CN110141778A - The acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track paths planning method in knurl - Google Patents
The acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track paths planning method in knurl Download PDFInfo
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- CN110141778A CN110141778A CN201910263391.9A CN201910263391A CN110141778A CN 110141778 A CN110141778 A CN 110141778A CN 201910263391 A CN201910263391 A CN 201910263391A CN 110141778 A CN110141778 A CN 110141778A
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- 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
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
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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
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
- A61N2005/1012—Templates or grids for guiding the introduction of sources
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Abstract
The present invention discloses the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track paths planning method in knurl, comprising steps of radioactive particle source total quantity needed for S1, calculating tumour；Radioactive particle source Bu Yuan in S2, knurl；S3, needle track path planning and needle track generate；S4, needle track path is subjected to coordinate converting transmission to automation equipment.The quantity of careful design implantation particle of the present invention and position, and needle track of making rational planning for reduce the degree of injury of normal tissue under the premise of guaranteeing preferable therapeutic effect, reduce the fussy degree of operation.
Description
Technical field
The invention belongs to radioactive prospecting instrument technical fields, and in particular to radioactive particle source total quantity obtains in knurl
Take, put penetrating property particle source cloth source and needle track paths planning method.
Background technique
Interstitial radiation seeds implanted (also referred to as closely) cure, is by mini-radioactive resource (particle) implantation tumour
It is interior or by tumor-infiltrated tissue, including the tissue that malignant tumour is spread along Lymphatic channel, issued by radioactive particle source
The gamma-rays for continuing low energy, makes tumor tissues by maximum radiation injury and destruction, and normal tissue is injury-free
Or only by slight damage, to reach therapeutic purposes.Permanent implanted method and impermanency implantation can be divided by the seeds implanted time
Method.Expert thinks, compares other oncotherapy technologies, and seeds implantation technology technology content itself is not high, difficult
It spends and little.It but due to being implanted directly into human body, and is radioactive source, so strictly to hold indication.
Have different specific methods to the seeds implanted treatment of various different tumours, due to particle be planted in three-dimensional space into
Row, every kind of radioactive particle physical characteristic is different, needs to formulate a kind of special Three dimensional treatment planning system to every kind of nucleic, into
The spatial distribution of row simulation particle plantation determines the dosage distribution of particle plantation number and target area and surrounding risk organs, guidance
Clinical particle plantation.
Form, position, size and the relationship with adjacent organs, blood vessel for first having to clear tumour, depict the area for the treatment of
Domain.Conventional mode is scanned to the tumor region of patient, can be suffered from by the image checks such as B ultrasound, CT, ECT, MRI
Then the tumor region image of person carries out manually according to image or computer target area is drawn, carried out according to the target area figure drawn
Particle layout.Quantity of its secondary determining implantation particle and position, while confirming needle track position, this depend on tumour size and
The activity intensity of radioactive source, the quantity of particle and position directly affect the degree of injury of therapeutic effect and normal tissue.Most
The mode and method of seeds implanted are determined afterwards, and common particle plantation treatment there are 3 kinds of modes: template plantation, B ultrasound and CT guidance are sowed
It plants, planted in art.Such as template plantation, it is to make implant needle template by above- mentioned information, when operation, patient is fixed on CT
On, and implant needle template is fixed on skin site of the patient close to tumour, then implant needle is worn according to step is pre-designed
Thorn, while checking that implantation pin position, then the scale by being arranged on implant needle provide depth reference by CT scan in real time.When
When implant needle reaches designated depth, starts to inject particle, then pull out implant needle, and infuse again after reaching designated depth
Enter particle, implant needle can be pulled out until all particles on the implant needle all have been injected into.
In the prior art, in particle layout stage, it is all made of TPS system, can be carried out delineating confirmation tumour according to image
Then target area carries out particle layout again.But because can only be drawn by template fixation in the prior art when being actually inserted into implant needle
Implant needle insertion is led, and fixation hole number and position that each template is equipped with are restricted, therefore in particle layout, not only want
Guarantee that tumour can be completely covered, at the same time, it must also be considered that the insertion difficulty of implant needle.Because implant needle is being inserted into corresponding position
When setting, it may be necessary to some tissues or sclerotin are bypassed, so as to avoid its hetero-organization to body from causing additional injury.But
Because template area is limited, therefore under the premise of guaranteeing better effects, a large amount of preparation and cumbersome operating procedure are needed
Just it is able to achieve.
Summary of the invention
In order to solve the above problems existing in the present technology, it is an object of that present invention to provide radioactive particle source in knurl is total
Quantity acquisition, radioactive particle source cloth source and needle track paths planning method.Careful design is implanted into quantity and the position of particle, and
Needle track of making rational planning for reduces the degree of injury of normal tissue under the premise of guaranteeing preferable therapeutic effect, reduces the numerous of operation
Trivial degree.
The technical scheme adopted by the invention is as follows:
The acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track paths planning method in knurl, including
Following steps:
Radioactive particle source total quantity needed for S1, calculating tumour；
Radioactive particle source Bu Yuan in S2, knurl；
S3, needle track path planning and needle track generate；
S4, needle track path is subjected to coordinate converting transmission to automation equipment.
Based on the above technical solution, the implementation of the S1 is as follows:
S101, the sphere that a radioactive particle source is modeled as to radius 1cm in three dimensions；
S102, it obtains tumor volume, jeopardize organ and tissue volume in knurl, practical packing volume is obtained by formula (1):
Jeopardize organ and tissue volume (1) in practical packing volume=tumor volume-knurl；
S103, radioactive particle source total quantity needed for tumour is obtained by formula (2):
Radioactive particle source total quantity=practical packing volume needed for tumour/(4 π/3) cm3(2)。
Jeopardize the acquisition pattern of organ and tissue volume in the tumor volume and knurl are as follows:
A1, several faulted scanning patterns for obtaining target site, pre-process faulted scanning pattern, by faulted scanning pattern
Target site region and target site are marked off with exterior domain, and weeds out target site with exterior domain, by target site region
In tumor tissues and its hetero-organization be labeled, and mark out and jeopardize organ and tissue in knurl, obtain multiple mark samples,
Mark sample is stored, data set is obtained；
A2,3D convolutional neural networks model is established, by all mark sample data information inputs to 3D convolutional Neural model
In be trained, export trained 3D convolutional Neural deep learning model；
A3, the faulted scanning pattern of target site is pre-processed, by faulted scanning pattern mark off target site region and
Target site weeds out target site with exterior domain with exterior domain；
A4, trained 3D convolutional Neural deep learning mould will be input to by pretreated faulted scanning pattern data information
In type, and the 3D cubic block data divided are exported, multiple 3D cubic block data divided are merged, obtain dividing
Tumour iso-surface patch model；
A5, it calculates in tumor volume and knurl and jeopardizes organ and tissue volume.
