CN109078270A - A kind of auxiliary infrared positioning apparatus and method based on radiotherapy - Google Patents
A kind of auxiliary infrared positioning apparatus and method based on radiotherapy Download PDFInfo
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- CN109078270A CN109078270A CN201810717139.6A CN201810717139A CN109078270A CN 109078270 A CN109078270 A CN 109078270A CN 201810717139 A CN201810717139 A CN 201810717139A CN 109078270 A CN109078270 A CN 109078270A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
- A61N5/1069—Target adjustment, e.g. moving the patient support
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1056—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam by projecting a visible image of the treatment field
Abstract
The invention provides a kind of auxiliary infrared positioning apparatus and method based on radiotherapy, including image collecting device, control unit, driving mechanism, bed body, targeting marker and communication device, the image collecting device and control unit data connection, the control unit and driving mechanism connection, the driving device is set to the inside of bed body, and control unit is connect by communication device with external mobile terminal data.The present invention relies on infrared acquisition and visible light to merge matching technique for determining the best sites marked simultaneously, strengthens position stability, reduces injury of the radiotherapy instrument to healthy normal tissue, can meet the requirement for being oriented radiotherapy to body portion.
Description
Technical field
The invention belongs to field of medical device, fills more particularly, to a kind of infrared positioning of auxiliary based on radiotherapy
It sets and method.
Background technique
Radiotherapy is as being directed to the most universal therapeutic scheme in treating malignant tumor in current medical domain.However,
Radiotherapy is by radioactive ray to local irradiation, and then tumor tissues is made to destroy or be gradually reduced, although having to tumour preferable
Curative effect.But when doing radiotherapy other than meeting killing tumor cell, while the intracorporal normal cell of people can be also killed, and then lead
Cause the function of immune system of patient impaired.
Laser positioning technology is mainly carried out using laser orientation instru-ment system helps in tumour radiotherapy clinical practice
Radiotherapy position.
So-called pendulum position, exactly enables patient lie on the bed surface of therapeutic bed, posture and the position of patient is adjusted, so that patient
Affected part be located at be most suitable for radiation exposure position.In a radiation course for the treatment of, need up in bimestrial one period
The same privileged site of patient is repeatedly irradiated, to obtain optimal radiation response.Therefore we it is generally desirable to every
When secondary irradiation, all enough effects for being consistent as far as possible, therefore putting position of the irradiation area of ray guarantee that the side effect of radiotherapy drops to
Minimum harm.
Radiotherapy needs to use radiographic source, that is, accelerator, most for discharging the accelerator of ray at present,
Its ray chamber usually can be with target position, that is, the position of the quasi- heart of collimator is the centre of sphere, in a ball of three-dimensional space
It is moved on face.In order to which the affected part region of most suitable irradiation is exposed to sphere center position, in practice, it is fixed usually to use laser
Position.Therefore laser locating apparatus is usually fixed on the wall of radiotherapy room by people, so that the centre of location of laser is always
Positioned at this sphere center position.And in order to adjust the affected part of patient to the position of the centre of location, then need Mobile treatment table
Bed surface.
Laser orientation instru-ment device is a kind of device for being used to correct patient posture in radiation therapy process, is that one kind ensures
Radiotherapy position repeatability and improve radiotherapy precision effective and essential posture radiotherapy tool, usually by
Three groups of laser lamp compositions: on the removable vector potential line laser positioning lamp, rack side walls above therapeutic bed on ceiling
Respectively there is one group of lateral cross-hair fixed laser positioning lamp, in the laser rays intersection point of three groups of laser lamps and the rotation of radiotherapy machine rack
The heart is overlapped.
When radiotherapy, after routinely setting position, laser cross-line is enabled to form skill shadow in the suitable position of the patient's body surface, so
It is marked at laser cross-line skill shadow using scratching liquid afterwards.When each posture radiotherapy, Mobile treatment table makes three to swash
On cross when light-seeking cross hairs just falls in Radiation Therapy Simulation on patient skin with scratching liquid label.
There are two major defects for this location technology: (1) being marked at laser cross line projection using scratching liquid
The label cross hairs usually obtained is thicker, increases radiotherapy error, reduces radiotherapy precision；(2) modern radiotherapy, which generallys use, controls
The conventional fractionation technology that the time is about 1-2 months is treated, is easy to lose in the cross that skin surface marks with scratching liquid in therapeutic process
It loses, it is therefore desirable to repeat to trace cross through common scratching liquid, not only be possible to increase radiotherapy error, but also increase the work of doctor
Intensity.
