CN112263788A - Quantitative detection system for morphological change in radiotherapy process - Google Patents
Quantitative detection system for morphological change in radiotherapy process Download PDFInfo
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Abstract
The invention provides a quantitative detection system for morphological change in the course of radiotherapy, comprising: the system comprises an optical surface imaging module, a treatment plan design module, a tumor morphology calculation module and a radiotherapy module. The invention uses an optical surface imaging system to obtain the body surface contour, and the shape of the superficial tumor is deduced by combining the body surface contour with the CT image scanned before treatment, and adaptive radiotherapy planning design is carried out. The optical surface imaging system has the advantages that the optical surface imaging system adopts laser as a detection medium, does not radiate human bodies, and can monitor the human bodies at any time during treatment so as to detect the change of tumors in time.
Description
Technical Field
The invention belongs to the field of medical equipment, relates to a quantitative detection system for morphological change in the radiation therapy process, and is a self-adaptive radiation therapy system suitable for superficial tumors.
Background
Malignant tumor is a disease that seriously threatens human survival and health, and the treatment of malignant tumor is one of the most concerned problems in the medical field. Radiotherapy is one of three general methods for treating malignant tumors, and is suitable for about 70 percent of tumor patients. Radiation therapy uses energetic particle radiation to suppress and destroy tumor cells, but also inevitably inflicts some damage to surrounding normal tissue.
Modern intensity modulated radiotherapy technology generates high dose gradient around the tumor by adjusting the intensity of the beam in the irradiation field, so that the deposited dose of high-energy particle rays falls off rapidly at the edge of the tumor, thereby better protecting normal tissues. This high gradient dose distribution also carries risks while satisfying tumor therapy and normal tissue protection: once the shape and position of the tumor are changed, the tumor tissue partially or even completely falls out of the high dose range, and the normal tissue moves into the high dose area, so that the dosage in the tumor tissue is insufficient, and the normal tissue is subjected to overhigh radiation. Therefore, the requirement of people on the accuracy of each link in the radiotherapy process is continuously improved.
Since the conventional radiotherapy treatment course is about 4-6 weeks, the shape, volume and position of the tumor often change in the course of the treatment, and therefore the change of the tumor needs to be monitored during the treatment course, and the radiotherapy plan needs to be adjusted according to the change. This type of therapy, which adapts the plan according to changes in the patient's tumor, is called adaptive radiotherapy. Current means of monitoring tumor changes are primarily CT or cone beam CT (cbct) scans. Since CT/CBCT is an X-ray scanning imaging mode, additional radiation is caused to a patient, and the risk of secondary tumor of the patient is increased.
As can be seen from the above description, adaptive radiotherapy based on CT/CBCT monitoring brings extra radiation dose to the patient, so that the monitoring cannot be repeated for many times, and the treatment plan is difficult to adjust in time.
Disclosure of Invention
The application aims to provide a quantitative detection system for morphological change in the radiation treatment process, and the system is a superficial tumor self-adaptive radiation treatment system based on optical surface imaging.
The invention relates to a quantitative detection system for morphological change in the radiation treatment process, which comprises: the system comprises an optical surface imaging module, a treatment plan design module, a tumor morphology calculation module and a radiotherapy module; the optical surface imaging module transmits the acquired body surface contour image to the tumor form calculation module, the treatment plan design module transmits an initial plan and a CT scanning image to the tumor form calculation module, when the target area form change does not exceed a threshold value, the tumor form calculation module sends a signal to the treatment plan design module, and the treatment plan design module transmits a plan to the radiation treatment module; when the target morphological change exceeds a threshold, the tumor morphology calculation module transmits the current morphology to the treatment plan design module, and the treatment plan design module performs plan modification and transmits the modified plan to the radiation treatment module.
1. The optical surface imaging module comprises one or more optical surface signal detection devices and is used for acquiring body surface contour coordinates of the patient; selecting a body surface optical acquisition device such as Catalyst (C-RAD, Sweden);
2. the treatment plan design module comprises an interested region delineation function, a reversed intensity-modulated plan optimization function and a dose calculation function and is used for designing an initial plan of a patient and an online self-adaptive radiotherapy plan; selecting for example the Raystation treatment planning System (Raysearch Lab, Sweden);
3. the tumor morphology calculation module is used for calculating the superficial tumor morphology of the patient and generating feedback when the morphology change exceeds a threshold value;
4. the radiotherapy module comprises one or more radiotherapy radiation projection devices and is used for directionally projecting high-energy ray beams to a tumor region according to a plan; a linear accelerator such as Trilogy model (Varian, usa) is chosen.