Above-mentioned pretreated specific implementation is as follows:
The pixel value of a31, standardized images, and probability density distribution is done to pixel value；
A32, the boundary between different zones tissue is found according to the distribution of pixel value, distinguish tumor tissue sections and other
Tissue regions；
A33, so that other tissue regions is connected as entirety, make faulted scanning pattern exposure mask；
A34, only other tissue regions are can be obtained into the corresponding image masks information of initial three-dimensional labeled data dot product
The data of image.
It distinguishes target site region and target site is as follows with the specific implementation of exterior domain:
A321, the color value for reading different zones on identification faulted scanning pattern, by the corresponding color value of target site regional organization
Color value corresponding with regional organization other than all target sites is collected arrangement, obtains the corresponding color of target site regional organization
It is worth the corresponding color value section of regional organization other than section and target site, in this, as differentiation target site regional organization and target
The standard of regional organization other than position.
The production method of faulted scanning pattern exposure mask is as follows:
A331, by the corrosion treatment and expansion process in Morphological scale-space, connect target site as far as possible with exterior domain
Together, and as far as possible the specific color value part in target site region is eliminated, to complete the exposure mask in target site region
Production.
The content of mark includes coordinate information, and coordinate information is generated based on the coordinate system where mark on faulted scanning pattern,
And it is woven in the relative position on faulted scanning pattern for marked tumor group, coordinate system is three Cartesian coordinates, utilizes three-dimensional
Cartesian coordinate system indicates the relative positions of tumor tissues and its hetero-organization in every tension fault scanning figure.
The content of mark further includes identification information, identification information be used for be by the tissue mark of current location tumor tissues or
Its hetero-organization, identification information match with coordinate information, and the identification information that current location corresponds to tissue is endowed current location pair
After the coordinate information that should be organized.
Based on the above technical solution, jeopardize the acquisition side of organ and tissue volume in the tumor volume and knurl
Formula is as follows:
B1, it manually delineates or computer is delineated in the tumor's profiles and knurl of each faulted scanning pattern of target site and jeopardizes device
Official and tissue contours calculate and jeopardize organ and tissue area in the tumor area and knurl of each faulted scanning pattern of target site；
B2, the tumor area of each faulted scanning pattern of target site is superimposed, then multiplied by thickness, obtains tumor volume,
Jeopardize organ and tissue area superposition in knurl each faulted scanning pattern of target site, then multiplied by thickness, obtains knurl
Inside jeopardize organ and tissue area.
Based on the above technical solution, the implementation of the S2 is as follows:
Radioactive particle source is filled in S201, knurl；
Radioactive particle source is arranged in S202, knurl.
Based on the above technical solution, the implementation of the S201 is as follows:
S2011, tumour is extracted；
Radioactive particle source is filled in S2012, knurl；
Jeopardize the radioactive particle source processing of organ and tissue in S2013, knurl.
Based on the above technical solution, the implementation of the S2012 is as follows:
C1, one and the matched virtual square box of maximum length of tumour are generated, tumour is embedded in the virtual side
In box body, the sphere of radius 1cm is generated at random in virtual square box, an equivalent sphere is a radioactive particle source；
C2, generation the sphere of radius 1cm ray is uniformly discharged by central point around, detect every ray whether with it is swollen
The surface of tumor is intersected, if then proving that the sphere is located inside tumor, is effective sphere, is retained the sphere, should if otherwise proving
Sphere is not entirely located in inside tumor, is invalid sphere, deletes the sphere, until number of spheres reaches radioactivity needed for tumour
Stop when particle source total quantity.
Based on the above technical solution, the implementation of the S2012 is as follows:
D1, an origin being taken in the lower part of tumour, the Z axis to pass through the origin generates a virtual cylinder as center line,
The sphere of radius 1cm is equidistantly generated on the cylinder and the center line of the superposition section of tumour, an equivalent sphere is one and puts
Penetrating property particle source；
D2, m ° is tilted to X-axis with center line and rotates a circle to form virtual centrum, choose in uniform I bus conduct
Heart line is respectively formed virtual cylinder, and the sphere of radius 1cm is equidistantly generated on the cylinder and the center line of the superposition section of tumour；
D3, m ° is tilted to X-axis again and rotates a circle to form virtual centrum, choose line centered on uniform P bus
It is respectively formed virtual cylinder, the sphere of radius 1cm is equidistantly generated on the cylinder and the center line of the superposition section of tumour；
D4, circulation execute d3, until the virtual centrum formed stops when not intersecting with tumour；
When d5, stopping, the number of spheres of generation is counted, by radioactive particle source total quantity needed for the number of spheres and tumour
Comparison is adjusted and is tilted every time to X-axis if radioactive particle source total quantity needed for number of spheres and tumour differs by more than setting value
Degree and each virtual centrum Up Highway UHW item number, recycling executes d2-d5 until radiation needed for number of spheres approach tumour
Terminate when property particle source total quantity.
Based on the above technical solution, the implementation of the S2013 is as follows:
Organ will be jeopardized in the radioactive particle source generated in tumour and knurl and tissue does collision detection and distance exam,
Jeopardize in organ and tissue or certain radioactive particle source central point and knurl in knurl if certain radioactive particle source central point passes through
When jeopardizing the shortest distance of organ and tissue less than setting value, which is considered as invalid radioactive particle source, deletes
The penetrating property particle source；It is on the contrary then be effective radioactive particle source, retain the penetrating property particle source.
Based on the above technical solution, the specific implementation of the S202 includes: radioactive particle source linear water
Jeopardize the radioactive particle source processing of organ and tissue in flat raft cloth, the free arrangement in radioactive particle source and knurl.
Based on the above technical solution, radioactive particle source level of linearity arrangement includes the following steps:
E1, the square that tumour is divided into multiple X*1*1cm, X are the length and width or high level of tumour, take the center of square respectively
Line is as linear reference line；
E2, the radioactive particle source in square center line range of set value is sucked in the square, and by sucking side
The central point in the radioactive particle source in block is adapted in the linear reference line of the square, and each radioactive particle source only moves one
It is secondary；
E3, mutual distance detection is carried out to the radioactive particle after movement, when the multiple radioactive particle sources of generation
It is overlapped intersection or apart from radioactive particle source when being less than setting value, moved after deletion.
Based on the above technical solution, the free arrangement in the radioactive particle source includes the following steps:
F11, the point centered on the radioactive particle source of tumour lowermost end, the Z axis to pass through the central point are created as center line
Build the virtual cylinder of a 1*1*Zcm；
F12, virtual cylinder tilt s ° to X-axis with center line and rotate a circle, during rotation, if having detected 2
A or multiple free radioactive particle sources are then sucked in the virtual column body in virtual column body, and will suck virtual column
The central point in intracorporal radioactive particle source is adapted on the center line of the virtual cylinder and no longer moves, and records rotation angle；
F13, s ° is tilted to X-axis again and is rotated a circle, free radioactive particle source is sucked in the virtual column body, and
The central point for sucking the intracorporal radioactive particle source of virtual column is adapted on the center line of the virtual cylinder and is no longer moved, and is remembered
Record rotation angle；
F14, circulation execute f13, until virtual cylinder stops when not intersecting with tumour；
When f15, stopping, whether the radioactive particle source for counting free has all been moved through, if then terminating；If otherwise adjusting
It is whole every time to the inclined degree of X-axis, recycling executes f12-f15 until knot when free radioactive particle source is all moved through
Beam；
F16, mutual distance detection is carried out to the radioactive particle after movement, when the multiple radioactive particle sources of generation
It is overlapped intersection or apart from radioactive particle source when being less than setting value, moved after deletion.