Summary of the invention
In view of this, the invention is directed to a kind of easy-to-use, raising operational stability, guarantee positioning accuracy
The auxiliary infrared positioning apparatus and method based on radiotherapy.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of auxiliary infrared positioning apparatus and method based on radiotherapy, including image collecting device, control unit, drive
Motivation structure, bed body, targeting marker and communication device, the image collecting device and control unit data connection are described
Control unit and driving mechanism connection, the driving device are set to the inside of bed body, and control unit passes through communication dress
It sets and is connect with external mobile terminal data；Image collecting device includes Visible Light Camera and Infrared imaging cameras, it is seen that light phase
Machine and Infrared imaging cameras are connect with control unit respectively, and the targeting marker is coated in patient affected part superficial skin, target
It is matched to marker with Infrared imaging cameras identification.
Further, at least provided with three, the first image collecting device is arranged before therapeutic bed the image collecting device
On the wall of side upside, second, third image collecting device is separately positioned in the side walls of bed body.
Further, the control unit include preprocessing module, it is picture recognition module, matching module, locating module, defeated
Module out；Preprocessing module, picture recognition module, matching module, locating module, output module are sequentially connected；
Further, the targeting marker is the coloured infrared markers coating of low temperature.
A kind of method applied to the infrared positioning apparatus based on radiotherapy includes people's following steps:
(1) pass through image acquisition device to visible images and infrared light image；It is input to preprocessing module, it is right
Image is filtered respectively, denoising；
(2) imaging region, visible images and infrared light in the picture recognition module recognition imaging region are extracted
Image；It carries out binary conversion treatment and highlights marker；
(3) visible light and infrared cursor glyph are matched, is sat by the two dimension that matching module obtains marker
Mark information；
(4) the marker two-dimensional coordinate information that the image collecting device of three different locations obtains respectively is input to positioning
Module obtains accurate marker coordinate information by three-point fix algorithm
(5) marker coordinate information is output to control unit by output module, position is put with control driving bed body.
Further, the picture recognition module further includes detection human body information, when patient's human body information for detecting with
Patient's human body information is identical in database, then confirms the marker for expected label；Conversely, then method end of run.
Further, the human body information includes skin color and human body contour outline.
Further, the binary conversion treatment be binary conversion treatment be using OTSU maximum variance between clusters by gray level image from
It adapts to threshold binarization and highlights marker.
Further, visible light and infrared cursor glyph matching process described in step (4) the following steps are included:
(44) infrared and visible images edges are extracted by Mathematical Morphology Method respectively, obtain thick edge image；
(45) characteristic point that two width edge images are then extracted by SURF algorithm, according to oblique between correct matching double points
The priori knowledge of rate consistency carries out human body contour outline Feature Points Matching；
(46) affine Transform Model parameter is acquired finally by least square method and realize the registration of two images.
Further, referential is set to each image collector, the respective coordinates of marker be respectively (x1, y1), (x2,
y2),(x3,y3)；The accurate coordinates of marker are (x0, y0), are respectively d1 with three point distances, d2, d3 are with d1, d2, d3
Radius makees three circles and obtains the accurate coordinates calculation formula of marker according to Pythagorean theorem:
(x1-x0)2+(y1-y0)2=d1 2
(x2-x0)2+(y2-y0)2=d2 2
(x3-x0)2+(y3-y0)2=d3 2
Compared with the existing technology, a kind of auxiliary infrared positioning apparatus and side based on radiotherapy described in the invention
Method has the advantage that
(1) present invention is simultaneously by infrared acquisition and visible light fusion matching technique for determining the best body surface marked
Position strengthens position stability, reduces injury of the radiotherapy instrument to healthy normal tissue, can meet and determine body portion
To the requirement of radiotherapy；
(2) image collecting device of the present invention, three groups of corresponding configuration (every group of Visible Light Camera and one it is red
Outer image camera), it is not only accurately positioned from x-direction and y-direction, and doctor can be made to fully understand patient by image
Whole body image keeps positioning system more perfect, more adapts to vertical without making doctor carry out pendulum position to patient around radiotherapy bed body
The requirement of body Stereotactic radiotherapy；
(3) the configuration of the present invention is simple, easy to use, accurate positioning.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?
In attached drawing:
Fig. 1 is structural schematic diagram described in the invention embodiment；
Fig. 2 is module diagram described in the invention embodiment；
Fig. 3 is method flow schematic diagram described in the invention embodiment；
Coordinate enlarged drawing described in the position Fig. 4 the invention embodiment.
