CN109247915B - Detection label for skin surface deformation and real-time detection method - Google Patents
Detection label for skin surface deformation and real-time detection method Download PDFInfo
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Abstract
The invention belongs to the technical field of medical equipment, and relates to a detection label for skin surface deformation and a real-time detection method. The skin surface deformation label provided by the invention sequentially comprises a printing layer, an elastic layer, a base paper layer and an adhesive layer arranged between the elastic layer and the base paper layer from top to bottom, wherein the surface of the elastic layer is divided into uniform square grids through the printing layer; each square grid in the printing layer is filled with one color; wherein, the filling colors of the adjacent common edge grids are different. The method for detecting the skin surface deformation in real time by using the inspection label can monitor the skin to be detected with deformation in multiple points, and a user can adjust the size of the grid according to needs, so that deformation data with different fineness degrees can be obtained, and the real-time deformation data of the skin can be comprehensively obtained. The movement condition of human organs is known in an auxiliary way through skin deformation, and the method is particularly suitable for monitoring the involuntary movement of the human body in the breast cancer radiotherapy process.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and relates to a detection label for skin surface deformation and a real-time detection method.
Background
Radiotherapy is a tumor treatment mode which is parallel to chemotherapy and surgery. Radiotherapy is the killing of tumor cells while avoiding damage to surrounding normal tissues and Organs At Risk (OAR). But because the tumor tissue is surrounded by the normal tissue, the normal tissue can be damaged while the tumor is killed; in addition, the organ is affected by physiological movement in the radiation therapy process, such as respiratory movement, bladder filling, gastrointestinal peristalsis, tumor increase and decrease, elastic deformation of the organ, positioning error in fractionated therapy and the like, so that the organ cannot be accurately positioned. In the body radiotherapy, the body positioning frame usually adopted can only carry out static positioning on the tumor, but cannot track the change of the tumor position caused by physiological motion such as breathing in real time, so that a ray target point cannot always aim at the tumor tissue, more normal tissues receive unnecessary radiation, the curative effect is reduced, side effects are generated, and the tumor treatment effect is directly influenced.
The non-autonomous movement of the human organ, particularly the periodic position of the respiratory movement, can be obtained by monitoring the deformation of the skin surface, and the periodic position is used for assisting in judging the non-autonomous movement condition of the human organ. The prior art generally uses the following three methods to synchronize the duty cycle of the radiation beam with a particular respiratory phase during radiation therapy to minimize residual tumor motion within the gating window:
(1) based on body surface marker technique, like the Real-time Position Management System (RPM) of the warian company that has already been commercialized, this System relies on infrared imaging System to track the body surface change alone, its shortcoming lies in, the sign box and the ball that use are tracking accuracy inaccurate under different observation angles, need the Position of manual regulation infrared sensor, simultaneously because only rely on infrared imaging System, precision requirement to infrared is very high, the problem at infrared dead angle has also been introduced simultaneously, also can bring the problem of Real-time nature, in addition, infrared reflection ball self also is a consumptive material, and need use under the condition of absolute darkness, entire System price is higher, difficult using widely.
(2) Based on the respiratory flow technology, a gating signal is generated by converting a detected respiratory flow into a digital signal by a respiratory flow meter, a spirometer, or the like, and setting a flow threshold. It has the disadvantages that: the patient is required to wear a mask or the like to measure the amount of airflow, which is poorly tolerated.
(3) A technique based on a pressure sensor is to use a respiratory abdominal belt, a strain gauge, or the like, and measure a change in pressure by a pressure sensor inside the device, thereby generating a gating signal. It has the disadvantages that: the abdominal belt or the deformation meter can cause a certain extrusion to the abdomen of the patient, which brings discomfort to the patient and has poor tolerance.
Currently, techniques based on tracking body surface changes have been developed in the prior art: a laser guide medical equipment automatic positioning system and method (Chinese patent application No. 201010552002.3), this patent application is based on the mark of the patient's body surface is difficult to track, patient's breathing will lead to the body surface mark to produce the non-rigid deformation, apt to lose the question of the mark, etc., adopt the method to obtain the tracking point through the picture silhouette, however, this dependence to external objective factor such as illumination and camera expose acquisition rate is great, apt to lose or wrong tracking;
a method for generating digital respiration gating signals based on an abdominal body surface contour curve (Chinese patent application No. 200910105863.4) specifically discloses a method for training a respiration sample to realize matching through data acquisition, the method has higher universality requirement on the respiration curve of the patient in the front 10s, the system robustness on the respiration change or slight change of the moving position of the patient in the later treatment is poorer, and meanwhile, the human body skin segmentation algorithm based on the abdominal body surface contour line has low precision and the precision identification on the respiration curve is poorer.