Based on the above technical solution, the free arrangement in the radioactive particle source includes the following steps:
F21, with the knurl immediately below tumor center's point, any is origin outside, to pass through the Z axis of the origin as center line wound
Build a virtual cylinder；
F22, virtual cylinder tilt t ° to X-axis with center line and rotate a circle, during rotation, if having detected 2
A or multiple free radioactive particle sources are then sucked in the virtual column body in virtual column body, and will suck virtual column
The central point in intracorporal radioactive particle source is adapted on the center line of the virtual cylinder and no longer moves, and records rotation angle；
F23, t ° is tilted to X-axis again and is rotated a circle, free radioactive particle source is sucked in the virtual column body, and
The central point for sucking the intracorporal radioactive particle source of virtual column is adapted on the center line of the virtual cylinder and is no longer moved, and is remembered
Record rotation angle；
F24, circulation execute f23, until virtual cylinder stops when not intersecting with tumour；
When f25, stopping, whether the radioactive particle source for counting free has all been moved through, if then terminating；If otherwise adjusting
It is whole every time to the inclined degree of X-axis, recycling executes f22-f25 until knot when free radioactive particle source is all moved through
Beam；
F26, mutual distance detection is carried out to the radioactive particle after movement, when the multiple radioactive particle sources of generation
It is overlapped intersection or apart from radioactive particle source when being less than setting value, moved after deletion.
Based on the above technical solution, the radioactive particle source processing for jeopardizing organ and tissue in the knurl includes
Following steps:
By after arrangement radioactive particle source and knurl in jeopardize organ and tissue do collision detection and distance exam, if certain
Radioactive particle source central point passes through to jeopardize in knurl to be jeopardized in organ and tissue or certain radioactive particle source central point and knurl
When the shortest distance of organ and tissue is less than setting value, which is considered as invalid radioactive particle source, deletes this and penetrates
Property particle source；It is on the contrary then be effective radioactive particle source, retain the penetrating property particle source.
Based on the above technical solution, the implementation of the S3 includes: that the planning of parallel pin path and needle track are raw
It is generated at free angle needle track path planning and needle track.
Based on the above technical solution, the parallel pin path planning and needle track generation include the following steps:
S301a, the square that tumour is divided into multiple X*1*1cm, X are the length and width or high level of tumour；
S302a, each square both ends are extended outwardly；
If the Duan Wei that extends in the same direction of S303a, all squares encounters and jeopardizes organ and tissue outside knurl, with each side of tumour
The center line of block generates needle track as linear reference line；If extending in the same direction the sum encountered in section and jeopardize organ and tissue outside knurl
Tumour itself is then carried out rotation until the Duan Wei that extends in the same direction of all squares encounters and jeopardizes organ and group outside knurl by >=setting value
It knits or encounters the square sum for jeopardizing organ and tissue outside knurl less than setting value, with each square of tumour in the rotation angle
Center line as linear reference line generate needle track.
Based on the above technical solution, the parallel pin path planning and needle track generation include the following steps:
S301b, the square that tumour is divided into multiple X*1*1cm, X are the length and width or high level of tumour；
S302b, point centered on a point is chosen in three dimensions, line centered on the Z axis to pass through the central point；
S303b, tumour is rotated a circle centered on central point, if the angle of the surfaces of revolution and center line is α；
The angle continuation of S304b, the adjustment surfaces of revolution and center line are rotated a circle centered on central point, which passes through
The normal and center line of central point are always positioned at same plane；
S305b, circulation execute S304b, until the angle of the surfaces of revolution and center line is+180 ° of α；
S306b, adjustment radius of turn, execute S303b-S305b；
S307b, circulation execute S306b, until radius of turn terminates more than setting value；
S308b, in rotary course, take Q in each radius of turn identical rotation angles, and record across knurl
Jeopardize the square sum of organ and tissue outside, degree of taking passes through the minimum corresponding rotation of square sum for jeopardizing organ and tissue outside knurl
Gyration generates needle track using the center line of each square of tumour as linear reference line in the rotation angle.
Based on the above technical solution, it includes following step that the free angle needle track path planning and needle track, which generate,
It is rapid:
With the virtual cylinder center line generation needle track under the rotation angle that is recorded in the free arrangement step in radioactive particle source,
Needle track is extended outwardly, retains the needle track if extended segment does not pass through and jeopardizes organ and tissue outside knurl, otherwise deletes the needle track,
And re-start the free arrangement in radioactive particle source.
Based on the above technical solution, the implementation of the S4 includes:
According to the isocenter point of automation equipment, corresponding points are found in faulted scanning pattern, are found out in three dimensions every
The coordinate information of a needle track and Δ X, Δ Y value and the rotation angle value and inclination angle value of isocenter point are transmitted to certainly
Dynamicization equipment, making it, needle track is run according to schedule.
Based on the above technical solution, the acquisition of radioactive particle source total quantity, radioactive particle source in the knurl
Cloth source and needle track paths planning method further include carrying out after the step of radioactive particle source cloth source to dose point in knurl in knurl
It calculates, delineate isodose curve and calculating and draw DVH figure.
The invention has the benefit that
The quantity of careful design implantation particle of the present invention and position, and needle track of making rational planning for are guaranteeing preferably treatment effect
Under the premise of fruit, the degree of injury of normal tissue is reduced, reduces the fussy degree of operation.
Detailed description of the invention
Fig. 1 is the present invention-embodiment method flow diagram.
Fig. 2 is the schematic diagram of the present invention-embodiment I125 dose point.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further elaborated.
Embodiment:
As shown in Figure 1, 2, in the knurl of the present embodiment radioactive particle source total quantity obtain, radioactive particle source cloth source and
Needle track paths planning method, includes the following steps:
Radioactive particle source total quantity needed for the first step, calculating tumour.
Radioactive particle source total activity needed for traditional tumour is by Paris formula (being averaged path length according to knurl) or root
It is obtained according to knurl Mass Calculation.
A, Paris formula (being averaged path length according to knurl) calculates.
The dosage that should be given is calculated using Dimension-averageing method:
A=Da*K
Wherein, A is total activity, unit mCi；Da is that knurl be averaged path length, unit cm, Da=(long+wide+height)/3；K
For fitting parameter, the K value for I125 is 5.
Resulting specific calculating formula such as table 1 is deformed by above-mentioned Paris formula.
Table 1
| Knurl is averaged path length Da (cm) | Particle source total activity A (mCi) |
| Da≤2.4 | A=5 (Da+1) |
| 2.4 Da≤3.24 < | A=3.87 (Da+1)1.293 |
| Da > 3.24 | A=2.76 (Da+1)1.581 |
B, according to knurl Mass Calculation.
