CN115738101A - Method, computer device, system and storage medium for isocenter correction - Google Patents
Method, computer device, system and storage medium for isocenter correction Download PDFInfo
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Abstract
The application discloses an isocenter correction method, computer equipment, a system and a storage medium, wherein the isocenter correction method comprises the following steps: acquiring a first image group, wherein the first image group comprises at least two images formed by a first ray and a second ray through a marker positioned in a first isocenter, and a central ray of the first ray and a central ray of the second ray form a preset included angle; acquiring the position of the marker in the first image group; correcting the position of the first isocenter based on the position of the marker in the first image group.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to an isocenter correction method, computer equipment, an isocenter correction system and a storage medium.
Background
Tumor radiotherapy is to four accuracies, namely: accurate positioning, accurate planning, accurate positioning and accurate treatment. Accurate isocenter coordinates of a radiotherapy device is an important aspect of radiotherapy quality assurance.
However, isocenters based on manual measurements are not accurate enough, and thus require accurate correction of the isocenter.
Disclosure of Invention
The embodiment of the application provides an isocenter correction method, computer equipment, a system and a storage medium, which can correct an isocenter to obtain an accurate isocenter coordinate position.
In one aspect, the present application provides an isocenter correction method, including: acquiring a first image group, wherein the first image group comprises at least two images formed by a first ray and a second ray through a marker positioned in a first isocenter, and a central ray of the first ray and a central ray of the second ray form a preset included angle; acquiring the position of the marker in the first image group; correcting the position of the first isocenter based on the position of the marker in the first image group.
In a second aspect, the present application further provides a computer device, comprising: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the steps in the isocenter correction method of any of the first aspects.
In a third aspect, the present application further provides an isocenter correction system, including: a marker removably secured at a first isocenter of a radiation therapy apparatus, the center of the marker coinciding with the first isocenter; each group of imaging devices comprises an imaging source and an imager which is arranged oppositely, a first ray and a second ray emitted by the imaging source are received by the imager through the marker, and a central ray of the first ray and a central ray of the second ray form a preset included angle; the computer device of any of the second aspects, connected to the imager.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is loaded by a processor to execute the steps in the isocenter correction method according to any one of the first aspect.
In the isocenter correction method in an embodiment of the present application, a first image group may be first obtained, where the first image group includes at least two images formed by a first ray and a second ray through a marker located in a first isocenter, and a central ray of the first ray and a central ray of the second ray have a preset included angle; then acquiring the position of the marker in the first image group; and finally, correcting the position of the first isocenter according to the position of the marker in the first image group, so as to obtain an accurate isocenter position.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1A is a schematic structural diagram of an embodiment of an isocenter correction system provided in an embodiment of the present application;
fig. 1B is a schematic structural diagram of another embodiment of an isocenter correction system according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram illustrating an embodiment of an isocenter correction method provided in an embodiment of the present application;
FIG. 3 is a schematic flow chart diagram illustrating another embodiment of an isocenter correction method provided in the present embodiments;
fig. 4 is a schematic diagram illustrating a relationship between an imaging device and an isocenter in a specific example of an isocenter correction method provided in an embodiment of the present application;
FIG. 5 is a schematic diagram of a transformation relationship between a first image coordinate system X1-Y1 and a first pixel coordinate system U1-V1 provided in an embodiment of the present application;
FIG. 6 is an imaging geometry of a first ray provided in an embodiment of the present application with respect to a Y-axis direction in an IEC coordinate system;
FIGS. 7A-7D are 8 cases of isocenter offset provided in the examples of the present application;
FIG. 8 is a distribution plot in quadrants of the 8 isocentric offsets provided in embodiments of the present application;
FIG. 9 is a first imaging geometry of a plane containing first and second rays in the X-axis direction and the Z-axis direction provided in an embodiment of the present application;
10A and 10B are second imaging geometries of the first ray and the second ray provided in embodiments of the present application corresponding to planes in the X-axis direction and the Z-axis direction;
fig. 11 is a schematic structural diagram of an embodiment of a computer device provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered limiting of the present application. Furthermore, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and "third" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
It should be noted that, since the method in the embodiment of the present application is executed in a computer device, processing objects of each computer device all exist in the form of data or information, for example, time, which is substantially time information, and it is understood that, in the subsequent embodiments, if size, number, position, and the like are mentioned, corresponding data exist so as to be processed by the computer device, and details are not described herein.
Referring to fig. 1A, fig. 1A is a schematic structural diagram of an embodiment of an isocenter correction system provided in an embodiment of the present application. The system 10 is used for isocenter correction of a radiation treatment apparatus 20, and may include: a marker 11, at least one set of imaging means 12 and a computer device 13. Wherein:
the radiotherapy device 20 can perform radiotherapy on a target object, such as a target or target area of a patient. The radiotherapy apparatus 20 may comprise a gantry 201, a radiotherapy head 202 disposed on the gantry 201, and a support apparatus 203 for supporting a patient. Here, the gantry 201 may be a ring gantry as shown in fig. 1A, or may be a C-arm, drum, or the like gantry, the radiation treatment head 202 may be a gamma knife radiation treatment head, an accelerator radiation treatment head, a proton treatment head, or other radiation treatment heads, and the support device 203 may be a bed, a chair, or the like.
The marker 11 is removably secured at an initial isocenter (i.e., first isocenter) O of the radiation treatment apparatus 20, and the center of the marker 11 may coincide with the first isocenter O of the radiation treatment apparatus 20. The marker 11 may be in the shape of a sphere, cube, etc., and the material of the marker 11 may be a metal, such as aluminum, tungsten, steel, etc.
At least one set of imaging devices 12, which may be imaging components of the radiation therapy device 20, such as an image-guided device, or may be separate components, may acquire real-time images of the patient, the imaging devices 12 including: an oppositely disposed imaging source 121 and an imager 122. The first ray and the second ray emitted by the imaging source 121 are received by the imager 122 through the marker 11, and a central ray of the first ray and a central ray of the second ray have a preset included angle, where the preset included angle is an angle greater than 0 degree and smaller than 180 degrees.
It should be noted that the imaging device 12 may be disposed on the frame 201 as shown in fig. 1A, or may be disposed on a stand for supporting the imaging device 12, and the stand may be a fixed stand, a non-rotatable stand, or a rotatable stand, such as a ring-shaped rotating stand.
