CN115227987A - Method and device for detecting positions of patient and radiotherapy equipment - Google Patents
Method and device for detecting positions of patient and radiotherapy equipment Download PDFInfo
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- CN115227987A CN115227987A CN202210887423.4A CN202210887423A CN115227987A CN 115227987 A CN115227987 A CN 115227987A CN 202210887423 A CN202210887423 A CN 202210887423A CN 115227987 A CN115227987 A CN 115227987A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1059—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using cameras imaging the patient
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Abstract
The invention discloses a method and a device for detecting the positions of a patient and radiotherapy equipment, wherein the method comprises the steps of respectively acquiring the image information of a moving bed carrying the patient of the radiotherapy equipment and the image information of a rotating treatment head in the radiotherapy equipment; respectively determining a first photographing coordinate of a moving bed with a patient of the radiotherapy equipment and a second photographing coordinate of a treatment head rotating in the radiotherapy equipment according to the image information; determining a distance deviation value according to the first photographing coordinate and the second photographing coordinate; and determining to continue treatment or prompt safety early warning information according to the comparison relation between the distance deviation value and a safety preset distance. According to the invention, the fixed marking assembly, the moving bed marking assembly and the therapeutic head marking assembly are arranged, and the position coordinates on the fixed marking shot by the camera are compared with the actual position coordinates to determine whether the patient is in contact with the risk, so that the early warning is safe and reliable, the realization is easy, and the cost is low.
Description
Technical Field
The invention belongs to the technical field of position detection, and particularly relates to a method and a device for detecting the positions of a patient and radiotherapy equipment.
Background
In general, in order to protect the safety of patients and equipment and prevent moving parts from interfering with the patients and the parts, some detecting devices are mounted on surfaces which are easy to interfere, when the interference occurs, the detecting devices are triggered, all the movement of the whole radiotherapy equipment is stopped, but the detecting devices are easy to be touched by users or patients by mistake, unnecessary stop detection is caused, the treatment time is delayed, and the radiotherapy equipment is particularly easy to damage, and the cost is too high.
Meanwhile, the position of the moving part of the existing radiotherapy equipment is usually detected by an encoder, the fixed frame has no position detection function, the relative distance between the moving bed and the treatment head cannot be detected, and the protection of the patient and the moving part is realized by limiting the operation range of the patient and the moving part, such as mechanical and electrical limiting and the like.
Disclosure of Invention
In view of the above, the main objective of the present invention is to provide a method and a device for detecting the positions of a patient and a radiotherapy apparatus.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the embodiment of the invention provides a method for detecting the positions of a patient and radiotherapy equipment, which comprises the following steps:
respectively acquiring image information of a moving bed of a patient carried by radiotherapy equipment and image information of a rotating treatment head in the radiotherapy equipment;
respectively determining a first photographing coordinate of a moving bed with a patient of the radiotherapy equipment and a second photographing coordinate of a treatment head rotating in the radiotherapy equipment according to the image information;
determining a distance deviation value according to the first photographing coordinate and the second photographing coordinate;
and determining to continue treatment or prompt safety early warning information according to the comparison relation between the distance deviation value and a safety preset distance.
Preferably, the present invention determines a first photographing coordinate between a fixed frame of the radiotherapy apparatus and a moving bed of the radiotherapy apparatus carrying a patient and a second photographing coordinate between the fixed frame of the radiotherapy apparatus and a treatment head rotating in the radiotherapy apparatus according to the image information, specifically: the photographing coordinates in the image information are determined through the imaging model, and when distortion does not occur, the photographing coordinates are as follows:
x corrected ＝x(1+k 1 r 2 +k 2 r 4 +k 3 r 6 )+2p 1 xy+p 2 (r 2 +2x 2 )
y corrected ＝y(1+k 1 r 2 +k 2 r 4 +k 3 r 6 )+p 1 (r 2 +2y 2 )+2p 2 xy
wherein p is 1 Is an arbitrary first point on the image information, x is the abscissa value of the point P, y is the ordinate value of the point P, r is the distance between the point P and the origin, k 1 Is the first distortion coefficient, k 2 Is the second distortion coefficient, k 3 Is the third distortion coefficient.