Radioactive particle source total activity (mCi) needed for knurl=expectation tissue resorption dosage (cGy) * tumor weight (g)/
182。
Note: the quality of knurl can be calculated by CT.
The calculation pair of radioactive particle source total quantity needed for Paris formula (being averaged path length according to knurl) calculates tumour
Exist for the irregular tumour of form and calculates the biggish defect of error, the operation for needing artificially to adjust.According to knurl quality
The calculation of radioactive particle source total quantity needed for calculating tumour is substantially that the quality of knurl is calculated by CT, but tumour
Density is uncertain and uneven, therefore there is also calculate the biggish defect of error.Above two calculation does not account for
Jeopardize organ and tissue in knurl, for example, in the case where knurl wrapping portion blood vessel, what above two calculation was calculated
Required radioactive particle source total activity includes radioactive particle source radiation activity needed for capped blood vessel, and actually blood vessel is just
It often organizes, does not need radioactive particle source, therefore greatly possible calculated required radioactive particle source total activity is greater than reality
Required radioactive particle source total activity, i.e. overtreatment, this calculating inaccuracy, thereby increases and it is possible to which normal tissue causes big damage.
And the present invention calculates radioactive particle source total quantity needed for tumour in the following way:
S101, the ball that a radioactive particle source is modeled as to radius 1cm (effective radial extent) in three dimensions
Body, radioactive particle source itself are capsule bodies, and simulation is (the 80% dosage covering half of I125 particle of radioactive particle source
Diameter is 1cm) region of certain dose value covering, it is similar to sphere, is only modeled as the sphere of radius 1cm herein；
S102, it obtains tumor volume, jeopardize organ and tissue volume in knurl, practical packing volume is obtained by formula (1):
Jeopardize organ and tissue volume (1) in practical packing volume=tumor volume-knurl；
S103, radioactive particle source total quantity needed for tumour is obtained by formula (2):
Radioactive particle source total quantity=practical packing volume needed for tumour/(4 π/3) cm3(2)。
Above-mentioned tumor volume is obtained in the following manner:
A1, several faulted scanning patterns for obtaining target site, pre-process faulted scanning pattern, by faulted scanning pattern
Target site region and target site are marked off with exterior domain, and weeds out target site with exterior domain, by target site region
In tumor tissues and its hetero-organization be labeled, and mark out and jeopardize organ and tissue in knurl, obtain multiple mark samples,
Mark sample is stored, data set is obtained；
A2,3D convolutional neural networks model is established, by all mark sample data information inputs to 3D convolutional Neural model
In be trained, export trained 3D convolutional Neural deep learning model；
A3, the faulted scanning pattern of target site is pre-processed, by faulted scanning pattern mark off target site region and
Target site weeds out target site with exterior domain with exterior domain；
A4, trained 3D convolutional Neural deep learning mould will be input to by pretreated faulted scanning pattern data information
In type, and the 3D cubic block data divided are exported, multiple 3D cubic block data divided are merged, obtain dividing
Tumour iso-surface patch model；
A5, it calculates in tumor volume and knurl and jeopardizes organ and tissue volume.
Above-mentioned pretreated specific implementation is as follows:
The pixel value of a31, standardized images, and probability density distribution is done to pixel value；
A32, the boundary between different zones tissue is found according to the distribution of pixel value, distinguish tumor tissue sections and other
Tissue regions；
A33, so that other tissue regions is connected as entirety, make faulted scanning pattern exposure mask；
A34, only other tissue regions are can be obtained into the corresponding image masks information of initial three-dimensional labeled data dot product
The data of image.
It distinguishes target site region and target site is as follows with the specific implementation of exterior domain:
A321, the color value for reading different zones on identification faulted scanning pattern, by the corresponding color value of target site regional organization
Color value corresponding with regional organization other than all target sites is collected arrangement, obtains the corresponding color of target site regional organization
It is worth the corresponding color value section of regional organization other than section and target site, in this, as differentiation target site regional organization and target
The standard of regional organization other than position.
The production method of faulted scanning pattern exposure mask is as follows:
A331, by the corrosion treatment and expansion process in Morphological scale-space, connect target site as far as possible with exterior domain
Together, and as far as possible the specific color value part in target site region is eliminated, to complete the exposure mask in target site region
Production.
The content of mark includes coordinate information, and coordinate information is generated based on the coordinate system where mark on faulted scanning pattern,
And it is woven in the relative position on faulted scanning pattern for marked tumor group, coordinate system is three Cartesian coordinates, utilizes three-dimensional
Cartesian coordinate system indicates the relative positions of tumor tissues and its hetero-organization in every tension fault scanning figure.
The content of mark further includes identification information, identification information be used for be by the tissue mark of current location tumor tissues or
Its hetero-organization, identification information match with coordinate information, and the identification information that current location corresponds to tissue is endowed current location pair
After the coordinate information that should be organized.
3D convolutional neural networks model mainly using U-net divide network+Res-net residual error network integration by the way of structure
It builds.Wherein the shallow-layer network of model mainly saves the location information of pixel, and deep layer network mainly saves the classification letter of pixel
Breath can ensure that image pixel segmentation by shallow-layer information supplement to deep layer using U-net network and Res-net network
Location accuracy and classification accuracy；Meanwhile Res-net network structure changes the target of study, by the defeated of learning model
Become the difference that study is output and input out, it reduce the learning difficulties of network model, restrain faster conducive to model.
Before carrying out 3D convolutional neural networks model training, the three-dimensional data marked in sample data information is cut to picture
The 3D cubic block data of plain 256*256*256 (or 128*128*128,64*64*64) are for training.Because three-dimensional data includes
The information of slice between layers carries out the training of 3D convolutional neural networks using three-dimensional data, the accuracy of result can be improved.
In addition, in the present embodiment by taking 256*256*256 3D cube module unit as an example, 3D convolutional neural networks modelling
The overall number of plies up to 160 layers, specifically: convolution+BN+maxpool is carried out to 256*256*256 cubes of module unit, to extract spy
Characteristic pattern is obtained, centre is used in combination residual error network (Res-net) and adds residual block；It extracts feature and reduces characteristic pattern to 16*
16*16, channel increase to 64；It reuses deconvolution combination residual error method and characteristic pattern is amplified to 256*256*256, in deconvolution
During amplification characteristic figure, with the characteristic pattern of position before being merged using the cat method in U-net network, finally obtain point
The tumour iso-surface patch model cut out.
Above-mentioned tumor volume is obtained by another way:
B1, it manually delineates or computer is delineated in the tumor's profiles and knurl of each faulted scanning pattern of target site and jeopardizes device
Official and tissue contours calculate and jeopardize organ and tissue area in the tumor area and knurl of each faulted scanning pattern of target site；
B2, the tumor area of each faulted scanning pattern of target site is superimposed, then multiplied by thickness, obtains tumor volume,
Jeopardize organ and tissue area superposition in knurl each faulted scanning pattern of target site, then multiplied by thickness, obtains knurl
Inside jeopardize organ and tissue area.