The imaging source 121 may be a source of radiation for imaging, such as an X-ray source, for example, a bulb tube, which emits X-rays in KV, which may be a cone beam. The imager 122 may be an imager that receives KV radiation from the X-ray source for imaging, and may be a detector, such as a flat panel detector, an arc imager, or the like. The imaging device formed by the KV bulb and the corresponding flat panel imager is also called CBCT.
In order to obtain images at different imaging angles, the imaging devices 12 may be two sets, as shown in fig. 1B, the two sets of imaging devices include a first imaging source 121A and a first imager 122A disposed opposite to the first imaging source 121A, a second imaging source 121B and a second imager 122B disposed opposite to the second imaging source 121B. The first imaging source 121A and the second imaging source 121B emit first rays and second rays, respectively, for example, the imaging device 12 is two CBCT sets; of course, the imaging device 12 may also rotate to emit the first and second rays at different rotation angles, for example, the imaging device 13 is disposed on the frame 201, and the frame 201 may drive the imaging device 12 to rotate.
The computer device 13 may be connected to the imaging apparatus 12. The computer device 13 is capable of controlling the imaging source 121 in the imaging device 12 to image the marker 11 located at the first isocenter O of the imaging device 12, and the computer device 13 is further capable of acquiring at least two images of the first and second rays formed via the marker 11 located at the first isocenter O.
In the embodiment of the present application, the computer device 13 may be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device may be a desktop computer, a portable computer, a network server, a Personal Digital Assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, an embedded device, and the like, and the embodiment does not limit the type of the computer device.
In the embodiment of the present application, the computer device 13 and the Imaging apparatus 12 may implement communication through any communication manner, including, but not limited to, mobile communication based on 2G, 3G, 4G, 5G, long Term Evolution (LTE), worldwide Interoperability for Microwave Access (WiMAX), computer network communication based on TCP/IP Protocol Suite (TCP/IP), user Datagram Protocol (UDP), or communication based on Digital Imaging and communication in Medicine (DICOM) medical information standard.
It will be understood by those skilled in the art that the System shown in fig. 1A and 1B is only one application scenario of the present application, and does not constitute a limitation on the application scenario of the present application, and that other application environments may further include more or less computer devices than those shown in fig. 1A and 1B, and it will be understood that the System may further include one or more other computer devices capable of processing data, such as Treatment Planning System (TPS), tumor Information management System (OIS), etc., and is not limited herein.
In the embodiment of the present application, the system 10 may further include: the carrier 14, the marker 11 may be detachably mounted at the first isocenter O of the image forming apparatus through the carrier 14. The marker 11 may be located in the carrier 14, and may be embedded in the carrier 14 or detachably connected to the carrier 14. Here, the supporting body 14 may be a mold, the shape of the mold may be a cube, a sphere or other shapes, and the supporting body 14 may also be other devices, such as a bracket for holding the marker 11. The carrier 14 may be mounted on the supporting device 203, and the marker 11 in the carrier 14 is carried by the supporting device 203 to the first isocenter O.
In addition, the material of the supporting body 14 can be any material that can be easily distinguished from the marker 11, such as organic glass, acrylic, and the like.
It should be noted that the system 10 has a three-dimensional coordinate system, and the three-dimensional coordinate system may be an IEC coordinate system. The origin of coordinates of the three-dimensional coordinate system is isocenter O, and two of the X axis (namely, the width direction of the support device 203, and the direction indicated by an arrow is positive), the Y axis (namely, the length direction of the support device 203, the head/head direction is positive, and the foot/foot direction is negative), and the Z axis (namely, the height direction of the support device 203, and the direction indicated by the arrow is positive) are perpendicular to each other, and the Y axis coincides with the rotation axis a.
It should be noted that the structural schematic diagrams of the radiation therapy system shown in fig. 1A and 1B are only an example, the radiation therapy system and the scenario described in the embodiment of the present application are for more clearly illustrating the technical solutions of the embodiment of the present application, and do not constitute a limitation to the technical solutions provided in the embodiment of the present application, and it is obvious to those skilled in the art that the technical solutions provided in the embodiment of the present application are also applicable to similar technical problems with the evolution of the radiation therapy system and the emergence of new business scenarios.
First, an embodiment of the present application provides an isocenter calibration method, an execution subject of the isocenter calibration method is a processor in a computer device, fig. 2 is a schematic flow chart of an embodiment of the isocenter calibration method provided in the embodiment of the present application, and as shown in fig. 2, the isocenter calibration method includes the following steps S201 to S203, which are specifically as follows:
s201, acquiring a first image group, wherein the first image group comprises at least two images formed by a first ray and a second ray through a marker positioned in a first isocenter.
The computer device acquires a first image set comprising at least two images of a first ray and a second ray formed through a marker located at a first isocenter, wherein a central ray of the first ray has a predetermined angle with a central ray of the second ray.
It should be noted that the marker is located at a first isocenter, which may be the initial mechanical isocenter of the radiation treatment apparatus, i.e., the initial isocenter or isocenter to be calibrated, which may be located after the radiation treatment apparatus is installed. It will be appreciated that the location of the first isocenter is known so that the indicia can be located at the first isocenter.
Here, the position of the first isocenter may be a three-dimensional coordinate position, for example, a coordinate in an IEC coordinate system, or a coordinate in another coordinate system may be a position.
It should be further noted that the images in the first image group are images obtained by imaging the marker located at the first isocenter with different rays having preset included angles and a second ray (i.e., different rays), and each image in the first image group includes a projection of the marker. After the first isocenter is corrected, the center of the marker in each image should be located at the center of the image.
In addition, the included angle between the central ray of the first ray and the central ray of the second ray is preset, and the preset included angle may be an angle greater than 0 degree and smaller than 180 degrees, such as 80 degrees, 90 degrees or 110 degrees.
S202, acquiring the position of the marker in the first image group.
After the computer device acquires the first image group, the position of the marker in the first image group needs to be acquired, and here, the position of the marker in the first image group can be understood as the position of the marker in each image in the first image group.
S203, correcting the position of the first isocenter according to the position of the marker in the first image group.
Since the position of the first isocenter is manually measured, the position of the first isocenter (the position of the initial isocenter) may not be the exact isocenter position, and for this reason, the computer device may correct the position of the first isocenter based on the position of the markers in the first image set to obtain an accurate isocenter position.
