 and impedance analysis instrument 22.When detecting breathing using the apnea detector, 4 electrodes a, b, c, d are attached to the back of patient, constant current drive, detection inner side two electrodes b and c voltage are introduced by lateral electrode a and d.Enter row energization and test using impedance analysis instrument 22.Obtained respiratory impedance value is exported by wired or wireless data-interface.
Two kinds of specific implementations of motion accompanying shield 4 are proposed in example, Fig. 3, Fig. 4, Fig. 5 describe the shield based on the first hood for protecting rider, Fig. 6 describes the shield based on the second hood for protecting rider, has only marked the parts different with Fig. 4 in figure 6 and has proposed the realization of another kind of drive.Two kinds of kinds of drive are suitable for the first hood for protecting rider and the second hood for protecting rider.Shield based on the first hood for protecting rider fixes base plate 411 as shown in figure 3, the motion accompanying shield 4 includes shield 401, ray radius 402, the first hood for protecting rider 403, shield base 404, shield fixing groove 405, sliding block 406, ball screw 407, shaft coupling 408, mounting base 409, servomotor 410 and guide rail.
Shield 401 is used to be placed on therapeutic bed, is made by radiation proof material.Shield 401 is arranged in the shield fixing groove 405 on 404 on shield base, and shield base 404 is arranged on sliding block 406, and sliding block 406 is arranged on guide rail, and the guide rail fixes the both sides that base plate 411 is fixed on bed by guide rail.
Roller bearing screw mandrel 407, shaft coupling 408, servomotor 410 and mounting base 409 are all arranged on guide rail and fixed on base plate 411.Servomotor 410 drives roller bearing screw mandrel 407 to rotate by universal driving shaft 408, so that shield base 404 is moved on guide rail, drives shield 401 to move.
Ray radius 402 is provided with shield 401, the first hood for protecting rider 403 is installed on the ray radius 402.First hood for protecting rider 403 includes blade driving motor 4031, hood for protecting rider blade 4032, hood for protecting rider motor 4033 and driving wheel 4034.Hood for protecting rider blade 4032 is arranged on the top of shield 401, hood for protecting rider blade 4032 is set to be moved around shield by the rotation of hood for protecting rider motor 4031, each hood for protecting rider blade 4032 carries corresponding blade driving motor 4031, blade driving motor 4031 can use micromachine, and the rotary motion of motor is become to by leading screw the linear motion of blade.Transmission in Fig. 4 is to drive shield movement by the shield firm banking movement on the left side, and the shield firm banking on the right is moved under the drive of shield.
When using the first hood for protecting rider, system also needs to configuration radioactive source detector 3, as shown in figure 5, radioactive source detector 3 is connected with the communication of data processor 1.It can use camera to realize, detection radioactive source and the present position of motion accompanying shield 4, and then location drawing picture is sent to data processing module 6 and motion-control module 9 in data processor 1 by wired or wireless way.
For the first hood for protecting rider, motion-control module 9 needs to calculate the required moving displacement of hood for protecting rider and each blade of hood for protecting rider, then sends control instruction to shield controller 5.When the position of radioactive source changes, the image of radioactive source and motion accompanying shield 4 is transmitted into data processor 1 by radioactive source detector 3, image processing module 6 analyzes radioactive source and the position of motion accompanying shield 4, and positional information is transmitted directly into motion-control module 9.
Fig. 4 is the scheme of installation of the cover portion based on the first hood for protecting rider.
Fig. 5 is the structural representation based on the first hood for protecting rider, and the difference than Fig. 2 is to the addition of radioactive source detector 3.