The first step has the beneficial effect that
The calculation of radioactive particle source total quantity needed for calculating tumour using the present invention is irregular for form swollen
It is more accurate to calculate for tumor, and calculated required radioactive particle source total activity is more nearly actually required radioactive particle source
Total activity utmostly reduces the damage that normal tissue is made, and calculating radioactive particle source total quantity needed for tumour can make
For the switching threshold in later period radioactive particle source cloth source.
Radioactive particle source Bu Yuan in second step, knurl.
Radioactive particle source is filled in S201, knurl；
Radioactive particle source is arranged in S202, knurl.
The specific implementation of above-mentioned S201 is as follows:
S2011, tumour is extracted.
Tumour is the tumour iso-surface patch model divided.
It is realized particular by a1-a4 as above.
Radioactive particle source is filled in S2012, knurl.
It is realized particular by the optional one of following two mode:
The first, random filling:
C1, one and the matched virtual square box of maximum length of tumour are generated, tumour is embedded in the virtual side
In box body, the sphere of radius 1cm (effective radial extent) is generated at random in virtual square box, an equivalent sphere is one and puts
Penetrating property particle source；
C2, generation the sphere of radius 1cm (effective radial extent) ray is uniformly discharged by central point around, detection is every
Whether ray intersects with the surface of tumour, if then proving that the sphere is located inside tumor, is effective sphere, retains the ball
Body, if otherwise proving, the sphere is not entirely located in inside tumor, is invalid sphere, deletes the sphere, until number of spheres reaches
To stopping when the total quantity of radioactive particle source needed for tumour.
By central point, left and right uniformly discharges 6 rays to sphere up and down forwards, backwards.
The first has the beneficial effect that
The radioactive particle source filled at random fully considers the optimum position in radioactive particle source, is placed using such position
Radioactive particle source therapeutic effect it is best, and will not normal tissue cause big damage.
Second, linear filling:
D1, an origin being taken in the lower part of tumour, the Z axis to pass through the origin generates a virtual cylinder as center line,
The sphere of radius 1cm (effective radial extent), a ball are equidistantly generated on the cylinder and the center line of the superposition section of tumour
Body is equivalent to a radioactive particle source；
D2, m ° is tilted to X-axis with center line and rotates a circle to form virtual centrum, choose in uniform I bus conduct
Heart line is respectively formed virtual cylinder, equidistantly generates radius 1cm on the cylinder and the center line of the superposition section of tumour and (effectively puts
Penetrate range) sphere；
D3, m ° is tilted to X-axis again and rotates a circle to form virtual centrum, choose line centered on uniform P bus
It is respectively formed virtual cylinder, radius 1cm (effectively radiation model is equidistantly generated on the cylinder and the center line of the superposition section of tumour
Enclose) sphere；
D4, circulation execute d3, until the virtual centrum formed stops when not intersecting with tumour；
When d5, stopping, the number of spheres of generation is counted, by radioactive particle source total quantity needed for the number of spheres and tumour
Comparison is adjusted and is tilted every time to X-axis if radioactive particle source total quantity needed for number of spheres and tumour differs by more than setting value
Degree and each virtual centrum Up Highway UHW item number, recycling executes d2-d5 until radiation needed for number of spheres approach tumour
Terminate when property particle source total quantity.
Above-mentioned I ≠ P, m generally take 5.
Above-mentioned virtual cylinder is cylindrical body or square body.
It has the beneficial effect that for second
The radioactive particle source linearly filled fully considers the execution of automation equipment, compares first way, such line
Property filling radioactive particle source keep the execution convenience of automation equipment and validity higher.
Jeopardize the radioactive particle source processing of organ and tissue in S2013, knurl.
It is realized particular by following manner:
Organ will be jeopardized in the radioactive particle source generated in tumour and knurl and tissue does collision detection and distance exam,
Jeopardize in organ and tissue or certain radioactive particle source central point and knurl in knurl if certain radioactive particle source central point passes through
When jeopardizing the shortest distance of organ and tissue less than setting value, which is considered as invalid radioactive particle source, deletes
The penetrating property particle source；It is on the contrary then be effective radioactive particle source, retain the penetrating property particle source.
Above-mentioned setting value is generally 1CM.
The specific implementation of above-mentioned S202 includes that radioactive particle source level of linearity is arranged, radioactive particle source is dissociated
Jeopardize the radioactive particle source processing of organ and tissue in (non-linear) arrangement and knurl.
The arrangement of radioactive particle source level of linearity:
E1, the square that tumour is divided into multiple X*1*1cm, X are the length and width or high level of tumour, take the center of square respectively
Line is as linear reference line；
E2, the radioactive particle source in square center line range of set value is sucked in the square, and by sucking side
The central point in the radioactive particle source in block is adapted in the linear reference line of the square, and each radioactive particle source only moves one
Secondary, setting value is generally 1cm；
E3, mutual distance detection is carried out to the radioactive particle after movement, when the multiple radioactive particle sources of generation
When being overlapped intersection or distance less than setting value, the radioactive particle source moved after deletion, setting value is generally 5mm.
Free (non-linear) arrangement in radioactive particle source is primarily directed to the trip generated because jeopardizing organ and tissue in knurl
Radioactive particle source from (non-linear) arrangement is realized there are two types of mode.
The first:
F11, the point centered on the radioactive particle source of tumour lowermost end, the Z axis to pass through the central point are created as center line
Build the virtual cylinder of a 1*1*Zcm；
F12, virtual cylinder tilt s ° to X-axis with center line and rotate a circle, during rotation, if having detected 2
The radioactive particle source of a or multiple free (non-linear) is then sucked in the virtual column body in virtual column body, and will be inhaled
The central point for entering the intracorporal radioactive particle source of virtual column, which is adapted on the center line of the virtual cylinder, no longer to be moved, and records rotation
Gyration；
F13, s ° is tilted to X-axis again and is rotated a circle, it is virtual that the radioactive particle source of free (non-linear) is sucked this
In cylinder, and the central point for sucking the intracorporal radioactive particle source of virtual column is adapted on the center line of the virtual cylinder no longer
It is mobile, and record rotation angle；
F14, circulation execute f13, until virtual cylinder stops when not intersecting with tumour；
When f15, stopping, whether the radioactive particle source for counting free (non-linear) has all been moved through, if then terminating；
If otherwise adjusting every time to the inclined degree of X-axis, recycling executes f12-f15 up to the radioactive particle of free (non-linear)
Terminate when source is all moved through；
F16, mutual distance detection is carried out to the radioactive particle after movement, when the multiple radioactive particle sources of generation
When being overlapped intersection or distance less than setting value, the radioactive particle source moved after deletion, setting value is generally 5mm.
Above-mentioned virtual cylinder is cylindrical body or square body.