The isocenter correction method in the embodiment of the application may first acquire a first image group and acquire a position of a first isocenter, where the first image group includes at least two images formed by a first ray and a second ray through a marker located at the first isocenter, then acquire a position marked in the first image group, and finally correct the position of the first isocenter according to the position of the marker in the first image group, so as to obtain an accurate isocenter position.
Referring to fig. 3, fig. 3 is a schematic flow chart of another embodiment of the isocenter calibration method provided in the embodiment of the present application, where the isocenter calibration method is applied to a processor in a computer device, and the isocenter calibration method may include:
s301, a first image group is obtained, wherein the first image group comprises at least two images formed by a first ray and a second ray through a marker positioned in a first isocenter, and the first image group comprises a first image and a second image.
This step has already been explained in step S201, and is not described here again.
S302, coordinates of the marker in the first image coordinate system and coordinates of the marker in the second image coordinate system are obtained.
The computer device may obtain the position of the marker in the first image set after obtaining the first image set. Here, in the case where the first image group includes the first image and the second image, the position of the marker in the first image group includes the coordinates of the marker in the first image coordinate system and the coordinates of the marker in the second image coordinate system, respectively.
It should be noted that the first image coordinate system and the second image coordinate system are both image coordinate systems, and the image coordinate system is a two-dimensional coordinate system. The first image coordinate system and the second image coordinate system may be the same image coordinate system or different image coordinate systems.
When the imaging device is a group, the first image coordinate system and the second image coordinate system are both the same image coordinate system, and correspondingly, the step S302 may specifically include:
s302a1, acquiring coordinates of the marker in the first image in a pixel coordinate system and coordinates of the marker in the second image in the pixel coordinate system, where the pixel coordinate system is a coordinate system corresponding to the pixel array of the imager.
S302a2, converting coordinates of the marker in the first image in the pixel coordinate system into coordinates of the marker in the first image in the image coordinate system based on the conversion relationship between the image coordinate system and the pixel coordinate system, and converting coordinates of the marker in the second image in the pixel coordinate system into coordinates of the marker in the second image in the image coordinate system, the image coordinate systems being coordinate systems corresponding to the first image and the second image.
When the imaging devices are two groups, the imaging sources include a first imaging source and a second imaging source, and correspondingly, the imaging sources include a first detector disposed opposite to the first imaging source and a second detector disposed opposite to the second imaging source, the first imaging source and the second imaging source emit a first ray and a second ray, which are respectively received by the first detector and the second detector via the markers, and correspondingly, step S302 may specifically include:
s302b1, acquiring coordinates of the marker in the first image in a first pixel coordinate system, where the first pixel coordinate system is a coordinate system corresponding to the first imager pixel array.
And S302b2, acquiring coordinates of the marker in the second image in a second pixel coordinate system, wherein the second pixel coordinate system is a coordinate system corresponding to the second imager pixel array.
S302b3, converting coordinates of the marker in the first image in the first pixel coordinate system into coordinates of the marker in the first image coordinate system based on the conversion relationship between the first image coordinate system and the first pixel coordinate system, where the first image coordinate system is a coordinate system corresponding to the first image.
And S302b4, converting the coordinates of the marker in the second image in the second pixel coordinate system into the coordinates of the marker in the second image coordinate system based on the conversion relation between the second image coordinate system and the second pixel coordinate system, wherein the second image coordinate system is the coordinate system corresponding to the second image.
It should be noted that, the conversion relationship between the image coordinate system and the pixel coordinate system is preset, for example, the origin of coordinates of the pixel coordinate system may indicate a pixel at the top left corner of the detector pixel array, the abscissa and the ordinate respectively indicate a column and a row where the detector pixel array is located, and the origin of coordinates of the image coordinate system is a central pixel in the pixel coordinate system that indicates the detector pixel array.
The following steps S303 to S311 will describe a specific method for correcting the position of the first isocenter according to the position of the marker in the first image group, wherein the step S303 can correct the coordinates of the first isocenter in the Y-axis direction in the IEC coordinate system to obtain the position of the second isocenter, that is, the isocenter after correcting the X-axis emulation, and the steps S304 to S311 can correct the coordinates of the second isocenter in the X-axis direction and the Z-axis direction in the IEC coordinate system to obtain the position of the third isocenter, that is, the corrected isocenter.
And S303, correcting the coordinate in the Y-axis direction in the IEC coordinate system in the position of the first isocenter according to the coordinate in the first image coordinate system of the marker in the first image and the coordinate in the second image coordinate system of the marker in the second image to obtain the position of the second isocenter.
The computer device may correct the coordinates of the position of the first isocenter in the IEC coordinate system in the Y axis direction in the first image coordinate system according to the coordinates of the marker in the first image coordinate system and the coordinates of the marker in the second image coordinate system, to obtain the position of the second isocenter, that is, the position of the isocenter after the first correction. Here, the first direction is parallel to the Y-axis direction.
In this embodiment, step S303 may specifically include:
s3031, determining a first isocenter offset in the Y-axis direction in the IEC coordinate system according to the coordinates of the marker in the first image coordinate system and the imaging geometrical relation of the first ray corresponding to the Y-axis direction in the IEC coordinate system. The imaging geometry may be a geometry between a first isocenter offset in the direction of the Y-axis in the IEC coordinate system, a Y1-axis coordinate of the marker in the first image coordinate system parallel to the direction of the Y-axis in the IEC coordinate system, a distance of the first imaging source to the isocenter, and a distance of the first imaging source to the first imager.
S3032, according to the coordinates of the marker in the second image coordinate system and the imaging geometrical relationship of the second ray corresponding to the Y-axis direction in the IEC coordinate system, determining a second isocenter offset in the Y-axis direction in the IEC coordinate system. The imaging geometry may be a geometry between a first isocenter offset in the IEC coordinate system in the Y-axis direction, a Y2-axis coordinate in the second image coordinate system of the marker in the second image parallel to the Y-axis direction in the IEC coordinate system, a distance of the second imaging source to the isocenter, and a distance of the second imaging source to the second imager.
S3033, according to the first isocenter offset and the second isocenter offset, correcting the coordinates of the position of the first isocenter in the Y-axis direction in the IEC coordinate system to obtain the position of the second isocenter.
Here, the coordinate in the Y axis direction in the IEC coordinate system in the position of the first isocenter may be corrected based on the average value according to the first isocenter shift amount and the second isocenter shift amount, to obtain the position of the second isocenter.