The invention provides a using method of a quantitative detection system, which comprises the following steps:
step 1, firstly, a radiotherapy plan is made according to a CT image of a patient before treatment, and contour information and tumor form information of the CT image are extracted;
step 2, collecting the surface contour information of the patient at a certain specific moment in the treatment stage;
step 3, registering the surface contour extracted in the step 1 and the surface contour collected in the step 2, and deducing the tumor form of a certain specific moment in a treatment stage by combining the registered deformation field and the tumor form information extracted in the step 1;
step 4, comparing the tumor form extracted in the step 1 with the tumor form deduced in the step 3, and entering a step 5 when the form change does not exceed a set threshold, and entering a step 6 when the form change exceeds the set threshold;
and 5, implementing the radiotherapy plan in the step 1.
Step 6, making an adaptive radiotherapy plan based on the changed CT image;
and 7, implementing the radiotherapy plan in the step 6.
The step 1 specifically comprises the following steps:
step 1-1: based on the CT image of the patient before treatment, a region of interest is sketched, including a target area, a crisis organ and an outer contour;
step 1-2: setting irradiation field parameters and an optimization target, and automatically optimizing by a planning system to generate a radiotherapy plan;
the step 2 specifically comprises the following steps:
step 2-1: fixing the position of the patient in the treatment room at a specific moment in the treatment phase;
step 2-2: collecting coordinate values of a series of body surface points of a patient by using an optical surface imaging system;
the step 3 specifically comprises the following steps:
step 3-1: analyzing the image and the region of interest in the step 1-1 into a matrix form, and recording an image gray matrix as MiPTV tag matrix is MPThe outer contour label matrix is MB；
Step 3-2: resolving a series of body surface point coordinates in the step 2-2 into a matrix form, and recording as MB2；
Step 3-3: will MBAnd MB2Rigid registration is carried out, and the deformation field function of rigid transformation is recorded as fR；
Step 3-4: the initial outline matrix f after rigid transformationR(MB) And MB2Performing non-rigid registration, and recording the deformation field function of the non-rigid transformation as fD；
Step 3-5: will f isRAnd fDActing on MPObtaining a deformed PTV label matrix MP2，MP2＝fD(fR(MP))；
The step 4 specifically comprises the following steps:
step 4-1: calculating MP2And MPThe Dice index of (a) is calculated by the formula:
Dice＝2(V1∩V1)/(V1+V2)
wherein V1And V2Are respectively MP2And MPIn the matrix, the range in which the PTV tag is located;
step 4-2: setting a Dice threshold epsilon, and executing the step 5 without self-adaptive plan correction when Dice is larger than epsilon; when the Dice is less than the epsilon, self-adaptive plan correction is carried out, and step 6 is executed;
the step 6 specifically comprises the following steps:
step 6-1: f obtained by calculation in step 3RAnd fDActing on MiObtaining a deformed PTV label matrix Mi2，Mi2＝fD(fR(Mi))；
Step 6-2: based on Mi2And MP2Setting irradiation field parameters and an optimization target, and automatically optimizing and generating a self-adaptive radiotherapy plan through a planning system.
Further, the patient CT image in step 1 is from a simulated localized CT scan.
Further, the region of interest in step 1 can be marked by a Raystation V4.7 planning system (RaySearch Lab, Sweden) automatic delineation module, and is manually modified.
Further, the irradiation field parameters and the optimization targets in the steps 1 and 6 are manually set.
Further, the body surface coordinate points in step 2 are acquired by a Catalyst (C-RAD, sweden) device.
Further, the non-rigid image registration method in step 3 may use a finite element based non-rigid registration algorithm or a full convolution network based non-rigid registration algorithm.
Further, the planning implementation in step 5 and step 7 may be performed by a Trilogy model linear accelerator (Varian, usa).