Preferably, the present invention further comprises a step of determining a first photographing coordinate between a gantry of the radiotherapy apparatus and a moving bed of the radiotherapy apparatus carrying a patient and a second photographing coordinate between the gantry of the radiotherapy apparatus and a treatment head rotating in the radiotherapy apparatus according to the image information, wherein before the step of performing distortion correction on the image information if the image information is distorted, specifically: according to
Determining a distortion factor r, and performing distortion correction point by point according to the distortion factor r to obtain an actual image; wherein the observed coordinates are (x, y), and the origin of the polar coordinates is (x) 0 ，y 0 )。
Preferably, the distance deviation value is determined according to the first photographing coordinate and the second photographing coordinate, and specifically includes: a distance | d | between the first photographing coordinate and the second photographing coordinate is:
wherein x is 1 ，y 1 Is the first photographing coordinate, x 2 ，y 2 A second photographing coordinate;
carrying out calibration analysis on the image information, and determining a scale of the image information and an actual scene;
and determining the distance deviation value of the first photographing coordinate and the second photographing coordinate according to the distance | d | between the first photographing coordinate and the second photographing coordinate and the scale.
Preferably, the determining of continuing the treatment or prompting the safety early warning information according to the comparison relationship between the deviation value and the safety preset distance specifically includes: when the deviation value is less than or equal to the safety preset distance, carrying out safety early warning, stopping treatment and protecting the safety of a patient and radiotherapy equipment; and when the deviation value is greater than the safety preset distance, the radiotherapy equipment continues to work.
The second embodiment of the invention provides a detection device for the position detection method of the patient and the radiotherapy equipment, which comprises a fixed marking component adhered to one side or two opposite sides of the radiotherapy equipment, a moving bed marking component adhered to one side or two opposite sides of a moving bed, and a treatment head marking component arranged at the bottom of a treatment head, wherein a first camera component and a second camera component are respectively arranged on wall surfaces on two sides of the machine frame, and the focusing points of the first camera component and the second camera component are positioned on the same horizontal line with the isocenter of the machine frame.
Preferably, the fixed marking assembly comprises a first fixed marking, a second fixed marking and a third fixed marking, the first fixed marking, the second fixed marking and the third fixed marking are respectively arranged on three adjacent surfaces of the rack, the distances between the first fixed marking, the second fixed marking and the third fixed marking and the isocenter are equal, the first fixed marking, the second fixed marking and the third fixed marking are in a first shape, and highly sensitive reflective materials and light absorption materials are arranged on the first fixed marking, the second fixed marking and the third fixed marking at intervals.
Preferably, the moving bed marking assembly comprises a moving bed marking, the moving bed marking is arranged on one side of the moving bed entering the stander, the moving bed marking is in a second shape, and a high-sensitivity light reflecting material and a light absorbing material are arranged on the moving bed marking at intervals.
Preferably, the therapeutic head marking assembly comprises a therapeutic head marking which is arranged at the bottom of the therapeutic head, and the therapeutic head marking is in a third shape and is provided with high-sensitivity light reflecting materials and light absorbing materials at intervals.
Preferably, the first camera assembly comprises a first fixed-focus camera and a first camera base, the first fixed-focus camera is fixed on a wall surface on one side of the machine frame through the first camera base, the second camera assembly comprises a second fixed-focus camera and a second camera base, the second fixed-focus camera is fixed on a wall surface on the other side of the machine frame through the second camera base, the focus points of the first fixed-focus camera and the second fixed-focus camera and the isocenter point of the machine frame are located on the same horizontal line, and the first fixed-focus camera and the second fixed-focus camera are connected with a microprocessor on an upper computer mainboard of the radiotherapy equipment through a network cable.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the fixed marking assembly, the moving bed marking assembly and the therapeutic head marking assembly are arranged, and the position coordinates on the fixed marking photographed by the camera are compared with the actual position coordinates to determine whether the patient is in contact with risks, so that the early warning is safe and reliable, the implementation is easy, the cost is low, the early warning system can be organically combined with a therapeutic planning system of radiotherapy equipment, the effective protection on the patient and the equipment is improved, the wrong planning caused by human factors can be effectively avoided, and the unnecessary contact risk on the patient is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a method for detecting positions of a patient and a radiotherapy apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first detection device for a method for detecting positions of a patient and radiotherapy equipment according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second detection apparatus for a method of detecting positions of a patient and radiotherapy equipment according to a second embodiment of the present invention;
FIG. 4 is a parameter diagram of a calibration method according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a second fixing reticle of the embodiment of the present invention;
FIG. 6 is a schematic view of the structure of the line of the exercise bed according to the second embodiment of the present invention;
fig. 7 is a schematic structural view of a treatment head mark according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, the terms describing the positional relationships in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but also other elements not expressly listed or inherent to such process, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a" \8230; "does not exclude the presence of additional like elements in a process, article, or apparatus that comprises the element.