S304, acquiring a second image group, wherein the second image group comprises at least two images formed by the first ray and the second ray through the marker positioned at the second isocenter, and the second image group comprises a third image and a fourth image.
This step is similar to step S301, and is not described herein again.
And S305, acquiring the coordinates of the marker in the third image in the first image coordinate system and the coordinates of the marker in the fourth image in the second image coordinate system.
This step is similar to step S302 and will not be described herein.
S306, judging whether the marker in the third image and the fourth image is located in the center of the image.
In this embodiment, the computer device further needs to determine whether the marker in the third image and the fourth image is located at the center of the images. Determining that the marker in the third image and the marker in the fourth image are both located at the center of the images, which indicates that the isocenter offset in the X-axis direction and the Z-axis direction does not need to be corrected; under the condition that the markers in the third image and the fourth image are not located at the centers of the images, indicating that the isocenter offset in the X-axis direction and the Z-axis direction needs to be corrected, executing step S307 and step S308; if it is determined that the marker in the third image or the fourth image is located at the center of the image, indicating that the amount of isocenter shift in the X-axis direction and the Z-axis direction needs to be corrected, steps S309 to S311 are performed.
S307, according to the coordinates of the marker in the first image coordinate system corresponding to the third image, the coordinates of the marker in the second image coordinate system corresponding to the fourth image, and the first imaging geometrical relationship of the planes of the first ray and the second ray corresponding to the X-axis direction and the Z-axis direction of the IEC coordinate system, the isocenter offset in the X-axis direction and the Z-axis direction in the IEC coordinate system is determined.
And S308, correcting the coordinates of the second isocenter in the X-axis direction and the Z-axis direction in the IEC coordinate system according to the isocenter offset in the X-axis direction and the Z-axis direction in the IEC coordinate system to obtain the position of a third isocenter.
In the case where it is determined that the marker in the third image and the fourth image is not located at the center of the image, the isocenter position can be accurately corrected to obtain an accurate isocenter position through steps S307 and S308.
S309, according to the included angle between the central ray of the target ray and the Z axis, the coordinate of the marker in the corresponding image coordinate system is decomposed into the offset of the marker in the X axis direction and the Z axis direction of the corresponding image coordinate system respectively, and the target ray comprises the first ray or the second ray.
S310, according to the offset of the marker in the X-axis direction and the Z-axis direction of the corresponding image coordinate system and the second imaging geometrical relationship of the first ray and the second ray corresponding to the plane where the X-axis direction and the Z-axis direction are located in the IEC coordinate system, the isocenter offset of the X-axis direction and the Z-axis direction in the IEC coordinate system is determined.
S311, correcting the coordinates of the second isocenter in the X-axis direction and the Z-axis direction in the IEC coordinate system according to the isocenter offset in the X-axis direction and the Z-axis direction in the IEC coordinate system to obtain the position of a third isocenter.
Through the above steps S301 to S311, it is possible to correct the coordinates of the first isocenter (initial isocenter), thereby obtaining accurate coordinates of the isocenter.
An embodiment of the present invention further provides a specific example of an isocenter correction method, where in this example, as shown in fig. 4, two groups of imaging apparatuses include: a first X-ray source S 1 And a first detector A and a second X-ray source S arranged oppositely 2 And a second detector B disposed oppositely. The isocenter O is the mechanical isocenter of the radiation apparatus, which is the first X-ray source S 1 Central ray S of the emitted first ray 1 O and a second X-ray source S 2 Central ray S of the emitted second ray 2 O cross point, wherein the central ray S of the first ray 1 O and the central ray S of the second ray 2 O is perpendicular to the first detector A and the second detector B respectively and the intersection point is the center of the first detector A and the second detector B respectively. Here, the firstCentral ray S of ray 1 O and the central ray S of the second ray 2 A preset included angle is formed between the O
In case the marker is located at the isocenter O, the first X-ray source S 1 The emitted first ray is received by a first detector A via a marker located at the isocenter O, and a second X-ray source S 2 The second emitted radiation is received by the second detector B via the same marker, and the projections O of the marker on the first detector A and the second detector B are determined accordingly 1 And O 2 Respectively, are centered on the first detector a and the second detector B. However, the position of the manually determined isocenter is not accurate, and the manually determined isocenter needs to be corrected to determine an accurate isocenter position.
Based on this, the isocenter correction method may include:
s501, a first image group is obtained, wherein the first image group comprises a first ray and a second ray which are positioned at a first isocenter O' (X 0 ,Y 0 ,Z 0 ) A first image and a second image of the marker, a central ray S of the first ray 1 O and the central ray S of the second ray 2 O has a predetermined included angle. Specifically, the method comprises the following steps:
computer device controlling a first X-ray source S 1 And a second X-ray source S 2 The first and second rays are emitted to the first and second detectors a and B, respectively, via the marker located at the first isocenter O', and projection images of the two markers, i.e., the first and second images, formed by projection data are acquired from the first and second detectors a and B, respectively. Here, the first isocenter O 'is the position of the manually measured isocenter, and the position of the first isocenter O' is corrected later.
S502, obtaining the coordinate O 'of the marker in the first image coordinate system X1-Y1' 1 (X1, Y1) and the coordinate O 'of the marker in the second image coordinate system X2-Y2' 2 (x 2, y 2). Specifically, the method comprises the following steps:
computer equipment according to image positionThe physical algorithm automatically acquires the marker center pixel coordinate O of the marker in the first image in the first pixel coordinate system U1-V1 1 (U1, V1) and marker center pixel coordinate O of the marker in the second image in the second pixel coordinate system U2-V2 2 (U2, V2) and based on the transformation relationship between the first image coordinate system X1-Y1 and the first pixel coordinate system U1-V1 and the transformation relationship between the second image coordinate system X2-Y2 and the second pixel coordinate system U2-V2, the marker center pixel coordinate O of the marker in the first image in the first pixel coordinate system U1-V1 is transformed 1 (u 1, v 1) into the coordinates O 'of the marker in the first image in the image coordinate system X1-Y1' 1 (x 1, y 1), and marking the marker in the second image with a marker center pixel coordinate O in a second pixel coordinate system U2-V2 2 (u 2, v 2) to the coordinate O 'of the marker in the second image in the image coordinate system X2-Y2' 2 (x2,y2)。
Here, as shown in FIG. 5, the first pixel coordinate system U1-V1 has an origin O 0 (0, 0), the abscissa U1 and the ordinate V1 indicate the column and the row, respectively, in which the first image is located. The origin of the first image coordinate system X1-Y1 is O 1 (0,0)，O 1 The coordinate in the first pixel coordinate system U1-V1 is O 1 (u 0 ,v 0 ) Which is the midpoint of the pixel array corresponding to the pixel coordinate system. The transformation between the first image coordinate system X1-Y1 and the first pixel coordinate system U1-V1 is as follows:
x1＝(u1-u o )×d x
y1＝(v1-v o )×d y
wherein (X1, Y1) is the coordinates of the marker in the first image in the X1-Y1 coordinate system, (U1, V1) is the coordinates of the marker in the first image in the U1-V1 coordinate system, d x And d y Respectively, the physical dimensions of each pixel in the detector pixel array at the horizontal axis X1 and the vertical axis Y1 of the image coordinate system.