Fig. 6 is the shield scheme of installation based on the second hood for protecting rider, motion accompanying shield 4 includes shield 401, ray radius 402, shield base 404, shield fixing groove 405, sliding block 406, ball screw 407, shaft coupling 408, mounting base 409, servomotor 410 and guide rail and fixes base plate 411, the second hood for protecting rider 501, dividing plate 503, and fixed connecting plate 504.The installation of shield 401 is identical with the structure in Fig. 4, and shield 401 is arranged in the shield fixing groove 405 on 404 on shield base, and shield base 404 is arranged on sliding block 406, and sliding block 406 is arranged on guide rail, and guide rail fixes the both sides of the fixed bed of base plate 411 by guide rail；Fixed connecting plate 504 connects the sliding block of the right and left.
Second hood for protecting rider 501 is fixed on the top of shield 401, there is the matching used hood for protecting rider lump profile 502 being distributed according to certain angle on the second hood for protecting rider 501, hood for protecting rider lump profile 502 is as the use accessory of present system, and the thickness of contour area is according to the customization of patient's lump 3D shape.Shield 401 is placed in the shield fixing groove 405 in shield base 404.Dividing plate 503 is arranged between the hood for protecting rider 501 of fixed connecting plate 504 and second, for for separating patient and fixed connecting plate.
Fig. 6 implementation has different at two with Fig. 4.Firstly because radioactive source and discontinuous being irradiated around shield, but every certain angle (such as 10 degree) irradiation once, second hood for protecting rider 501 covers whole ray radius, lump profile is accomplished on hood for protecting rider one by one according to certain angle interval, source follower 3 need not be radiated, it is possible to achieve a certain degree of simplification.In intensity modulated radiation therapy, the lump profile of different angles is different, and the transmitted intensity that different launched fields need in same angle is also different, the not simple lump profiled orifice of lump outline portion, but the shielding thickness customized according to the transmitted intensity of required adjustment, it is possible to achieve more accurate ray radiotherapy.
Further difference is that the kind of drive, transmission in Fig. 4 is to drive shield movement by the shield firm banking movement on the left side, the shield firm banking on the right is moved under the drive of shield, another kind of drive is proposed in Fig. 6, as shown in fig. 6, using a ball screw on the ball screw of the left side, the right uses a sliding block, the fixed connecting plate 504 between ball screw and lengthening sliding block, ball screw motion drives fixed connecting plate 504 to move so that the right sliding block is moved.The benefit of this transmission is so that transmission is more stablized.But need to place dividing plate 503 between fixed connecting plate 504 and patient.The placement mat that needs elsewhere for not having dividing plate in therapeutic bed causes whole bed level.
Motion accompanying shield 4 can also be realized using other a variety of Design of Mechanical Structure, such as be realized using rack pinion structure and stepper motor driven mode.
Shield controller 5 is connected with servomotor 410 and computer respectively by data wire.
The workflow of present system is illustrated according to example：
(1) before radiotherapy, tumor anatomical structure image sequence and breathing state sequence are gathered according to the following steps, the relational model set up between the breathing state of patient and tumour displacement, this example selects the x-ray image that digital radiography machine is obtained as the tumor anatomical structure image of this example, selection thorax, which becomes, is turned to breathing state, select minimum mean square self-adaption filter as breathing state Forecasting Methodology, selection least square method is used as the method for setting up the relational model between breathing state and tumour displacement：
(1) patient lies low in the therapeutic bed of digital radiography machine, by the back of impedance electrodes 21 (a, b, c, d) the notice patient of apnea detector 2, and be connected with impedance analysis instrument 22, open the power switch of impedance analysis instrument 22 and digital radiography machine；
(2) digital radiography machine and x-ray image and breathing state in one respiratory cycle of 2 synchronous acquisition patient of apnea detector are used, x-ray image is according to time sequence generated into x-ray image I afterwards1,I2,…,Ik, computer is sent to by wired mode, wherein k is the width number for setting up the x-ray image received when breathing state and the relational model of tumour displacement, and breathing state is sent to computer by the impedance analysis instrument 22 of apnea detector 2；
(3) the x-ray image sequence I that image processing module 6 is received to computer1,I2,…,IkHandled, generation tumour Displacement Sequence D1,D2,…,Dk, and by tumour Displacement Sequence D1,D2,…,DkIt is supplied to breathing state and tumour displacement relation analysis module 7；
(4) breathing state that breathing state receives computer with tumour displacement relation analysis module 7 is arranged in chronological order, forms the first breathing state sequence A1,A2,…,Ak, then by the first breathing state sequence A1,A2,…,AkWith the tumour Displacement Sequence D of reception1,D2,…,DkCorrespond in chronological order, i.e., by Ai(i=1,2 ..., k) and DiCorrespondence, further according to the first breathing state sequence A after correspondence1,A2,…,AkWith the tumour Displacement Sequence D of reception1,D2,…,Dk, the relational model between breathing state and tumour displacement is carried out curve fitting using least square method, as shown in fig. 6, and the relational model is supplied into tumour displacement prediction module 8.