Disclosure of Invention
The invention aims to provide a label and a method for detecting skin surface deformation in order to overcome the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a skin surface deformation label sequentially comprises a printing layer, an elastic layer, a bottom paper layer and an adhesive layer arranged between the elastic layer and the bottom paper layer from top to bottom, wherein the surface of the elastic layer is divided into uniform square grids through the printing layer; each square grid in the printing layer is filled with one color; wherein, the filling colors of the adjacent common edge grids are different.
The square grids of the printing layer are filled with two different colors; preferably, one of the grid filler pigments contains a fluorescent substance and the other does not contain a fluorescent substance.
The square grid is printed with graphics or digital marks so as to facilitate marking or positioning.
The center of the grid is provided with a mark point, and further preferably, the mark point contains fluorescent material.
The elastic layer is made of elastic materials.
The elastic material is gel, rubber or silica gel.
The invention also provides a real-time detection method for the skin surface deformation, which comprises the following steps:
(1) setting positions of a left camera and a right camera for shooting, wherein connecting lines of the left camera and the right camera and a target center are not on the same straight line; determining transformation matrix B of left and right camera coordinate system and world coordinate system respectively0L，B0R；
(2) Cutting the skin surface deformation label into a size matched with the skin area to be detected;
(3) moment T when the surface area or deformation of the skin to be detected is minimum0Sticking the cut undeformed label to the skin to be detected;
(4) fixing the subject, taking pictures including at least one different time (t) within the period P1,t2,…tn) A plurality of images of the skin to be detected for deformation; obtaining a coordinate matrix C of the center point, the centroid or the gravity center of each grid of the arbitrary deformation moments t and t' in the image coordinate system of the left cameraLt,CLt’And a coordinate matrix C in the right camera coordinate systemRt,CRt’；
(5) According to the transformation matrix B of the left camera coordinate system and the world coordinate system0LDetermining a coordinate matrix A of a skin deformation center to be detected at any t and t' moments in a world coordinate systemLtAnd ALt’Wherein A isLt*B0L＝CLt，ALt’*B0L＝CLt’；
Conversion matrix B according to coordinate system of right camera and world coordinate system0RDetermining a coordinate matrix A of a skin deformation center to be detected at any t and t' moments in a world coordinate systemRtAnd ARt’Wherein A isRt*B0R＝CRt，ARt’*B0R＝CRt’；
Calculation of ALtAnd ARtObtaining the vector coordinate of a certain deformation central point, a mass center or a gravity center in a world coordinate system at the moment t
Calculation of ALt’And ARt’Obtaining the vector coordinate of the deformation central point, the centroid or the gravity center in the world coordinate system at the time t
If a certain deformation central point, a centroid or a gravity center is shot by only one camera, taking the vector coordinate of the world coordinate system converted by the camera coordinate system as the world coordinate system coordinate of the point;
(6) and calculating coordinate vector displacement of each grid center, each centroid or each gravity center of the skin surface deformation label at any time t and t' in a world coordinate system.
The T' time comprises the time when the surface area of the skin is minimum or the deformation is minimum.
In step (1), the determining a transformation matrix of the left and right camera coordinate systems and the world coordinate system further includes the following steps:
(i) uniformly distributed checkerboards are arranged in front of the left camera and the right camera, and the actual size of grids on the checkerboards is measured;
(ii) according to coordinate matrix A of checkerboard in world coordinate system0And a matrix C of the checkerboard in the left camera coordinate system0LObtaining a conversion matrix B of the left camera0LWherein A is01*B 0L＝C01；
According to coordinate matrix A of checkerboard in world coordinate system0And a matrix C of the checkerboard in the right camera coordinate system02Obtaining a conversion matrix B of the right camera0RWherein A is01*B0R＝C02。
The invention has the following beneficial effects:
the skin surface deformation real-time detection method provided by the invention can be used for carrying out multi-point monitoring on the skin to be detected for deformation, and a user can adjust the size of the grid according to the requirement so as to obtain deformation data with different fine degrees, thereby comprehensively obtaining the skin real-time deformation data, assisting in knowing the movement condition of human organs through skin deformation, and being particularly suitable for monitoring the non-autonomous movement of the human body in the breast cancer radiotherapy process; in addition, the printing layer in the skin surface deformation label provided by the invention contains fluorescent materials, so that the label is also suitable for operation in the dark under special conditions, the detection precision can be greatly improved, and the detection target is not easy to lose.
Drawings
Fig. 1 is a schematic view of a skin surface label structure in an example embodiment of the invention.
The attached drawings are marked as follows:
100 a label for the deformation of the skin surface,
a grid of 101, a grid of 101',
10 a printed layer, 20 an elastic layer,
30 adhesive layers and 40 base paper layers.
Fig. 2 is a schematic diagram of a grid distribution on a skin surface label in an example embodiment of the invention.