Optical surface imaging refers to a technique of projecting laser to the body surface of a patient, acquiring body surface scattered light by a camera, and reconstructing the body surface scattered light by a computer to form a body surface contour image, and is generally used for positioning radiotherapy patients. In current applications, the system typically treats the target area of the patient as a particle, and the placement calibration is performed by the relative position of the particle and the surface profile, regardless of the morphology of the target area. In the invention, an optical surface imaging system is used for acquiring the body surface contour, the shape of the superficial tumor is deduced from the body surface contour by combining with the CT image scanned before treatment, and the adaptive radiotherapy planning design is carried out. The optical surface imaging system has the advantages that the optical surface imaging system adopts laser as a detection medium, does not radiate human bodies, and can monitor the human bodies at any time during treatment so as to detect the change of tumors in time.
Drawings
FIG. 1 is a schematic structural diagram of the apparatus of the present invention.
FIG. 2 is a schematic flow chart of the treatment method of the present invention.
FIG. 3 is a schematic diagram of a process for obtaining body surfaces, tumors, and other regions of interest from CT scan data.
FIG. 4 is a schematic diagram of a process for obtaining a body surface contour reconstruction from an optical surface imaging system.
FIG. 5 is a schematic diagram of a process for inferring tumor deformation from non-rigid registration of body surface contours.
Detailed Description
The invention is further explained by the accompanying drawings and examples.
Example 1
As shown in fig. 1, a quantitative detection system for morphological changes during radiation therapy, the quantitative detection system comprising: an optical surface imaging module (module 1 for short), a treatment plan design module (module 2 for short), a tumor morphology calculation module (module 3 for short) and a radiotherapy module (module 4 for short); the module 1 transmits the acquired body surface contour image to the module 3, the module 2 transmits an initial treatment plan and a CT scanning image to the module 3, in the tumor shape calculation module 3, a superficial tumor shape is calculated according to the CT scanning image and the body surface contour image, the deformation variable value of the tumor is calculated, a threshold value is set, when the target area shape change does not exceed the threshold value, a signal is sent to the module 2, and the module 2 transmits the plan to the module 4 and carries out treatment; when the target volume morphometric change exceeds a threshold, the current superficial tumor morphology is transmitted to module 2, plan revision is performed by module 2, and the revised plan is transmitted to module 4 and treatment is delivered.
The functions of the respective components are explained in detail below:
1. optical surface imaging module (module 1) comprising one or several optical surface signal detection devices for acquiring body surface contour coordinates of a patient, in particular for: at a certain specific moment in the treatment stage, a body position fixing device which is consistent with the positioning scanning is used in the treatment room, such as a thermoplastic film, a bracket and the like to fix the body position of the patient, so that the body position is kept consistent with the positioning scanning, a laser transmitter of a Catalyst device is used for scanning the body surface of the patient, a receiver automatically acquires coordinate values of a series of body surface points of the patient, and the coordinate values are transmitted to a tumor form calculation module in a text format. For example, a Catalyst (C-RAD, Sweden) body surface optical acquisition device is selected.
2. A treatment plan design module (module 2) including an interested region delineation function, a reverse intensity modulation plan optimization function and a dose calculation function, for designing a patient initial plan and an online adaptive radiotherapy plan, specifically for:
guiding the CT image of the patient subjected to positioning scanning into a Raystation V4.7 treatment planning system, and delineating an interested region including a target region, a crisis organ and an outer contour by a radiotherapy doctor according to clinical specifications; according to clinical specifications, a dosimeter sets appropriate irradiation field parameters, an optimization target is set for each region of interest, and a radiotherapy plan is generated through automatic optimization of a planning system.
The changed CT image of the patient and the region of interest calculated in the module 3 are led into a Raystation V4.7 treatment planning system, a dosimeter sets appropriate irradiation field parameters according to clinical specifications, an optimization target is set for each region of interest, and a self-adaptive radiotherapy plan is generated through automatic optimization of the planning system.
Acquiring a signal in the module 3, and transmitting an original plan to the module 4 when the signal for executing the original plan is received; when signaled by the adaptive radiotherapy planning, an adaptive radiotherapy plan is developed and transmitted to module 4.
3. A tumor morphology calculation module for calculating superficial tumor morphology of the patient and generating feedback when the morphology change exceeds a threshold, in particular for:
analyzing the image and the region of interest imported in the module 2 into a matrix form, and recording an image gray matrix as Mi，MiThe value of each element in (a) corresponds to the HU value of the pixel in the image. Let PTV tag matrix be MP，MPThe corresponding position of the element in (1) has a value of 1 inside the PTV and a value of 0 outside the PTV. Recording the outer contour label matrix as MB；MBThe corresponding position of element (b) is 1 in the human body and 0 outside the human body.