The transformation relationship between the second image coordinate system X2-Y2 and the second pixel coordinate system U2-V2 is similar to the transformation relationship between the first image coordinate system X1-Y1 and the first pixel coordinate system U1-V1, and is not described herein again.
S503, according toO′ 1 (x 1, y 1) and O' 2 (X2, y 2) to the position O' (X) of the first isocenter 0 ,Y 0 ,Z 0 ) The coordinate of the middle Y-axis direction is corrected to obtain the position O' (X) of the second isocenter 0 ,Y 0 ,Z 0 ) Specifically, the method comprises the following steps:
the coordinate in the Y-axis direction in the IEC coordinate system in the position of the first isocenter may be based on the coordinate O 'of the marker in the first image coordinate system X1-Y1' 1 (X1, Y1) and the coordinate O 'of the marker in the second image coordinate system X2-Y2' 2 (x 2, y 2).
According to the coordinates O 'of the marker in the first image coordinate system X1-Y1' 1 (x 1, Y1), and the imaging geometry of the first ray corresponding to the Y-axis direction in the IEC coordinate system as shown in fig. 6, the first isocenter offset in the Y-axis direction in the IEC coordinate system is determined to be Δ Y1= Y1 (SAD) 1 /SID 1 ) Wherein Y1 is the Y1-axis coordinate, SAD, of the marker in the first image coordinate system X1-Y1 1 Is a first X-ray source S 1 Distance to isocenter O, SID 1 Is a first X-ray source S 1 Distance to the first detector a. The sign of Δ Y1 coincides with Y1.
Similarly, from the coordinates O 'of the marker in the second image coordinate system X2-Y2' 2 (x 2, Y2), and the imaging geometry of the second ray corresponding to the Y-axis direction in the IEC coordinate system, determining the second isocenter offset in the Y-axis direction in the IEC coordinate system to be Δ Y2= Y2 (SAD) 2 /SID 2 ) Wherein Y2 is the Y2-axis coordinate, SAD, of the marker in the second image coordinate system X2-Y2 2 As a second X-ray source S 2 Distance to isocenter O, SID 2 As a second X-ray source S 2 Distance to the second detector B. The sign of Δ Y2 is identical to Y2.
If both sets of X-ray sources and detectors are in place, the values of Y1 and Y2 will be very close, based on the first isocenter offset Δ Y1 and the second isocenter offset Δ Y2, to the first isocenter position O '(X') of the X-ray source and detector 0 ,Y 0 ,Z 0 ) In the IEC coordinate system in the Y-axis direction 0 Correcting the position O' (X) of the first isocenter 0 ,Y 0 ,Z 0 ) Y in (1) 0 Is updated to Y 1 ＝Y 0 + (Δ Y1+ Δ Y2)/2, resulting in a new second isocenter position O ″ (X) 0 ,Y 1 ,Z 0 )。
The coordinates in the X-axis and Z-axis directions in the position of the second isocenter O "(or the first isocenter) will be corrected.
S504, a second image group is obtained, wherein the second image group comprises a first ray and a second ray which are positioned at a second isocenter O ″ (X) 0 ,Y 1 ,Z 0 ) The marker of (1) and a fourth image.
S505, obtaining the coordinate O 'of the marker in the third image in the first image coordinate system X1-Y1' 1 (X3, Y3) and the coordinate O 'of the marker in the fourth image in the second image coordinate system X2-Y2' 2 (x4,y4)。
Next, the coordinates O 'in the first image coordinate system X1-Y1 from the marker in the third image will be used' 1 (X3, Y3) and the coordinate O 'of the marker in the fourth image in the second image coordinate system X2-Y2' 2 (X4, y 4) common to the second isocenter position O' (X) 0 ,Y 1 ,Z 0 ) And correcting coordinates in the middle X-axis direction and the Z-axis direction.
S506, according to O' 1 (x 3, y 3) and O' 2 (X4, y 4), to the second isocenter position O "(X) 0 ,Y 1 ,Z 0 ) Correcting the coordinates in the middle X-axis direction and the Z-axis direction to obtain the position O of a third isocenter 1 (X 1 ,Y 1 ,Z 1 ) I.e. the corrected isocenter. The method specifically comprises the following steps:
(1) And determining the quadrant position of the coordinate offset of the second isocenter O' in the X-axis and Z-axis directions in the IEC coordinate system.
In the case of 8 kinds of isocenter offsets as shown in fig. 7A to 7D, the arrows X1 and X2 represent the X direction of the image coordinate system, and O in the image coordinate system, as viewed in the Y-axis direction of the IEC coordinate system 1 And O 2 Is a coordinate origin, a second isocenter O ″The quadrant distribution of (a) is shown in table 1 below:
TABLE 1
Obtaining O' 1 (x 3, y 3) and O' 2 After (x 4, y 4), querying the table 1 according to the signs and the values of x3 and x4, and determining the unique quadrant distribution position of the second isocenter O ", so that the offset direction of the second isocenter O" can be determined according to the quadrant distribution position.
According to the illustration in fig. 8, for the first detector a, the central ray (main beam) S of the first ray is taken 1 O is a boundary line, and when the second isocenter 1,2,3,4 is located at a position right to the central ray of the first ray, namely the second isocenter is located at a position shifted by 1,2,3,4, x3 coordinates are all smaller than 0; the x3 coordinates are all greater than 0 when the second isocenter 5,6,7,8 is located to the left of the central ray of the first ray, i.e., the second isocenter is located at a 5,6,7,8 offset position. And the second detector B is similar, and will not be described herein.