Fig. 3 is a schematic diagram of a grid mark on the skin surface label in an example embodiment of the invention.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
A skin surface profile label 100 as shown in fig. 1 comprises, from top to bottom, a printing layer 10, an elastic layer 20, a base paper layer 40, and an adhesive layer 30 disposed between the elastic layer 20 and the base paper layer 40, wherein the surface of the elastic layer 20 is divided into a plurality of uniform square grids 101, 101' (as shown in fig. 2) by the printing layer. Wherein each square grid 101, 101' in the printed layer 10 is filled with a color; wherein, the filling colors of the adjacent common edge grids are different; this embodiment is further preferred, that the grid 101, 101' of the printed layer 10 is co-filled with two different colors; it is further preferred that one of the mesh 101 filler pigments contains a fluorescent substance and the other 101' does not contain a fluorescent substance. The size of the grid can be adjusted according to the needs, so that deformation data with different fineness degrees can be obtained.
This embodiment further preferably has the square grid 101, 101' printed with graphical or numerical indicia to facilitate marking or positioning (as shown in fig. 3).
In this embodiment, it is further preferable that the centers of the grids 101 and 101' are provided with mark points, and the change of the center points of the grids before and after deformation can be quickly determined through the center points in the label.
It is further preferred in this embodiment that each marker dot comprises a fluorescent material to facilitate viewing in the dark.
This embodiment is further preferred if the resilient layer is made of an elastic material.
This embodiment is further preferred, wherein the elastic material is a gel, rubber or silicone.
The invention also provides a real-time detection method for the skin surface deformation, which comprises the following steps:
step 210, setting positions of a left camera and a right camera for shooting, wherein connecting lines of the left camera and the right camera and a target center are not on the same straight line; determining transformation matrix B of left and right camera coordinate system and world coordinate system respectively0L，B0R；
Wherein, the determining the transformation matrix of the left and right camera coordinate systems and the world coordinate system further comprises the following steps:
step 211, arranging checkerboards which are uniformly distributed in front of the left camera and the right camera, and measuring the actual sizes of grids on the checkerboards;
212, according to the coordinate matrix A of the checkerboard in the world coordinate system0And a matrix C of the checkerboard in the left camera coordinate system0LObtaining a conversion matrix B of the left camera0LWherein A is01*B0L＝C01；
According to coordinate matrix A of checkerboard in world coordinate system0And a matrix C of the checkerboard in the right camera coordinate system02Obtaining a conversion matrix B of the right camera0RWherein A is01*B0R＝C02；
Step 220, cutting the skin surface deformation label into a size matched with the skin area to be detected;
step 230, when the surface area or deformation of the skin to be detected is minimum, the time T is0Sticking the cut undeformed label to the skin to be detected;
step 240, fixing the subject, and shooting at least one picture including different times (t) in a period P1,t2,…tn) A plurality of images of the skin to be detected for deformation; to obtain an arbitraryCoordinate matrix C of each grid central point, centroid or gravity center of deformation time t and t' in image coordinate system of left cameraLt,CLt’And a coordinate matrix C in the right camera coordinate systemRt,CRt’；
Step 250, according to the transformation matrix B of the left camera coordinate system and the world coordinate system0LDetermining a coordinate matrix A of a skin deformation center to be detected at any t and t' moments in a world coordinate systemLtAnd ALt’Wherein A isLt*B0L＝CLt，ALt’*B0L＝CLt’；
Conversion matrix B according to coordinate system of right camera and world coordinate system0RDetermining a coordinate matrix A of a skin deformation center to be detected at any t and t' moments in a world coordinate systemRtAnd ARt’Wherein A isRt*B0R＝CRt，ARt’*B0R＝CRt’；
Calculation of ALtAnd ARtObtaining the vector coordinate of a certain deformation central point, a mass center or a gravity center in a world coordinate system at the moment t
Calculation of ALt’And ARt’Obtaining the vector coordinate of the deformation central point, the centroid or the gravity center in the world coordinate system at the time t
If a certain deformation central point, a centroid or a gravity center is shot by only one camera, taking the vector coordinate of the world coordinate system converted by the camera coordinate system as the world coordinate system coordinate of the point;
step 260, calculating coordinate vector displacement of each grid center, centroid or gravity center of the skin surface deformation label at any time t and t' in a world coordinate system;
wherein, in an exemplary embodiment of the invention, a certain grid center at time tThe coordinate is A (x)t，yt，zt) The coordinate of the center of a grid at time T 'is A' (x)t’，yt’，zt') to a host; the coordinate vector displacement at time T relative to time T' is:
the invention can also obtain the deformation vector of the center of mass or the center of gravity according to the coordinate position change of the center of mass or the center of gravity of the grid before and after deformation.