The embodiment of the invention provides a method for detecting the positions of a patient and radiotherapy equipment, which is realized by the following steps as shown in figure 1:
step 101: respectively acquiring image information of a moving bed of a patient carried by radiotherapy equipment and image information of a rotating treatment head in the radiotherapy equipment;
specifically, the photographing coordinates in the image information are determined through the imaging model, and when distortion does not occur, the photographing coordinates are as follows:
x corrected ＝x(1+k 1 r 2 +k 2 r 4 +k 3 r 6 )+2p 1 xy+p 2 (r 2 +2x 2 )
y corrected ＝y(1+k 1 r 2 +k 2 r 4 +k 3 r 6 )+p 1 (r 2 +2y 2 )+2p 2 xy
wherein p is 1 Is an arbitrary first point on the image information, x is the abscissa value of the point P, y is the ordinate value of the point P, r is the distance between the point P and the origin, k 1 Is the first distortion coefficient, k 2 Is the second distortion coefficient, k 3 Is the third distortion coefficient.
If the image information is distorted, performing distortion correction on the image information, specifically: according to
Step 102: respectively determining a first photographing coordinate of a moving bed with a patient of the radiotherapy equipment and a second photographing coordinate of a treatment head rotating in the radiotherapy equipment according to the image information;
step 103: determining a distance deviation value according to the first photographing coordinate and the second photographing coordinate;
specifically, step 1031: the distance | d | between the first photographing coordinate and the second photographing coordinate;
the method specifically comprises the following steps: distance | d | is:
wherein x is 1 ,y 1 As the first photographing coordinate, x 2 ,y 2 The second photographing coordinate.
Step 1032: carrying out calibration analysis on the image information, and determining a scale of the image information and an actual scene;
after the first fixed-focus camera 81 or the second fixed-focus camera 91 obtains a picture, calculating according to actual parameters to obtain a scale for determining image information and an actual scene;
it is known that: the first, second and third fixed markings 41, 42, 43 have a width L0 and a height L6;
setting: in the image information, the actual first, second, or third fixed reticle 41, 42, or 43 has a pixel width of L0', a height of L6', and a scale of Rx, ry;
the first, second and third fixed gauge lines 41, 42 and 43 are scaled as follows:
Rx＝L0/L0’；
Ry＝L6/L6’；
the resulting Rx and Ry values for the first, second and third fixed markings 41, 42, 43 are then averaged.
The scale is the average value of Rx: average value of Ry.
Step 1033: and determining the distance deviation value of the first photographing coordinate and the second photographing coordinate according to the distance | d | between the first photographing coordinate and the second photographing coordinate and the scale.
The method comprises the following specific steps: the distance deviation value of the first photographing coordinate and the second photographing coordinate is specifically as follows: distance | d | ÷ scale.
Step 104: and determining to continue treatment or prompt safety early warning information according to the comparison relation between the distance deviation value and a safety preset distance.
Specifically, when the deviation value is less than or equal to a safety preset distance, safety early warning is carried out, treatment is stopped, and the safety of a patient and radiotherapy equipment is protected; and when the deviation value is greater than the safety preset distance, the radiotherapy equipment continues to work.
The second embodiment of the present invention provides the detection apparatus for the position detection method of the patient and the radiotherapy equipment, as shown in fig. 2-3, the detection apparatus includes a fixed reticle assembly 4 attached to one or both sides of the radiotherapy equipment, a moving bed reticle assembly 6 attached to one or both sides of the moving bed 5, and a treatment head reticle assembly 7 disposed at the bottom of the treatment head, the wall surfaces on both sides of the gantry 3 are respectively provided with a first camera assembly 8 and a second camera assembly 9, and the focus point of the first camera assembly 8 and the second camera assembly 9 is on the same horizontal line with the isocenter of the gantry 3.
As shown in fig. 2, 3 and 5, the fixed reticle assembly 4 includes a first fixed reticle 41, a second fixed reticle 42 and a third fixed reticle 43, the first fixed reticle 41, the second fixed reticle 42 and the third fixed reticle 43 are respectively disposed on three adjacent surfaces of the rack, distances between the first fixed reticle 41, the second fixed reticle 42 and the third fixed reticle 43 and an isocenter are equal, the first fixed reticle 41, the second fixed reticle 42 and the third fixed reticle 43 are all in a first shape, and a highly sensitive reflective material and a light absorbing material are disposed on the first fixed reticle 41, the second fixed reticle 42 and the third fixed reticle 43 at intervals.