(2) The coordinates in the X-axis and Z-axis directions in the position of the second isocenter are corrected.
In the first case: determining that the marker in the third image and the fourth image is not located at the center of the images according to the coordinates O 'of the marker in the third image in the first image coordinate system X1-Y1' 1 (X3, Y3) and the coordinate O 'of the marker in the fourth image in the second image coordinate system X2-Y2' 2 (X4, y 4), and the first imaging geometry of the plane where the first ray and the second ray correspond to the X-axis direction and the Z-axis direction as shown in FIG. 9, determining the isocenter offsets Δ X and Δ Z in the X-axis direction and the Z-axis direction, and then determining the position O "(X ″ (X X ″) of the second isocenter according to the isocenter offsets Δ X and Δ Z 0 ,Y 1 ,Z 0 ) Middle X axisThe coordinates in the direction and the Z-axis direction are corrected to obtain a third isocenter position O' (X) 1 ,Y 1 ,Z 1 ) I.e. the final isocenter position.
Specifically, as shown in fig. 9, it is assumed that image coordinates O 'of the marker projection are acquired' 1 (x 3, y 3) and O' 2 (x 4, y 4) where x3>0，x4<0, and | x 3-<| x4|. Thus, the isocenter O offset position (i.e., second isocenter O ") is located at the fourth quadrant (lower) position, where the isocenter is offset by an amount X>0，Z<0。
Wherein, O 1 O′ 1 //OP 1 //H 1 O', and O 1 O′ 1 、OP 1 And H 1 O' is all perpendicular to S 1 O, each foot is O 1 O and H 1 . Likewise, O 2 O′ 2 //OP 2 //H 2 O', and O 2 O′ 2 、OP 2 And H 2 O' is all perpendicular to S 2 O, each foot is O 2 O and H 2 . If O 'OZ _ = theta and O' O = L, then
At right triangle Δ O "H 1 In O, OH 1 ＝L*cosθ 1 ，O″H 1 ＝L*sinθ 1 . At right angle triangle Δ O "H 2 In O, OH 2 ＝L*cosθ 2 ，O″H 2 ＝L*sinθ 2 。
According to triangle Delta S 1 OP 1 And triangle Δ S 1 H 1 O' is similar to the principle, it can know
According to triangle Delta S 2 OP 2 And triangle Δ S 1 H 2 O' is similar to the previous step:
wherein the content of the first and second substances,
O 1 O′ 1 and O 2 O′ 2 May be O' 1 (x 3, y 3) and O' 2 (x 4, y 4) is directly acquired. While SAD 1 ，SID 1 ，SAD 2 And SID 2 Can be based on mechanical design as an initial calculation, or can be obtained using measurements from the X-ray source and detector at installation, and thus OP 1 And OP 2 For a known quantity, the above 2 equations can be expressed as:
by combining the above 2 formulas, L and θ can be obtained, and thus the isocenter offset Δ X = L × sin θ and Δ Z = L × cos θ can be directly obtained. And determining that the isocenter offset is positioned in a fourth quadrant according to the projection coordinates and the signs, so that the coordinates in the X-axis direction and the Z-axis direction in the corrected position of the second isocenter, namely the third isocenter are as follows:
X 1 ＝X 0 -L*sinθ
Z 1 ＝Z 0 +L*cosθ
thereby, the final corrected isocenter O' "(X1, Y1, Z1) is obtained.
The offsets of other quadrants can also be calculated according to this method, and will not be described herein.
In (2), the marker in neither the third image nor the fourth image is located at the center of the image, and is determined according to the coordinates O 'of the marker in the third image in the first image coordinate system X1-Y1' 1 (x 3, y 3) andand the coordinates O 'of the marker in the fourth image in the second image coordinate system X2-Y2' 2 (X4, y 4), and a first imaging geometry of the planes of the first and second rays, for example, as shown in fig. 9, corresponding to the X-axis and Z-axis directions in the IEC coordinate system, determine the isocenter offsets in the X-axis and Z-axis directions in the IEC coordinate system.
In the second case: under the condition that the markers in the third image or the fourth image are located at the center of the image, firstly, according to the included angle between the central ray and the Z axis of the target ray, the coordinates of the markers in the corresponding image coordinate system are respectively decomposed into the offset of the markers in the X axis direction and the Z axis direction in the corresponding image coordinate system, and the target ray comprises a first ray or a second ray; determining isocentric offsets delta X and delta Z in the X-axis direction and the Z-axis direction according to offsets of the marker in the X-axis direction and the Z-axis direction in a corresponding image coordinate system and a second imaging geometrical relationship, shown in figure 10, of planes where the first ray and the second ray correspond to the X-axis direction and the Z-axis direction in the IEC coordinate system; finally, the position O "(X) of the second isocenter is determined based on the amounts of isocenter offset Δ X and Δ Z in the X-axis direction and the Z-axis direction 0 ,Y 1 ,Z 0 ) The coordinates in the X-axis direction and the Z-axis direction are corrected to obtain a third isocenter position O' (X) 1 ,Y 1 ,Z 1 ) I.e. the final isocenter position.
Specifically, in the first example, as shown in fig. 10A, the second isocenter O ″ is located in the first quadrant or the third quadrant, the first ray passes through a third image formed by a marker located at the second isocenter O ″, and the second ray passes through a fourth image formed by a marker located at the second isocenter O ″, wherein the marker in the third image is not located at the image center of the third image, and the marker in the fourth image is located at the image center of the fourth image, in which case, the center ray S according to the first ray is used as the center ray S 1 The included angle between the O axis and the Z axis is
The marker coordinate X3 is decomposed into the offset d in the X-axis and Z-axis directions x3 And d z3 ：
Then the offset d on the first detector A x3 And d z3 Derived to the isocenter position, i.e. based on the offset d of the marker in the X-axis and Z-axis directions x3 And d z3 And a second imaging geometry A of the first and second rays in the X-axis direction and the Z-axis direction, as shown in FIG. 10A, determining the isocenter offset DeltaX in the X-axis direction and the Z-axis direction 1 And Δ Z 1 ：
As can be seen from the above equation, Δ X can be determined based on the positive sign of X3 1 And Δ Z 1 The sign of (a).