In a preferred embodiment of the invention, time T' comprises the time T at which the skin surface area or deformation is minimal0So that the time of T relative to T can be known0The coordinate vector of (2) is displaced.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
As used herein, unless otherwise specified the use of the ordinal adjectives "first", "second", "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The embodiments described above are intended to facilitate one of ordinary skill in the art in understanding and using the present invention. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the embodiments described herein, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (10)
1. A real-time detection method for skin surface deformation is characterized by comprising the following steps: the method comprises the following steps:
(1) setting positions of a left camera and a right camera for shooting, wherein connecting lines of the left camera and the right camera and a target center are not on the same straight line; determining transformation matrix B of left and right camera coordinate system and world coordinate system respectively0L，B0R；
(2) Cutting the skin surface deformation label into a size matched with the skin area to be detected; the skin surface deformation label sequentially comprises a printing layer, an elastic layer, a base paper layer and an adhesive layer arranged between the elastic layer and the base paper layer from top to bottom, and the surface of the elastic layer is divided into uniform square grids through the printing layer; each square grid in the printing layer is filled with one color; wherein, the filling colors of the adjacent common edge grids are different;
(3) when the surface area of the skin to be detected is minimum or the deformation is minimum, T0, adhering the cut undeformed label to the skin to be detected;
(4) fixing the subject, taking pictures including at least one different time (t) within the period P1,t2,…tn) A plurality of sheetsDetecting an image of a deformed skin; obtaining a coordinate matrix C of the center point, the centroid or the gravity center of each grid of the arbitrary deformation moments t and t' in the image coordinate system of the left cameraLt,CLt’And a coordinate matrix C in the right camera coordinate systemRt,CRt’；
(5) According to the transformation matrix B of the left camera coordinate system and the world coordinate system0LDetermining a coordinate matrix A of a skin deformation center to be detected at any t and t' moments in a world coordinate systemLtAnd ALt’Wherein A isLt*B0L＝CLt，ALt’*B0L＝CLt’；
Conversion matrix B according to coordinate system of right camera and world coordinate system0RDetermining a coordinate matrix A of a skin deformation center to be detected at any t and t' moments in a world coordinate systemRtAnd ARt’Wherein A isRt*B0R＝CRt，ARt’*B0R＝CRt’；
Calculation of ALtAnd ARtObtaining the vector coordinate of a certain deformation central point, a mass center or a gravity center in a world coordinate system at the moment t
；
Calculation of ALt’And ARt’Obtaining the vector coordinate of the deformation central point, the centroid or the gravity center in the world coordinate system at the time t
；
If a certain deformation central point, a centroid or a gravity center is shot by only one camera, taking the vector coordinate of the world coordinate system converted by the camera coordinate system as the world coordinate system coordinate of the point;
(6) and calculating coordinate vector displacement of each grid center, each centroid or each gravity center of the skin surface deformation label at any time t and t' in a world coordinate system.
2. The method for detecting the deformation of the skin surface in real time according to claim 1, wherein: the square grid of the print layer is filled with two different colors.
3. The method for detecting the deformation of the skin surface in real time according to claim 2, wherein: in the square mesh of the printed layer, one of the mesh filling pigments contains a fluorescent substance, and the other does not contain a fluorescent substance.
4. The method for detecting the deformation of the skin surface in real time according to claim 1, wherein: the square grid is printed with graphics or digital marks so as to facilitate marking or positioning.
5. The method for detecting the deformation of the skin surface in real time according to claim 1 or 4, wherein: and a mark point is arranged in the center of the grid.
6. The method for detecting the deformation of the skin surface in real time according to claim 5, wherein: the mark points contain fluorescent materials.
7. The method for detecting the deformation of the skin surface in real time according to claim 1, wherein: the elastic layer is made of elastic materials.
8. The method for detecting the deformation of the skin surface in real time according to claim 7, wherein: the elastic material is gel, rubber or silica gel.
9. The method for detecting the deformation of the skin surface in real time according to claim 1, wherein: the t' time comprises the time when the surface area of the skin is minimum or the deformation is minimum.
10. The method for detecting the deformation of the skin surface in real time according to claim 1, wherein: in the step (1), the determining of the transformation matrix of the left and right camera coordinate systems and the world coordinate system further includes the following steps:
(i) uniformly distributed checkerboards are arranged in front of the left camera and the right camera, and the actual size of grids on the checkerboards is measured;
(ii) according to coordinate matrix A of checkerboard in world coordinate system0And a matrix C of the checkerboard in the left camera coordinate system0LObtaining a conversion matrix B of the left camera0LWherein A is01*B0L＝C01；
According to coordinate matrix A of checkerboard in world coordinate system0And a matrix C of the checkerboard in the right camera coordinate system02Obtaining a conversion matrix B of the right camera0RWherein A is01*B0R＝C02。
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