Description of symbols:
1, radiotherapy accelerator；2, bed body；3, image collecting device；31, the first image collecting device；32, the second image is adopted
Acquisition means；33, third image collecting device.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
A kind of auxiliary infrared positioning apparatus and method based on radiotherapy, including image collecting device, control unit, drive
Motivation structure, bed body, targeting marker and communication device, the image collecting device and control unit data connection are described
Control unit and driving mechanism connection, the driving device are set to the inside of bed body, and control unit passes through communication dress
It sets and is connect with external mobile terminal data；Image collecting device includes Visible Light Camera and Infrared imaging cameras, it is seen that light phase
Machine and Infrared imaging cameras are connect with control unit respectively, and the targeting marker is coated in patient affected part superficial skin, target
It is matched to marker with Infrared imaging cameras identification.
For the image collecting device at least provided with three, upside in front of therapeutic bed is arranged in the first image collecting device
On wall, second, third image collecting device is separately positioned in the side walls of bed body.
The control unit includes preprocessing module, picture recognition module, matching module, locating module, output module；
Preprocessing module, picture recognition module, matching module, locating module, output module are sequentially connected；
The targeting marker is the coloured infrared markers coating of low temperature.
A kind of method applied to the infrared positioning apparatus based on radiotherapy includes people's following steps:
(1) pass through image acquisition device to visible images and infrared light image；It is input to preprocessing module, it is right
Image is filtered respectively, denoising；
(2) imaging region, visible images and infrared light in the picture recognition module recognition imaging region are extracted
Image；It carries out binary conversion treatment and highlights marker；
(3) visible light and infrared cursor glyph are matched, is sat by the two dimension that matching module obtains marker
Mark information；
(4) the marker two-dimensional coordinate information that the image collecting device of three different locations obtains respectively is input to positioning
Module obtains accurate marker coordinate information by three-point fix algorithm
(5) marker coordinate information is output to control unit by output module, position is put with control driving bed body.
Visible light described in step (4) and infrared cursor glyph matching process the following steps are included:
(47) infrared and visible images edges are extracted by Mathematical Morphology Method respectively, obtain thick edge image；
(48) characteristic point that two width edge images are then extracted by SURF algorithm, according to oblique between correct matching double points
The priori knowledge of rate consistency carries out human body contour outline Feature Points Matching；
(49) affine Transform Model parameter is acquired finally by least square method and realize the registration of two images.
Be set to referential with each image collector, the respective coordinates of marker be respectively (x1, y1), (x2, y2), (x3,
y3)；The accurate coordinates of marker are (x0, y0), are respectively d1 with three point distances, and d2, d3 are that radius makees three with d1, d2, d3
A circle obtains the accurate coordinates calculation formula of marker according to Pythagorean theorem:
(x1-x0)2+(y1-y0)2=d1 2
(x2-x0)2+(y2-y0)2=d2 2
(x3-x0)2+(y3-y0)2=d3 2
The present invention is used to realize that the system control of complete machine and image procossing, system control mainly by advance using control unit
Manage the modules such as module, picture recognition module, matching module, locating module, output module composition；The present invention is by establishing human body wheel
Wide two-dimensional coordinate system positions targeting marker from horizontal bedding and passes through each figure then by radiotherapy accelerator targeted therapy
As acquisition device infrared image+visual image fusion, the gray scale clear image highlighted with marker is generated, and fusion is schemed
Marker as in highlights, and establishes coordinate, and 3 image collecting devices, each image collector is arranged in therapeutic room altogether
It sets and establishes a label article coordinate respectively, if the image collecting device of a certain angle does not collect marker, directly with (0,0) shape
Formula substitutes into step (4) and is calculated, and then three-point fix algorithm is carried out by each label article coordinate, as shown in figure 4, obtaining essence
The coordinate information of true label object point, output control bedstead carries out pendulum position, while step (1) image generated can be passed through
Communication device (3G communication) communication module is sent on the diagnosis and treatment instrument in doctor's hand, and doctor can directly judge the position of patient
It sets, without carrying out other side adjustment again around bedstead.
The picture recognition module further includes detection human body information, when in the patient's human body information and database detected
Patient's human body information is identical, then confirms the marker for expected label；Conversely, then method end of run.
The human body information includes skin color and human body contour outline.
The binary conversion treatment is that binary conversion treatment is using OTSU maximum variance between clusters by gray level image adaptive thresholding
Value binaryzation highlights marker.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at this
Within the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the invention
Protection scope within.
Claims (10)
1. a kind of auxiliary infrared positioning apparatus based on radiotherapy, it is characterised in that: single including image collecting device, control
Member, driving mechanism, bed body, targeting marker and communication device, the image collecting device and control unit data connection, institute
The control unit and driving mechanism connection stated, the driving device are set to the inside of bed body, and control unit passes through logical
T unit is connect with external mobile terminal data；Image collecting device includes Visible Light Camera and Infrared imaging cameras, it is seen that
Light camera and Infrared imaging cameras are connect with control unit respectively, and the targeting marker is coated in patient affected part surface layer skin
Skin, targeting marker are matched with Infrared imaging cameras identification.