Analyzing a series of body surface point coordinates led in the module 1 into a matrix form, and recording the matrix form as MB2，MB2The corresponding position of the element in (1) is 1 in the body surface coordinates, and the value outside the body surface coordinates is 0. Will MBAnd MB2Rigid registration is carried out, and the deformation field function of rigid transformation is recorded as fR(ii) a The initial outline matrix f after rigid transformationR(MB) And MB2Performing non-rigid registration, and recording the deformation field function of the non-rigid transformation as fD(ii) a Will f isRAnd fDActing on MPObtaining a deformed PTV label matrix MP2，MP2＝fD(fR(MP))。
Calculating MP2And MPThe Dice index of (a) is calculated by the formula:
Dice＝2(V1∩V1)/(V1+V2)
wherein V1And V2Are respectively MP2And MPIn the matrix, the range in which the PTV tag is located. The calculation method comprises the following steps: will MP2And MPAdding to obtain M ═ MP2+MPGo through the element in M, V1∩V1Is the total number of elements with a value equal to 2, V1+V2The total number of elements having a value greater than 0.Setting a threshold epsilon of Dice, and transmitting an execution original plan signal into the module 2 without performing self-adaptive plan correction when Dice is larger than epsilon; when the Dice is less than epsilon, the self-adaptive plan correction is carried out, and a signal for making the self-adaptive radiotherapy plan is transmitted into the module 2.
4. A radiation therapy module (module 4) comprising one or several radiation therapy radiation delivery devices for directionally delivering a high energy radiation beam, such as a Trilogy model linear accelerator (Varian, usa), to the tumor region according to a plan. Specifically for receiving the plan introduced in module 2 and delivering the treatment. The method is to transmit the plan to a Trilogy model linear accelerator (Varian, USA) through a radiotherapy network system and to perform irradiation.
Example 2
The use method of the device provided by embodiment 1 of the present invention has a specific flowchart as shown in fig. 2, and the specific process is as follows:
step 1: firstly, before treatment, a radiotherapy plan is made according to a CT image of a patient, and contour information and tumor form information of the CT image are extracted;
in step 1, a CT image of a patient is obtained by a simulated localized CT scan. The step 1 specifically comprises the following steps:
in step 1-1, the scanned CT image of the patient is imported into a Raystation V4.7 treatment planning system, and an interested area including a target area, a crisis organ and an outer contour is sketched by a radiotherapy doctor according to clinical specifications;
in step 1-2, according to clinical specifications, a dosimeter sets appropriate irradiation field parameters, sets optimization targets for each region of interest, and generates a radiotherapy plan through automatic optimization of a planning system.
Step 2: at a particular point in the treatment session, patient surface contour information is collected by the Catalyst (C-RAD, sweden) device. The step 2 specifically comprises the following steps:
in step 2-1, at a certain time in the treatment stage, a body position fixing device which is consistent with the positioning scanning is used in the treatment room, such as a thermoplastic film, a bracket and the like, to fix the body position of the patient, so that the body position is consistent with the positioning scanning;
in step 2-2, the body surface of the patient is scanned by a laser transmitter of a Catalyst device, and the coordinate values of a series of body surface points of the patient are automatically acquired by a receiver and transmitted to a tumor morphology calculation module in a text format.
And step 3: and (3) registering the surface contour extracted in the step (1) and the surface contour acquired in the step (2), and deducing the tumor form of a certain specific moment in the treatment stage by combining the registered deformation field and the tumor form information extracted in the step (1). The step 3 specifically comprises the following steps:
in step 3-1, the image and the region of interest in step 1-1 are analyzed into a matrix form, and the image gray matrix is recorded as Mi，MiThe value of each element in (a) corresponds to the HU value of the pixel in the image. Let PTV tag matrix be MP，MPThe corresponding position of the element in (1) has a value of 1 inside the PTV and a value of 0 outside the PTV. Recording the outer contour label matrix as MB；MBThe corresponding position of element (b) is 1 in the human body and 0 outside the human body.
In step 3-2, a series of body surface point coordinates in step 2-2 are analyzed into a matrix form, which is marked as MB2，MB2The corresponding position of the element in (1) is 1 in the body surface coordinates, and the value outside the body surface coordinates is 0.