For the first hood for protecting rider, it is necessary to set up the relational model of source positions, the first hood for protecting rider position and tumor shape, patient is obtained in different angular image sequence I using medical imaging devices1,I2,…,Ij.Wherein j represents the image width number that different angles are obtained.Image processing module 6 analyzes image sequence, determines the lump shape of different images, it is determined that the transmitted intensity required for the different launched fields of each image, determines each blade shift position of position and first hood for protecting rider of first hood for protecting rider on shield.And according to this opening relationships model.
For the second hood for protecting rider, then the transmitted intensity according to needed for each angle different launched fields customizes block profile and thickness in advance as needed.Because the lump shape of each patient differs, different patients are needed to customize the second different hood for protecting rider.
(2) after the relational model between the breathing state of patient and tumour displacement is established, pre-acquired breathing state, determines the parameter of breathing state forecast model according to the following steps：
(1) impedance electrodes 21 of apnea detector 2 are attached to the back of patient, and be connected with impedance analysis instrument 22, open the power switch of impedance analysis instrument 22；Allow patient to lie low in therapeutic bed, motion accompanying shield 4 is placed in the therapeutic bed of radiotherapy apparatus, initial alignment is carried out to shield；
(2) breathing state of patient's at least one respiratory cycle is gathered using apnea detector 2, respiratory impedance data are sent to computer by the impedance analysis instrument 22 of apnea detector 2；
(3) breathing state that tumour displacement prediction module 8 receives computer is arranged in chronological order, forms the second breathing state sequence B1,B2,…,Bm, then with the second breathing state sequence B1,B2,…,BmFor training dataset, the parameter of breathing state forecast model is determined using minimum mean square self-adaption filter, and predicts the breathing state at patient's m+1 moment, the prediction breathing state B ' at m+1 moment is obtainedm+1。
(3) after the parameter of breathing state forecast model is determined, according to the following steps using present system：
(1) patient respiratory state B is detected by apnea detector 2 in real time at the i momenti, and by apnea detector 2 impedance analysis instrument 22 by breathing state BiIt is sent to the tumour displacement prediction module 8 in computer；
(2) tumour displacement prediction module 8 is according to the breathing state B of i receptionsiWith the prediction breathing state B ' at i momentiBetween difference, the parameter of breathing state forecast model is adjusted using minimum mean square self-adaption filter；
(3) tumour displacement prediction module 8 is according to the breathing state B of receptioni, l-1 reception before breathing state Bi-l+1,Bi-l+2,…,Bi-1With the parameter of the breathing state forecast model after adjustment, the breathing state B ' at patient's i+1 moment is predicted using minimum mean square self-adaption filteri+1, the length of minimum mean square self-adaption filter is equal to l.