If x3>0, isocenter offset is located in the third quadrant, then Δ X 1 >0，ΔZ 1 >0, i.e. it needs to move in the positive X direction (right) of the IEC coordinate system and move in the positive Z direction (up) of the IEC coordinate system.
If x3<0, the isocenter offset is located in the first quadrant, then Δ X 1 <0，ΔZ 1 <0, i.e. it needs to move in the X negative direction (leftward) of the IEC coordinate system and move in the Z negative direction (downward) of the IEC coordinate system.
Finally, according to the isocenter offset DeltaX in the X-axis direction and the Z-axis direction 1 And Δ Z 1 For the second isocenter position O' (X) 0 ,Y 1 ,Z 0 ) InThe coordinates in the X-axis direction and the Z-axis direction were corrected to obtain a corrected third isocenter position O' (X) 1 ,Y 1 ,Z 1 )。
After multiple adjustment sessions, the projection of the marker can be located at the center, O 'of the first detector A' 1 The coordinate values of (x 3, y 3) are almost close to (0, 0), while the projected coordinate x4 of the marker of the second detector B is not changed by the correction of the isocenter.
Similarly, in a second example, as shown in FIG. 10B, the second isocenter O ' is located in either the second quadrant or the fourth quadrant, the first ray passes through a third image formed by a marker located at the second isocenter O ', the second ray passes through a fourth image formed by a marker located at the second isocenter O ', wherein the marker in the third image is located at the center of the image of the third image, and the marker in the fourth image is not located at the center of the image of the fourth image, in which case, the central ray S according to the first ray is used to determine the location of the marker in the second image 2 The included angle between the O axis and the Z axis is
The marker coordinate X4 is decomposed into the offset d in the X-axis and Z-axis directions x4 And d z4 ：
Then the offset d on the second detector B x4 And d z4 Derived to the isocenter position, i.e. based on the offset d of the marker in the X-axis and Z-axis directions x4 And d z4 And a second imaging geometry B of the first and second rays corresponding to the planes in the X-axis and Z-axis directions as shown in FIG. 10B, determining the isocenter offset DeltaX in the X-axis and Z-axis directions 2 And Δ Z 2 ：
As can be seen from the above formula, Δ X can be determined according to the sign of X4 2 And Δ Z 2 The sign of (a).
If x4>0, the isocenter offset is located in the second quadrant, then Δ X 2 >0，ΔZ 2 <0, i.e. it needs to move in the positive X direction (right) of the IEC coordinate system and in the negative Z direction (down) of the IEC coordinate system.
If x4<0, isocenter offset in the fourth quadrant, Δ X 2 <0，ΔZ 1 >0, i.e. it needs to move in the X negative direction (left) of the IEC coordinate system and move in the Z positive direction (up) of the IEC coordinate system.
Finally, according to the isocenter offset DeltaX in the X-axis direction and the Z-axis direction 2 And Δ Z 2 For the second isocenter position O' (X) 0 ,Y 1 ,Z 0 ) The coordinates in the X-axis direction and the Z-axis direction are corrected to obtain a corrected third isocenter position O' (X 2 ,Y 1 ,Z 2 )。
After multiple times of adjustment, the projection of the marker can be located at the center, O 'of the second detector B' 1 The coordinate values of (x 4, y 4) are almost close to (0, 0), and the projection coordinate x3 of the marker of the first detector a is not changed by the correction of the isocenter.
An embodiment of the present application further provides a computer device, where the computer device includes: one or more processors; a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor for performing the steps of the isocenter correction method in any of the above embodiments of the isocenter correction method.
An embodiment of the present application further provides a computer device, as shown in fig. 11, which shows a schematic structural diagram of the computer device according to the embodiment of the present application, specifically:
the computer apparatus may include components such as a processor 1101 of one or more processing cores, memory 1102 of one or more computer-readable storage media, a power supply 1103, and an input device 1104. Those skilled in the art will appreciate that the computer device architecture illustrated in FIG. 11 is not intended to be limiting of computer devices and may include more or less components than those illustrated, or combinations of certain components, or different arrangements of components. Wherein:
the processor 1101 is a control center of the computer device, connects various parts of the entire computer device using various interfaces and lines, and performs various functions of the computer device and processes data by running or executing software programs and/or modules stored in the memory 1102 and calling data stored in the memory 1102, thereby performing overall monitoring of the computer device.
Optionally, processor 1101 may include one or more processing cores; preferably, the processor 1101 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 1101.
The memory 1102 may be used to store software programs and modules, and the processor 1101 performs various functional applications and data processing by operating the software programs and modules stored in the memory 1102. The memory 1102 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 1102 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 1102 may also include a memory controller to provide the processor 1101 with access to the memory 1102.
The computer device further comprises a power supply 1103 for supplying power to the respective components, and optionally, the power supply 1103 may be logically connected to the processor 1101 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The power supply 1103 may also include any component including one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.
The computer device may also include an input device 1104, the input device 1104 being operable to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs associated with user settings and function controls.
Although not shown, the computer device may further include a display device 1105 and the like, and the display device 1105 may be a display, which is not described herein. Specifically, in this embodiment, the processor 1101 in the computer device loads the executable file corresponding to the process of one or more application programs into the memory 1102 according to the following instructions, and the processor 1101 runs the application programs stored in the memory 1102, so as to implement various functions as follows:
acquiring a first image group, wherein the first image group comprises at least two images formed by a first ray and a second ray through a marker positioned at a first isocenter, and a central ray of the first ray and a central ray of the second ray form a preset included angle; acquiring the position of the marker in the first image group; correcting the position of the first isocenter based on the position of the marker in the first image set.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
To this end, an embodiment of the present application provides a computer-readable storage medium, which may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, and the like. The computer program is loaded by a processor to execute the steps of any one of the isocenter correction methods provided in the embodiments of the present application. For example, the computer program may be loaded by a processor to perform the steps of:
acquiring a first image group, wherein the first image group comprises at least two images formed by a first ray and a second ray through a marker positioned in a first isocenter, and a central ray of the first ray and a central ray of the second ray form a preset included angle; acquiring the position of the marker in the first image group; correcting the position of the first isocenter based on the position of the marker in the first image set.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.