In step 3-3, M is addedBAnd MB2Rigid registration is carried out, and the deformation field function of rigid transformation is recorded as fR；
In step 3-4, the initial outline matrix f after rigid transformation is processedR(MB) And MB2Performing non-rigid registration, and recording the deformation field function of the non-rigid transformation as fD；
In step 3-5, f isRAnd fDActing on MPObtaining a deformed PTV label matrix MP2，MP2＝fD(fR(MP))；
And 4, step 4: comparing the tumor morphology extracted in the step 1 with the tumor morphology deduced in the step 3 and feeding back, and the method specifically comprises the following steps:
in step 4-1, M is calculatedP2And MPDie index ofThe calculation formula is as follows:
Dice＝2(V1∩V1)/(V1+V2)
wherein V1And V2Are respectively MP2And MPIn the matrix, the range in which the PTV tag is located. The calculation method comprises the following steps: will MP2And MPAdding to obtain M ═ MP2+MPGo through the element in M, V1∩V1Is the total number of elements with a value equal to 2, V1+V2The total number of elements with a value greater than 0;
in step 4-2, setting a threshold epsilon of the Dice, and executing step 5 without self-adaptive plan correction when the Dice is larger than epsilon; and when the Dice is less than the epsilon, performing self-adaptive plan correction and executing the step 6.
And 5: the radiotherapy plan in step 1 is implemented. The method is to transmit the plan to a Trilogy model linear accelerator (Varian, USA) through a radiotherapy network system and to perform irradiation.
Step 6: the self-adaptive radiotherapy plan is made based on the changed CT image, and the self-adaptive radiotherapy plan specifically comprises the following steps:
in step 6-1, f calculated in step 3 is addedRAnd fDActing on MiObtaining a deformed PTV label matrix Mi2，Mi2＝fD(fR(Mi) M) ofi2And M in Steps 3 to 5P2Transmitting to the planning system in a format conforming to the DICOM protocol;
in step 6-2, based on Mi2And MP2According to clinical specifications, a dosimeter sets appropriate irradiation field parameters, an optimization target is set for each region of interest, and a radiotherapy plan is generated through automatic optimization of a planning system.
And 7: the radiotherapy plan in step 6 is implemented. The method is to transmit the plan to a Trilogy model linear accelerator (Varian, USA) through a radiotherapy network system and to perform irradiation.
Example 3
In the embodiment 3 of the invention, breast cancer is taken as an example, one left breast cancer full-breast-conserving radiotherapy patient case is selected and treated by adopting an Intensive Modulated Radiotherapy (IMRT) mode, and the prescription dose is 50 Gy/25. The method comprises the following specific steps:
1. fixing the body position of a patient by using a negative pressure vacuum pad, simulating positioning scanning, and transmitting a CT image to a Raystation V4.7 planning system after scanning is finished;
2. delineating regions of interest including target volume (PTV), affected lung, whole lung, heart, spinal cord and outer contour by a radiotherapy physician according to clinical norms;
3. according to clinical specifications, appropriate radiation field parameters were set by the dosimeter, including 5 coplanar 6MV X-ray fields at angles of 300 °, 330 °, 15 °, 90 ° and 120 °, respectively. Optimization objectives are set for each region of interest, as shown in table 1. Generating a radiotherapy plan through automatic optimization of a planning system;
TABLE 1 optimization goals for regions of interest
| Region of interest | Object type | Target value | Weight of |
| PTV | Minimum dose | 5000cGy | 100 |
| Affected side lung | Maximum V5 | 50 | 5 |
| Affected side lung | Maximum V20 | 30 | 5 |
| Affected side lung | Maximum V30 | 20 | 5 |
| Whole lung | Maximum average dose | 600cGy | 5 |
| Heart and heart | Maximum average dose | 600cGy | 5 |
| Spinal cord | Maximum dose | 500cGy | 5 |
| Outer contour | Maximum dose | 5350cGy | 50 |
4. Transmitting the CT image and the region of interest to a tumor morphology calculation module in a DICOM format;
5. before each treatment, a negative pressure vacuum pad is used in the treatment room to keep the body position consistent with that in the simulation positioning process, and the negative pressure vacuum pad is fixed on the treatment bed;
6. automatically scanning the body surface of a patient by using a laser transmitter of a Catalyst device, automatically acquiring body surface point coordinate values by using a receiver, and transmitting the coordinate values to a tumor form calculation module in a text format;