Specifically, the first shape is formed by arranging a plurality of square black lattices and square white lattices at intervals, highly sensitive light-reflecting materials are arranged on the square black lattices, and light-absorbing materials are arranged on the square white lattices.
As shown in fig. 2, 3 and 6, the moving bed reticule assembly 6 includes a moving bed reticule 61, the moving bed reticule 61 is arranged on one side of the moving bed 5 entering the frame 3, and the moving bed reticule 61 is in a second shape, and a high-sensitivity light reflecting material and a light absorbing material are arranged on the moving bed reticule at intervals.
Specifically, the second shape is that a plurality of triangle-shaped black grids and triangle-shaped white grids set up at interval, be provided with high-sensitive reflecting material on the triangle-shaped black grid, be provided with the extinction material on the triangle-shaped white grid.
As shown in fig. 2, fig. 3 and fig. 7, the treatment head marking assembly 7 includes a treatment head marking 71, the treatment head marking 71 is disposed at the bottom of the treatment head 2, and the treatment head marking 71 has a third shape, on which highly sensitive reflective materials and light absorbing materials are disposed at intervals.
Specifically, the third shape is that a plurality of circular black grids and circular white grids are arranged at intervals, highly sensitive reflecting materials are arranged on the circular black grids, and light absorbing materials are arranged on the circular white grids.
As shown in fig. 2-3, the first camera assembly 8 includes a first fixed focus camera 81 and a first camera base 82, the first fixed focus camera 81 is fixed on the wall surface of one side of the frame 3 through the first camera base 82, the second camera assembly 9 includes a second fixed focus camera 91 and a second camera base 92, the second fixed focus camera 91 is fixed on the wall surface of the other side of the frame 3 through the second camera base 92, the focusing points of the first fixed focus camera 81 and the second fixed focus camera 91 are on the same horizontal line with the isocenter of the frame 3, and the first fixed focus camera 81 and the second fixed focus camera 91 are connected with the microprocessor on the upper computer main board of the radiotherapy device through the network cable.
Specifically, when the moving bed 5 carrying the patient 10 is positioned on the head of the patient and enters the gantry 3, the first fixed-focus camera 81 starts capturing image information, and the second fixed-focus camera 91 is deactivated; when the moving bed 5 with the patient 10 is positioned at the foot of the patient and enters the frame 3, the second fixed-focus camera 91 starts to capture image information and the first fixed-focus camera 81 is deactivated.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A method for detecting the positions of a patient and radiotherapy equipment is characterized by comprising the following steps: the method comprises the following steps:
respectively acquiring image information of a moving bed of a patient carried by radiotherapy equipment and image information of a rotating treatment head in the radiotherapy equipment;
respectively determining a first photographing coordinate of a moving bed with a patient of the radiotherapy equipment and a second photographing coordinate of a treatment head rotating in the radiotherapy equipment according to the image information;
determining a distance deviation value according to the first photographing coordinate and the second photographing coordinate;
and determining to continue treatment or prompt safety early warning information according to the comparison relation between the distance deviation value and a safety preset distance.
2. The method for detecting the position of a patient and a radiotherapy device according to claim 1, wherein: confirm according to image information respectively that the fixed frame of radiotherapy equipment and radiotherapy equipment carry the first coordinate of shooing between the motion bed of patient, with the fixed frame of radiotherapy equipment and the second coordinate of shooing between the rotatory treatment head in the radiotherapy equipment, specifically be: the photographing coordinates in the image information are determined through the imaging model, and when distortion does not occur, the photographing coordinates are as follows:
x corrected ＝x(1+k 1 r 2 +k 2 r 4 +k 3 r 6 )+2p 1 xy+p 2 (r 2 +2x 2 )
y corrected ＝y(1+k 1 r 2 +k 2 r 4 +k 3 r 6 )+p 1 (r 2 +2y 2 )+2p 2 xy
wherein p is 1 Is an arbitrary first point on the image information, x is the abscissa value of the point P, y is the ordinate value of the point P, r is the distance between the point P and the origin, k 1 Is the first distortion coefficient, k 2 Is the second distortion coefficient, k 3 Is the third distortion coefficient.