2. a kind of auxiliary infrared positioning apparatus based on radiotherapy according to claim 1, it is characterised in that: described
At least provided with three, the first image collecting device is arranged in front of therapeutic bed on the wall of upside image collecting device, and second, the
Three image collecting devices are separately positioned in the side walls of bed body.
3. a kind of auxiliary infrared positioning apparatus based on radiotherapy according to claim 1, it is characterised in that: described
Control unit includes preprocessing module, picture recognition module, matching module, locating module, output module；Preprocessing module, figure
As identification module, matching module, locating module, output module are sequentially connected.
4. a kind of auxiliary infrared positioning apparatus based on radiotherapy according to claim 1, it is characterised in that: described
Targeting marker is the coloured infrared markers coating of low temperature.
5. a kind of method of auxiliary infrared positioning apparatus based on radiotherapy of application as described in claim 1-4, feature
Be: a kind of method applied to the infrared positioning apparatus based on radiotherapy includes people's following steps:
(1) pass through image acquisition device to visible images and infrared light image；It is input to preprocessing module, to image
It is filtered respectively, denoising；
(2) imaging region, visible images and infrared light image in the picture recognition module recognition imaging region are extracted；
It carries out binary conversion treatment and highlights marker；
(3) visible light and infrared cursor glyph are matched, is believed by the two-dimensional coordinate that matching module obtains marker
Breath；
(4) the marker two-dimensional coordinate information that the image collecting device of three different locations obtains respectively is input to positioning mould
Block obtains accurate marker coordinate information by three-point fix algorithm；
(5) marker coordinate information is output to control unit by output module, position is put with control driving bed body.
6. a kind of auxiliary infrared positioning method based on radiotherapy according to claim 5, it is characterised in that: described
Picture recognition module further includes detection human body information, when the patient's human body information detected and patient's human body information phase in database
Together, then confirm the marker for expected label；Conversely, then method end of run.
7. a kind of auxiliary infrared positioning method based on radiotherapy according to claim 6, it is characterised in that: the people
Body information includes skin color and human body contour outline.
8. a kind of auxiliary infrared positioning method based on radiotherapy according to claim 5, it is characterised in that: described two
It is to be highlighted gray level image adaptive threshold binaryzation using OTSU maximum variance between clusters that value processing, which is binary conversion treatment,
Marker.
9. a kind of auxiliary infrared positioning method based on radiotherapy according to claim 5, it is characterised in that: step
(4) visible light and infrared cursor glyph matching process described in the following steps are included:
(41) infrared and visible images edges are extracted by Mathematical Morphology Method respectively, obtain thick edge image；
(42) characteristic point that two width edge images are then extracted by SURF algorithm, according to slope one between correct matching double points
The priori knowledge of cause property carries out human body contour outline Feature Points Matching；
(43) affine Transform Model parameter is acquired finally by least square method and realize the registration of two images.
10. a kind of auxiliary infrared positioning method based on radiotherapy according to claim 5, it is characterised in that: with every
A image collector is set to referential, and the initial coordinate of marker is respectively (x1, y1), (x2, y2), (x3, y3)；Marker
Accurate coordinates are (x0, y0), obtain the accurate coordinates calculation formula of marker:
(x1-x0)2+(y1-y0)2=d1 2
(x2-x0)2+(y2-y0)2=d2 2
(x3-x0)2+(y3-y0)2=d3 2
Wherein, coordinate distance at the beginning of the accurate coordinates of marker and three is respectively d1, d2 and d3.
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| CN110021035A (en) * | 2019-04-12 | 2019-07-16 | 哈尔滨工业大学 | The marker of Kinect depth camera and virtual tag object tracking based on the marker |
| CN110652660A (en) * | 2019-09-03 | 2020-01-07 | 华侨大学 | Patient positioning detection method and system |
| CN111214764A (en) * | 2020-01-14 | 2020-06-02 | 于金明 | Radiotherapy positioning verification method and device based on virtual intelligent medical platform |
| WO2020211739A1 (en) * | 2019-04-18 | 2020-10-22 | 西安大医集团股份有限公司 | Patient positioning method and apparatus |
| CN115068835A (en) * | 2021-03-15 | 2022-09-20 | 湖南华创医疗科技有限公司 | Positioning device for radiotherapy equipment |
| EP4309731A1 (en) * | 2022-07-18 | 2024-01-24 | Vision RT Limited | Radiation incidence monitoring method and system |
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| EP4309731A1 (en) * | 2022-07-18 | 2024-01-24 | Vision RT Limited | Radiation incidence monitoring method and system |
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