7. in the tumor shape calculation module, the image and the region of interest in the step 4 are analyzed into a matrix form, and an image gray matrix is recorded as Mi，MiThe value of each element in (a) corresponds to the HU value of the pixel in the image. Let PTV tag matrix be MP，MPThe corresponding position of the element in (1) has a value of 1 inside the PTV and a value of 0 outside the PTV. Recording the outer contour label matrix as MB；MBThe corresponding position of the element in (1) is 1 in the human body, and the value outside the human body is 0;
8. analyzing the series of body surface point coordinates in the step 6 into a matrix form, and recording the matrix form as MB2，MB2The value of the corresponding position of the element in (1) is 1 in the body surface coordinate, and the value outside the body surface coordinate is 0;
9. will MBAnd MB2Rigid registration is carried out, and the deformation field function of rigid transformation is recorded as fR；
10. The initial outline matrix f after rigid transformationR(MB) And MB2Performing non-rigid registration, and recording the deformation field function of the non-rigid transformation as fD；
11. Will f isRAnd fDActing on MPObtaining a deformed PTV label matrix MP2，MP2＝fD(fR(MP))；
12. Calculating MP2And MPThe Dice index of (a) is calculated by the formula:
Dice＝2(V1∩V1)/(V1+V2)
wherein V1And V2Are respectively MP2And MPIn the matrix, the range in which the PTV tag is located. The calculation method comprises the following steps: will MP2And MPAdding to obtain M ═ MP2+MPGo through the element in M, V1∩V1Is the total number of elements with a value equal to 2, V1+V2The total number of elements with a value greater than 0;
13. setting a threshold epsilon of Dice to be 0.9, and when Dice is larger than epsilon, not performing self-adaptive plan correction; and when the Dice is less than the epsilon, performing self-adaptive plan correction. In this embodiment, if Dice is 0.86, adaptive plan correction is required;
14. will f isRAnd fDActing on MiObtaining a deformed PTV label matrix Mi2，Mi2＝fD(fR(Mi) M) ofi2And MP2Transmitting to the planning system in a format conforming to the DICOM protocol;
15. based on Mi2And MP2Appropriate radiation field parameters were set by the dosimeter according to clinical specifications, including 5 coplanar 6MV X-ray fields at 295 °, 325 °, 15 °, 90 ° and 120 ° angles, respectively. And setting an optimization target for each region of interest, and automatically optimizing and generating a radiotherapy plan through a planning system.
16. The plan is transmitted through the radiotherapy network system to a Trilogy model linear accelerator (Varian, usa) and irradiation is performed.
Claims (3)
1. The quantitative detection system for morphological change in the radiation treatment process is characterized by comprising an optical surface imaging module, a treatment plan design module, a tumor morphological calculation module and a radiation treatment module.
2. The quantitative detection system of claim 1, wherein the optical surface imaging module transmits the acquired body surface contour image to the tumor morphology calculation module, the treatment plan design module transmits the initial plan and the CT scan image to the tumor morphology calculation module, and when the target volume morphology change does not exceed the threshold, the tumor morphology calculation module sends a signal to the treatment plan design module, which transmits the plan to the radiation treatment module; when the target morphological change exceeds a threshold, the tumor morphology calculation module transmits the current morphology to the treatment plan design module, and the treatment plan design module performs plan modification and transmits the modified plan to the radiation treatment module.
3. The quantitative detection system of claim 1 or 2,
(1) the optical surface imaging module comprises one or more optical surface signal detection devices and is used for acquiring body surface contour coordinates of the patient;
(2) the treatment plan design module comprises an interested region delineation function, a reversed intensity-modulated plan optimization function and a dose calculation function and is used for designing an initial plan and an online self-adaptive radiotherapy plan;
(3) the tumor morphology calculation module is used for calculating the superficial tumor morphology and generating feedback when the morphology change exceeds a threshold value;
(4) and the radiotherapy module comprises one or more radiotherapy radiation projection devices and is used for directionally projecting the high-energy ray beam to the tumor region according to the plan.
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| WO2022170970A1 (en) * | 2021-02-09 | 2022-08-18 | 西安大医集团股份有限公司 | Method for generating radiotherapy plan, and radiotherapy plan system and storage medium |
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