Second:
F21, with the knurl immediately below tumor center's point, any is origin outside, to pass through the Z axis of the origin as center line wound
Build a virtual cylinder；
F22, virtual cylinder tilt t ° to X-axis with center line and rotate a circle, during rotation, if having detected 2
The radioactive particle source of a or multiple free (non-linear) is then sucked in the virtual column body in virtual column body, and will be inhaled
The central point for entering the intracorporal radioactive particle source of virtual column, which is adapted on the center line of the virtual cylinder, no longer to be moved, and records rotation
Gyration；
F23, t ° is tilted to X-axis again and is rotated a circle, it is virtual that the radioactive particle source of free (non-linear) is sucked this
In cylinder, and the central point for sucking the intracorporal radioactive particle source of virtual column is adapted on the center line of the virtual cylinder no longer
It is mobile, and record rotation angle；
F24, circulation execute f23, until virtual cylinder stops when not intersecting with tumour；
When f25, stopping, whether the radioactive particle source for counting free (non-linear) has all been moved through, if then terminating；
If otherwise adjusting every time to the inclined degree of X-axis, recycling executes f22-f25 up to the radioactive particle of free (non-linear)
Terminate when source is all moved through；
F26, mutual distance detection is carried out to the radioactive particle after movement, when the multiple radioactive particle sources of generation
When being overlapped intersection or distance less than setting value, the radioactive particle source moved after deletion, setting value is generally 5mm.
Above-mentioned virtual cylinder is cylindrical body or square body.
The radioactive particle source processing for jeopardizing organ and tissue in knurl is as follows:
By after arrangement radioactive particle source and knurl in jeopardize organ and tissue do collision detection and distance exam, if certain
Radioactive particle source central point passes through to jeopardize in knurl to be jeopardized in organ and tissue or certain radioactive particle source central point and knurl
When the shortest distance of organ and tissue is less than setting value, which is considered as invalid radioactive particle source, deletes this and penetrates
Property particle source；It is on the contrary then be effective radioactive particle source, retain the penetrating property particle source.
Third step, needle track path planning and needle track generate, including the planning of parallel pin path and needle track generation and free angle
It spends needle track path planning and needle track generates.
It includes two kinds of implementations that the planning of parallel pin path and needle track, which generate:
The first:
S301a, the square that tumour is divided into multiple X*1*1cm, X are the length and width or high level of tumour；
S302a, each square both ends are extended outwardly；
If the Duan Wei that extends in the same direction of S303a, all squares encounters and jeopardizes organ and tissue outside knurl, with each side of tumour
The center line of block generates needle track as linear reference line；If extending in the same direction the sum encountered in section and jeopardize organ and tissue outside knurl
Tumour itself is then carried out rotation until the Duan Wei that extends in the same direction of all squares encounters and jeopardizes organ and group outside knurl by >=setting value
It knits or encounters the square sum for jeopardizing organ and tissue outside knurl less than setting value, with each square of tumour in the rotation angle
Center line as linear reference line generate needle track.
Second:
S301b, the square that tumour is divided into multiple X*1*1cm, X are the length and width or high level of tumour；
S302b, point centered on a point is chosen in three dimensions, line centered on the Z axis to pass through the central point；
S303b, tumour is rotated a circle centered on central point, if the angle of the surfaces of revolution and center line is α；
The angle continuation of S304b, the adjustment surfaces of revolution and center line are rotated a circle centered on central point, which passes through
The normal and center line of central point are always positioned at same plane；
S305b, circulation execute S304b, until the angle of the surfaces of revolution and center line is+180 ° of α；
S306b, adjustment radius of turn, execute S303b-S305b；
S307b, circulation execute S306b, until radius of turn terminates more than setting value；
S308b, in rotary course, take Q in each radius of turn identical rotation angles, and record across knurl
Jeopardize the square sum of organ and tissue outside, degree of taking passes through the minimum corresponding rotation of square sum for jeopardizing organ and tissue outside knurl
Gyration generates needle track using the center line of each square of tumour as linear reference line in the rotation angle.
The implementation that free angle needle track path planning and needle track generate is as follows:
With the virtual cylinder center line under the rotation angle that is recorded in free (non-linear) the arrangement step in radioactive particle source
Needle track is generated, needle track is extended outwardly, retains the needle track if extended segment does not pass through and jeopardizes organ and tissue outside knurl, otherwise deletes
Except the needle track, and re-start free (non-linear) arrangement in radioactive particle source.
4th step, coordinate conversion.
According to the isocenter point of automation equipment, corresponding points are found in faulted scanning pattern, are found out in three dimensions every
The coordinate information of a needle track and Δ X, Δ Y value and the rotation angle value and inclination angle value of isocenter point are transmitted to certainly
Dynamicization equipment, making it, needle track is run according to schedule.
The present embodiment further includes being calculated after the step of radioactive particle source cloth source dose point in knurl, being hooked in knurl
It draws isodose curve and calculates and draw DVH figure (dose volume histogram).
The specific implementation calculated dose point in knurl is as follows, as shown in Figure 2:
Z1011, dose point in knurl is calculated using formula (3):
Wherein, SkFor air kerma intensity (air kerma strength), meaning is in vacuum apart from long-range
In on the position of source size itself as energy greater than δ photon in infinitely small volume element air caused by air kerma rateWith d squares of distance of product, i.e. formula (4):
Wherein, Gr(r, θ)=r-2, point source fitting.
Wherein,Line source fitting.
Wherein, Λ is dose rate constant, in expression liquid water at reference point caused by the source of unit air Kerma intensity
Dosage rate, i.e. formula (5):
Value: 0.986 or 0.88 or 0.965.
Radial dose function (amendment of inverse ratio square law) is such as formula (6):
gx(r)=a0+a1r+a2r2+a3r3+a4r4+a5r5 (6)
Wherein, a0=1.08；a1=0.9707；a2=0.02957；a3=0.1429；a4=-0.02256； a5=
0.003117.Fitting correlation coefficient is 0.9999, sum of square of deviations 2.78*10-4.The formula scope of application be r=0.1~
10.0cm。
Anisotropy function (influence that description angle, θ is distributed dosage) is such as formula (7):
F (r, θ)=a+b θ+clnr+d θ2+eln2r+fθlnr+gθ3+hln3r+iθln2r+jθ2lnr (7)
In formula, a=0.2635；B=1.4991；C=0.1632；D=-1.005；E=-0.0284；F=-0.3150；g
=0.2224；H=0.0202；I=0.00155；J=0.1322.
It should be noted that the θ in formula (7) is indicated with radian value.The above fitting correlation coefficient R2=0.9926.
Sk value: (0.36-1.27).
2 I125 particle source radiation activity result of table
As can be seen from Table 2, some particle source relative errors 13.4%, exceed the limit value of relative deviation ± 5%, if this batch of grain
Component is used for clinical treatment, will be that overdose shines.
The specific implementation for delineating isodose curve is as follows:
Z1021, tumour is divided into multiple 1*1*1mm3Square, calculate wherein radioactive particle source radiation activity be superimposed post dose
Value is averaged, and the average value of calculating is considered as the dose value in the square, square central point is the expression point of dose point；
Z1022, the center progress line of multiple squares for possessing same dose value is formed in same level and is closed
Annular, the isodose curve of composition；
Z1023, the isodose curve line of the dose values such as multiple the dosage body such as formed into three dimensions.