(4) tumour displacement prediction module 8 is according to the prediction breathing state B ' at i+1 momenti+1With breathing state and the relational model of tumour displacement, the prediction tumour displacement D ' at i+1 moment is calculatedi+1, its schematic diagram is as shown in Figure 7；
(5) motion-control module 9 is according to the prediction tumour displacement D ' at i+1 momenti+1With the prediction tumour displacement D ' at i momentiBetween deviation calculate the amount of exercise M that motion accompanying shield 4 needs to movei+1；
For the first hood for protecting rider, motion-control module calculates moving displacement needed for amount of exercise, and each blade of the first hood for protecting rider needed for the first hood for protecting rider according to source positions information and current hood for protecting rider positional information.Finally by data processor 1 motion control instruction is sent to shield controller 5；
For the second hood for protecting rider, it is fixed on above shield, follows shield to move, it is only necessary to which radioactive source is irradiated according to specified angle interval.
(6) shield controller 5 controls the servomotor 410 in motion accompanying shield 4 to rotate according to the motion control instruction of reception, servomotor 410, which is rotated, drives the leading screw of ball-screw 407 to rotate, the leading screw of ball-screw 407 rotates the nut movement for driving ball-screw 407, so as to drive shield base 404 to move, shield 401 is set to follow the motion of patient tumors；The radiation source movements that follow on the first hood for protecting rider 403 are driven simultaneously, and drive hood for protecting rider blade to change shape adapts to lump profile.
(7) judge whether the time of radiotherapy completes, if radiotherapy has not timed out, make i=i+1, go to (1) and proceed radiotherapy；Otherwise Patients During Radiotherapy terminates.
The above is preferred embodiments of the invention, but the present invention should not be limited to the example and accompanying drawing disclosure of that.So every do not depart from the lower equivalent or modification completed of spirit disclosed in this invention, the scope of protection of the invention is both fallen within.
Claims (4)
1. a kind of radiotherapy in lung cancer lump motion accompanying shield system, it is characterised in that the system includes data processor (1), apnea detector (2), motion accompanying shield (4) and shield controller (5)；
Apnea detector (2) and motion accompanying shield (4) are connected with data processor (1) electric signal, and shield controller (5) is connected with motion accompanying shield (4) electric signal；
Data processor is used for the relational model set up between breathing state and tumour displacement, and sets up the relational model of source positions, motion accompanying shield (4) position and tumor shape；And displacement needed for the positional information prediction of the breathing state and radioactive source, motion accompanying shield (4) according to reception and calculating motion accompanying shield (4), then motion control instruction is sent to shield controller (5), changes the position of motion accompanying shield (4)；
Apnea detector (2) is used for the breathing state for detecting patient, including any of thorax change, belly fluctuations, lung capacity, the motion of tabula mould or the motion of lung tissue or appoint several, breathing state is passed through wired or be wirelessly sent to data processor (1)；
Motion accompanying shield (4) is made up of radiation proof material, moved under the control of shield controller (5), for realize to knub position be accurately positioned and tumour outside position block；
Shield controller (5) is used to receive the motion control instruction that data processor (1) is sent, control motion accompanying shield (4) motion.