3. A patient and radiotherapy apparatus position according to claim 2The detection method is characterized in that: determining a first photographing coordinate between a frame of the radiotherapy equipment and a moving bed of the radiotherapy equipment carrying a patient and a second photographing coordinate between the frame of the radiotherapy equipment and a rotating treatment head in the radiotherapy equipment according to the image information, wherein before, the method further comprises the step of carrying out distortion correction on the image information if the image information is distorted, and specifically comprises the following steps: according to
Determining a distortion factor r, and carrying out distortion correction point by point according to the distortion factor r to obtain an actual image; the observed coordinates are (x, y), and the origin of the polar coordinates is (x) 0 ,y 0 )。
4. A method of detecting the position of a patient and radiotherapy apparatus according to claim 3, wherein: determining a distance deviation value according to the first photographing coordinate and the second photographing coordinate, specifically: the distance | d | between the first photographing coordinate and the second photographing coordinate is:
wherein x is 1 ,y 1 Is the first photographing coordinate, x 2 ,y 2 A second photographing coordinate;
carrying out calibration analysis on the image information, and determining a scale of the image information and an actual scene;
and determining the distance deviation value of the first photographing coordinate and the second photographing coordinate according to the distance | d | between the first photographing coordinate and the second photographing coordinate and the scale.
5. The method for detecting the position of a patient and a radiotherapy device according to claim 4, wherein: the step of determining to continue treatment or prompt safety early warning information according to the comparison relationship between the deviation value and the safety preset distance specifically comprises the following steps: when the deviation value is less than or equal to a safety preset distance, carrying out safety early warning, stopping treatment and protecting the safety of a patient and radiotherapy equipment; and when the deviation value is greater than the safety preset distance, the radiotherapy equipment continues to work.
6. The apparatus for detecting the position of a patient and radiotherapy equipment according to claims 1-5, comprising a fixing line marking component attached to one or two opposite sides of the radiotherapy equipment, a moving bed line marking component attached to one or two opposite sides of the moving bed, and a therapy head line marking component arranged at the bottom of the therapy head, wherein the first camera component and the second camera component are respectively arranged on the wall surfaces of two sides of the machine frame, and the focusing points of the first camera component and the second camera component are on the same horizontal line with the isocenter of the machine frame.
7. The detecting device for detecting the position of a patient and radiotherapy equipment according to claim 6, wherein the fixed marked line assembly comprises a first fixed marked line, a second fixed marked line and a third fixed marked line, the first fixed marked line, the second fixed marked line and the third fixed marked line are respectively arranged on three adjacent surfaces of the rack, the distances between the first fixed marked line, the second fixed marked line and the third fixed marked line and an isocenter are equal, and the first fixed marked line, the second fixed marked line and the third fixed marked line are all in a first shape, and highly sensitive reflective materials and light absorbing materials are arranged on the first shape at intervals.
8. The detecting device for detecting the position of a patient and radiotherapy equipment as claimed in claim 7, wherein the moving bed marked line assembly comprises a moving bed marked line, the moving bed marked line is arranged at one side of the moving bed entering the gantry, the moving bed marked line has a second shape, and the highly sensitive light reflecting material and the light absorbing material are arranged at intervals on the moving bed marked line.
9. The detecting device for the position detecting method of patients and radiotherapy equipment according to claim 8, wherein the therapeutic head mark assembly comprises a therapeutic head mark, the therapeutic head mark is disposed at the bottom of the therapeutic head, the therapeutic head mark has a third shape, and highly sensitive reflective materials and light absorbing materials are disposed on the therapeutic head mark at intervals.
10. The detecting device for the position detecting method of the patient and the radiotherapy equipment according to claim 9, wherein the first camera assembly comprises a first fixed focus camera and a first camera base, the first fixed focus camera is fixed on a wall surface on one side of the frame through the first camera base, the second camera assembly comprises a second fixed focus camera and a second camera base, the second fixed focus camera is fixed on a wall surface on the other side of the frame through the second camera base, the focusing points of the first fixed focus camera and the second fixed focus camera are on the same horizontal line with the isocenter of the frame, and the first fixed focus camera and the second fixed focus camera are connected with the microprocessor on the mainboard of the upper computer of the radiotherapy equipment through a network cable.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116370848A (en) * | 2023-06-07 | 2023-07-04 | 浙江省肿瘤医院 | Positioning method and system for radiotherapy |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116370848A (en) * | 2023-06-07 | 2023-07-04 | 浙江省肿瘤医院 | Positioning method and system for radiotherapy |
| CN116370848B (en) * | 2023-06-07 | 2023-09-01 | 浙江省肿瘤医院 | Positioning method and system for radiotherapy |
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