It calculates and draws the specific implementation of DVH figure (dose volume histogram): certain is calculated according to isodose curve
The volume of one magnitude covering accounts for the ratio of knurl total volume, thus draws DVH figure.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are various under the inspiration of the present invention
The product of form, however, make any variation in its shape or structure, it is all to fall into the claims in the present invention confining spectrum
Technical solution, be within the scope of the present invention.
Claims (20)
1. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track paths planning method, feature in knurl
It is: includes the following steps:
Radioactive particle source total quantity needed for S1, calculating tumour；
Radioactive particle source Bu Yuan in S2, knurl；
S3, needle track path planning and needle track generate；
S4, needle track path is subjected to coordinate converting transmission to automation equipment.
2. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 1
Paths planning method, it is characterised in that: the implementation of the S1 is as follows:
S101, the sphere that a radioactive particle source is modeled as to radius 1cm in three dimensions；
S102, it obtains tumor volume, jeopardize organ and tissue volume in knurl, practical packing volume is obtained by formula (1):
Jeopardize organ and tissue volume (1) in practical packing volume=tumor volume-knurl；
S103, radioactive particle source total quantity needed for tumour is obtained by formula (2):
Radioactive particle source total quantity=practical packing volume needed for tumour/(4 π/3) cm3(2)。
3. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 2
Paths planning method, it is characterised in that: jeopardize the acquisition pattern of organ and tissue volume in the tumor volume and knurl are as follows:
A1, several faulted scanning patterns for obtaining target site, pre-process faulted scanning pattern, faulted scanning pattern are divided
Target site region and target site be out with exterior domain, and weeds out target site with exterior domain, will be in target site region
Tumor tissues and its hetero-organization are labeled, and are marked out and jeopardized organ and tissue in knurl, are obtained multiple mark samples, will be marked
Note sample is stored, and data set is obtained；
A2, establish 3D convolutional neural networks model, by all mark sample data information inputs into 3D convolutional Neural model into
Row training, exports trained 3D convolutional Neural deep learning model；
A3, the faulted scanning pattern of target site is pre-processed, faulted scanning pattern is marked off into target site region and target
Position weeds out target site with exterior domain with exterior domain；
A4, trained 3D convolutional Neural deep learning model will be input to by pretreated faulted scanning pattern data information
In, and the 3D cubic block data divided are exported, multiple 3D cubic block data divided are merged, obtains having divided
Tumour iso-surface patch model；
A5, it calculates in tumor volume and knurl and jeopardizes organ and tissue volume.
4. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 1
Paths planning method, it is characterised in that: the acquisition pattern for jeopardizing organ and tissue volume in the tumor volume and knurl is as follows:
B1, manually delineate or computer delineate in the tumor's profiles and knurl of each faulted scanning pattern of target site jeopardize organ and
Tissue contours calculate and jeopardize organ and tissue area in the tumor area and knurl of each faulted scanning pattern of target site；
B2, the tumor area of each faulted scanning pattern of target site is superimposed, then multiplied by thickness, tumor volume is obtained, mesh
It marks and jeopardizes organ and tissue area superposition in the knurl of each faulted scanning pattern in position, then multiplied by thickness, obtain danger in knurl
And organ and tissue area.
5. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 1
Paths planning method, it is characterised in that: the implementation of the S2 is as follows:
Radioactive particle source is filled in S201, knurl；
Radioactive particle source is arranged in S202, knurl.
6. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 5
Paths planning method, it is characterised in that: the implementation of the S201 is as follows:
S2011, tumour is extracted；
Radioactive particle source is filled in S2012, knurl；
Jeopardize the radioactive particle source processing of organ and tissue in S2013, knurl.
7. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 6
Paths planning method, it is characterised in that: the implementation of the S2012 is as follows:
C1, one and the matched virtual square box of maximum length of tumour are generated, tumour is embedded in the virtual square box
It is interior, generate the sphere of radius 1cm at random in virtual square box, an equivalent sphere is a radioactive particle source；
C2, generation the sphere of radius 1cm ray is uniformly discharged by central point around, detect every ray whether with tumour
Surface intersection is effective sphere, retains the sphere, if otherwise proving the sphere if then proving that the sphere is located inside tumor
It is not entirely located in inside tumor, is invalid sphere, deletes the sphere, until number of spheres reaches radioactive particle needed for tumour
Stop when the total quantity of source.
8. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 6
Paths planning method, it is characterised in that: the implementation of the S2012 is as follows:
D1, an origin is taken in the lower part of tumour, the Z axis to pass through the origin generates a virtual cylinder as center line, at this
The sphere of radius 1cm is equidistantly generated on the center line of the superposition section of cylinder and tumour, an equivalent sphere is a radioactivity
Particle source；
D2, m ° is tilted to X-axis with center line and rotates a circle to form virtual centrum, choose line centered on uniform I bus
It is respectively formed virtual cylinder, the sphere of radius 1cm is equidistantly generated on the cylinder and the center line of the superposition section of tumour；
D3, m ° is tilted to X-axis again and rotates a circle to form virtual centrum, line is distinguished centered on choosing uniform P bus
Virtual cylinder is formed, the sphere of radius 1cm is equidistantly generated on the cylinder and the center line of the superposition section of tumour；
D4, circulation execute d3, until the virtual centrum formed stops when not intersecting with tumour；
When d5, stopping, the number of spheres of generation is counted, by radioactive particle source total quantity pair needed for the number of spheres and tumour
Than adjusting every time to X-axis movement if radioactive particle source total quantity needed for number of spheres and tumour differs by more than setting value
The item number of degree and each virtual centrum Up Highway UHW, recycling executes d2-d5 until radioactivity needed for number of spheres approach tumour
Terminate when particle source total quantity.
9. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 6
Paths planning method, it is characterised in that: the implementation of the S2013 is as follows:
Organ will be jeopardized in the radioactive particle source generated in tumour and knurl and tissue does collision detection and distance exam, if certain
Radioactive particle source central point passes through to jeopardize in knurl to be jeopardized in organ and tissue or certain radioactive particle source central point and knurl
When the shortest distance of organ and tissue is less than setting value, which is considered as invalid radioactive particle source, deletes this and penetrates
Property particle source；It is on the contrary then be effective radioactive particle source, retain the penetrating property particle source.
10. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 5
Paths planning method, it is characterised in that: the specific implementation of the S202 include: radioactive particle source level of linearity arrangement,
Jeopardize the radioactive particle source processing of organ and tissue in the free arrangement in radioactive particle source and knurl.
11. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle in knurl according to claim 10
Path planing method, it is characterised in that: level of linearity arrangement in the radioactive particle source includes the following steps:
E1, the square that tumour is divided into multiple X*1*1cm, X are the length and width or high level of tumour, and the center line of square is taken to make respectively
For linear reference line；
E2, the radioactive particle source in square center line range of set value is sucked in the square, and will sucked in square
The central point in radioactive particle source be adapted in the linear reference line of the square, each radioactive particle source is only mobile primary；
E3, mutual distance detection is carried out to the radioactive particle after movement, be overlapped when multiple radioactive particle sources occur
Intersect or apart from radioactive particle source when being less than setting value, moved after deletion.
12. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle in knurl according to claim 10
Path planing method, it is characterised in that: the free arrangement in the radioactive particle source includes the following steps:
F11, the point centered on the radioactive particle source of tumour lowermost end, to pass through the Z axis of the central point as center line creation one
The virtual cylinder of a 1*1*Zcm；
F12, virtual cylinder are tilted to X-axis with center line and s ° and are rotated a circle, during rotation, if detected 2 or
Multiple free radioactive particle sources are then sucked in the virtual column body in virtual column body, and will be sucked in virtual column body
The central point in radioactive particle source be adapted on the center line of the virtual cylinder and no longer move, and record rotation angle；
F13, s ° is tilted to X-axis again and is rotated a circle, free radioactive particle source is sucked in the virtual column body, and will inhale
The central point for entering the intracorporal radioactive particle source of virtual column, which is adapted on the center line of the virtual cylinder, no longer to be moved, and records rotation
Gyration；
F14, circulation execute f13, until virtual cylinder stops when not intersecting with tumour；
When f15, stopping, whether the radioactive particle source for counting free has all been moved through, if then terminating；If otherwise adjustment is every
It is secondary to the inclined degree of X-axis, recycling executes f12-f15 until free radioactive particle source terminates when being all moved through；
F16, mutual distance detection is carried out to the radioactive particle after movement, be overlapped when multiple radioactive particle sources occur
Intersect or apart from radioactive particle source when being less than setting value, moved after deletion.
13. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle in knurl according to claim 10
Path planing method, it is characterised in that: the free arrangement in the radioactive particle source includes the following steps:
F21, with the knurl immediately below tumor center's point, any is origin outside, to pass through the Z axis of the origin as center line creation one
A virtual cylinder；
F22, virtual cylinder are tilted to X-axis with center line and t ° and are rotated a circle, during rotation, if detected 2 or
Multiple free radioactive particle sources are then sucked in the virtual column body in virtual column body, and will be sucked in virtual column body
The central point in radioactive particle source be adapted on the center line of the virtual cylinder and no longer move, and record rotation angle；
F23, t ° is tilted to X-axis again and is rotated a circle, free radioactive particle source is sucked in the virtual column body, and will inhale
The central point for entering the intracorporal radioactive particle source of virtual column, which is adapted on the center line of the virtual cylinder, no longer to be moved, and records rotation
Gyration；
F24, circulation execute f23, until virtual cylinder stops when not intersecting with tumour；
When f25, stopping, whether the radioactive particle source for counting free has all been moved through, if then terminating；If otherwise adjustment is every
It is secondary to the inclined degree of X-axis, recycling executes f22-f25 until free radioactive particle source terminates when being all moved through；
F26, mutual distance detection is carried out to the radioactive particle after movement, be overlapped when multiple radioactive particle sources occur
Intersect or apart from radioactive particle source when being less than setting value, moved after deletion.
14. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle in knurl according to claim 10
Path planing method, it is characterised in that: it includes as follows for jeopardizing the radioactive particle source processing of organ and tissue in the knurl
Step:
By after arrangement radioactive particle source and knurl in jeopardize organ and tissue do collision detection and distance exam, if certain radiate
Property particle source central point pass through to jeopardize in knurl in organ and tissue or certain radioactive particle source central point and knurl and jeopardize organ
And tissue the shortest distance be less than setting value when, which is considered as invalid radioactive particle source, deletes the penetrating property grain
Component；It is on the contrary then be effective radioactive particle source, retain the penetrating property particle source.
15. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 1
Paths planning method, it is characterised in that: the implementation of the S3 includes: the planning of parallel pin path and needle track generates and freedom
The planning of angle pin path and needle track generate.
16. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle in knurl according to claim 15
Path planing method, it is characterised in that: the parallel pin path planning and needle track generation include the following steps:
S301a, the square that tumour is divided into multiple X*1*1cm, X are the length and width or high level of tumour；
S302a, each square both ends are extended outwardly；
If the Duan Wei that extends in the same direction of S303a, all squares encounters and jeopardizes organ and tissue outside knurl, with each square of tumour
Center line generates needle track as linear reference line；If extending in the same direction and encountering the sum for jeopardizing organ and tissue outside knurl >=set in section
Definite value, then tumour itself is subjected to rotation until all squares extend in the same direction Duan Wei encounter jeopardize outside knurl organ and tissue or
The square sum for jeopardizing organ and tissue outside knurl is encountered less than setting value, in the rotation angle in each square of tumour
Heart line generates needle track as linear reference line.
17. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle in knurl according to claim 15
Path planing method, it is characterised in that: the parallel pin path planning and needle track generation include the following steps:
S301b, the square that tumour is divided into multiple X*1*1cm, X are the length and width or high level of tumour；
S302b, point centered on a point is chosen in three dimensions, line centered on the Z axis to pass through the central point；
S303b, tumour is rotated a circle centered on central point, if the angle of the surfaces of revolution and center line is α；
The angle continuation of S304b, the adjustment surfaces of revolution and center line are rotated a circle centered on central point, which passes through center
The normal and center line of point are always positioned at same plane；
S305b, circulation execute S304b, until the angle of the surfaces of revolution and center line is+180 ° of α；
S306b, adjustment radius of turn, execute S303b-S305b；
S307b, circulation execute S306b, until radius of turn terminates more than setting value；
S308b, in rotary course, take Q in each radius of turn identical rotation angles, and record and endanger outside knurl
And the square sum of organ and tissue, degree of taking pass through the minimum corresponding rotation angle of square sum for jeopardizing organ and tissue outside knurl
Degree generates needle track using the center line of each square of tumour as linear reference line in the rotation angle.
18. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle in knurl according to claim 15
Path planing method, it is characterised in that: the free angle needle track path planning and needle track generation include the following steps:
With the virtual cylinder center line generation needle track under the rotation angle that is recorded in the free arrangement step in radioactive particle source, by needle
Road extends outwardly, and retains the needle track if extended segment does not pass through and jeopardizes organ and tissue outside knurl, otherwise deletes the needle track, lay equal stress on
It is new to carry out the free arrangement in radioactive particle source.
19. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 1
Paths planning method, it is characterised in that: the implementation of the S4 includes:
According to the isocenter point of automation equipment, corresponding points are found in faulted scanning pattern, find out each needle in three dimensions
The coordinate information in road and Δ X, Δ Y value and the rotation angle value and inclination angle value of isocenter point, are transmitted to automation
Equipment, making it, needle track is run according to schedule.
20. the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle track in knurl according to claim 1
Paths planning method, it is characterised in that: the acquisition of radioactive particle source total quantity, radioactive particle source cloth source and needle in the knurl
Path planing method further includes being calculated after the step of radioactive particle source cloth source dose point in knurl, being delineated in knurl
Isodose curve and calculating simultaneously draw DVH figure.
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