2. radiotherapy in lung cancer lump motion accompanying shield system according to claim 1, characterized in that, being provided with image processing module (6), breathing state and tumour displacement relation analysis module (7), tumour displacement prediction module (8) and motion-control module (9) in data processor；
Image processing module (6) is used for the tumor anatomical structure image sequence I being sequentially arranged for receiving data processor (1)1,I2,...,Ik, wherein k is the width number for setting up the tumor anatomical structure image received when breathing state and the relational model of tumour displacement, then to tumor anatomical structure image sequence I1,I2,...,IkHandled, the position of tumour, generation tumour Displacement Sequence D are determined from tumor anatomical structure image sequence1,D2,...,Dk, and by tumour Displacement Sequence D1,D2,...,DkIt is supplied to breathing state and tumour displacement relation analysis module (7)；Breathing state is used in chronological order be arranged the breathing state of reception with tumour displacement relation analysis module (7), forms the first breathing state sequence A1,A2,...,Ak, according to the first breathing state sequence A1,A2,...,AkWith the tumour Displacement Sequence D of reception1,D2,...,Dk, the relational model set up using curve fitting algorithm between breathing state and tumour displacement, and the relational model is supplied to tumour displacement prediction module (8)；
Tumour displacement prediction module (8) is used to arrange the breathing state that data processor (1) is received in chronological order in breathing state prediction model parameterses determination process, forms the second breathing state sequence B1,B2,...,Bm, m is the breathing state number for determining to receive during the parameter of breathing state forecast model, then with the second breathing state sequence B1,B2,...,BmFor training dataset, the parameter of breathing state forecast model is determined, and predicts the breathing state at patient's m+1 moment, the prediction breathing state B ' at m+1 moment is obtainedm+1；If i be used for receive breathing state at the time of count, initial value is m+1, in actual use, for according to data processor (1) i receptions breathing state BiWith the prediction breathing state B' at i momentiBetween difference, the parameter to breathing state forecast model is adjusted, and predicts the breathing state B ' at patient's i+1 momenti+1；According to the prediction breathing state B ' at i+1 momenti+1With breathing state and the relational model of tumour displacement, the prediction tumour displacement D ' at i+1 moment is calculatedi+1；
Motion-control module (9) is used for the prediction tumour displacement D ' at the i+1 moment predicted according to tumour displacement prediction module (8)i+1With the prediction tumour displacement D' at i momentiBetween deviation calculate motion accompanying shield (4) need move amount of exercise Mi+1；Control motion accompanying shield (4) mobile according to the motion control instruction of reception by shield controller (5), so that the center of the tumour in i+1 moment patient bodies is under radioactive source.
3. radiotherapy in lung cancer lump motion accompanying shield system according to claim 1 or 2, characterized in that, the motion accompanying shield (4), which includes shield (401), ray radius (402), the first hood for protecting rider (403), shield base (404), shield fixing groove (405), guide rail and sliding block (406), ball screw (407), shaft coupling (408), mounting base (409), servomotor (410) and guide rail, fixes base plate (411)；
The shield fixing groove (405) that shield (401) is arranged on shield base (404) is inner, shield base (404) is arranged on guide rail and sliding block (406), guide rail and sliding block (406) are arranged on the both sides of bed, and it is fixed that guide rail fixes base plate (411) by guide rail；
The ray radius (402) is provided with shield (401), first hood for protecting rider (403) is installed, the first hood for protecting rider (403) includes blade driving motor (4031), hood for protecting rider blade (4032), hood for protecting rider motor (4033) and driving wheel (4034) on the ray radius (402)；First hood for protecting rider (403) is arranged on the top of shield (401), each hood for protecting rider blade (4032) carries corresponding blade driving motor (4031), and the rotation of hood for protecting rider motor (4031) makes hood for protecting rider blade (4032) be moved around shield；The system also includes communicating the radioactive source detector (3) being connected with data processor (1)；Radioactive source detector (3) is used to detect radioactive source and motion accompanying shield (4) present position, and location drawing picture then is sent into data processor (1) by wired or wireless way.
4. radiotherapy in lung cancer lump motion accompanying shield system according to claim 1 or 2, characterized in that, the motion accompanying shield (4) includes shield (401), shield base (404), shield fixing groove (405), guide rail and sliding block (406), the second hood for protecting rider (501), dividing plate (503) and fixed connecting plate (505)；
Second hood for protecting rider (501) is fixed on above shield (401), it is used to matching used hood for protecting rider lump profile (502) be installed in the second hood for protecting rider (501), shield (401) is placed in the shield fixing groove (405) in shield base (404)；Fixed connecting plate (504) connects the sliding block of the right and left；Dividing plate (503) is used to separate patient and fixed connecting plate, above fixed connecting plate；
The shield fixing groove (405) that shield (401) is arranged on shield base (404) is inner, shield base (404) is arranged on sliding block (406), sliding block (406) is arranged on guide rail, and the guide rail fixes the both sides that base plate (411) is fixedly mounted on bed by guide rail.
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