In specific implementation, the above structures may be implemented as independent entities, or may be combined arbitrarily to be implemented as the same or several entities, and specific implementations of the above structures may refer to the foregoing method embodiments, which are not described herein again.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
The isocenter correction method, the computer device, the system and the storage medium provided by the embodiment of the present application are introduced in detail, and a specific example is applied in the present application to explain the principle and the implementation manner of the present application, and the description of the embodiment is only used to help understand the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. An isocenter correction method, comprising:
acquiring a first image group, wherein the first image group comprises at least two images formed by a first ray and a second ray through a marker positioned in a first isocenter, and a central ray of the first ray and a central ray of the second ray form a preset included angle;
acquiring the position of the marker in the first image group;
correcting the position of the first isocenter based on the position of the marker in the first image set.
2. The method according to claim 1, wherein the first image group comprises a first image and a second image, the position of the marker in the first image group comprises a coordinate of the marker in the first image in a first image coordinate system and a coordinate of the marker in the second image in a second image coordinate system, and the position of the first isocenter is a coordinate of the first isocenter in an X-axis direction, a Y-axis direction, and a Z-axis direction in an IEC coordinate system;
correspondingly, the correcting the position of the first isocenter according to the position of the marker in the first image group comprises:
correcting the coordinate of the marker in the first image coordinate system and the coordinate of the marker in the second image coordinate system in the Y-axis direction in the IEC coordinate system to obtain the position of a second isocenter, wherein the first direction is parallel to the Y-axis direction;
acquiring a second image group, wherein the second image group comprises at least two images formed by the first ray and the second ray through the marker positioned at the second isocenter;
and correcting the coordinates of the second isocenter in the X-axis direction and the Z-axis direction in the IEC coordinate system according to the positions of the markers in the second image group to obtain the position of a third isocenter.
3. The method of claim 2, wherein said correcting coordinates in the IEC coordinate system in the Y-axis direction in the position of the first isocenter from coordinates in a first image coordinate system of the marker in the first image and coordinates in a second image coordinate system of the marker in the second image to obtain a position of a second isocenter comprises:
determining a first isocenter offset in a Y-axis direction in the IEC coordinate system according to coordinates of a marker in the first image in a first image coordinate system and an imaging geometrical relationship of the first ray corresponding to the Y-axis direction in the IEC coordinate system;
determining a second isocenter offset in the Y-axis direction in the IEC coordinate system according to the coordinates of the marker in the second image coordinate system and the imaging geometrical relation of the second ray corresponding to the Y-axis direction in the IEC coordinate system;
and correcting the coordinate of the position of the first isocenter in the Y-axis direction in the IEC coordinate system according to the first isocenter offset and the second isocenter offset to obtain the position of the second isocenter.
4. The method of claim 2, wherein the second image set comprises a third image and a fourth image, and the position of the marker in the second image set comprises coordinates of the marker in the third image in the first image coordinate system and coordinates of the marker in the fourth image in the second image coordinate system;
the correcting the coordinates of the second isocenter in the position of the second isocenter in the X axis direction and the Z axis direction in the IEC coordinate system according to the position of the marker in the second image group to obtain a position of a third isocenter includes:
according to the coordinates of the marker in a first image coordinate system corresponding to the third image, the coordinates of the marker in a second image coordinate system corresponding to the fourth image, and a first imaging geometrical relationship of planes of the first ray and the second ray corresponding to the X-axis direction and the Z-axis direction of the IEC coordinate system, determining the isocenter offset in the X-axis direction and the Z-axis direction in the IEC coordinate system;
and correcting the coordinates of the second isocenter in the X-axis direction and the Z-axis direction in the IEC coordinate system according to the isocenter offset in the X-axis direction and the Z-axis direction in the IEC coordinate system to obtain the position of a third isocenter.
5. The method of claim 4, wherein determining the isocenter offset in the X-axis direction and the Z-axis direction in the IEC coordinate system based on the coordinates of the marker in the first image coordinate system corresponding to the third image, the coordinates of the marker in the second image coordinate system corresponding to the fourth image, and the first imaging geometry of the plane in which the first ray and the second ray correspond in the X-axis direction and the Z-axis direction in the IEC coordinate system comprises:
and under the condition that the markers in the third image and the fourth image are not located at the image centers, determining the isocenter offset in the X-axis direction and the Z-axis direction in the IEC coordinate system according to the coordinates of the markers in a first image coordinate system corresponding to the third image, the coordinates of the markers in a second image coordinate system corresponding to the fourth image, and the first imaging geometrical relationship of the planes of the X-axis direction and the Z-axis direction of the IEC coordinate system corresponding to the first rays and the second rays.
6. The method of claim 5, wherein if it is determined that the marker in the third image or the fourth image is located at the center of the image, the method further comprises:
according to an included angle between a central ray and a Z axis of a target ray, respectively decomposing coordinates of a marker in a corresponding image coordinate system into offsets of the marker in an X axis direction and a Z axis direction in the corresponding image coordinate system, wherein the target ray comprises the first ray or the second ray;
according to the offset of the marker in the X-axis direction and the Z-axis direction in the corresponding image coordinate system and the second imaging geometrical relationship of the first ray and the second ray corresponding to the plane in which the X-axis direction and the Z-axis direction are located in the IEC coordinate system, determining the isocenter offset in the X-axis direction and the Z-axis direction in the IEC coordinate system;
and correcting the coordinates of the second isocenter in the X-axis direction and the Z-axis direction in the IEC coordinate system according to the isocenter offset in the X-axis direction and the Z-axis direction in the IEC coordinate system to obtain the position of a third isocenter.
7. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory; and
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the steps in the isocenter correction method of any of claims 1 to 6.
8. An isocentric correction system, comprising:
a marker removably secured at a first isocenter of a radiation therapy apparatus, the center of the marker coinciding with the first isocenter;
each group of imaging devices comprises an imaging source and an imager which is arranged oppositely, a first ray and a second ray which are emitted by the imaging source are received by the imager through the marker, and a central ray of the first ray and a central ray of the second ray form a preset included angle;
the computer device of claim 7, connected with the imager.
9. The system of claim 8, wherein the imaging devices are two groups, the two groups emitting the first ray and the second ray respectively; or the imaging device can rotate to emit the first ray and the second ray respectively at different rotation angles.
10. A computer-readable storage medium, having stored thereon a computer program which is loaded by a processor for performing the steps of the method of isocentric correction according to any of claims 1 to 6.
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| CN116850484A (en) * | 2023-08-17 | 2023-10-10 | 迈胜医疗设备有限公司 | Image guidance system, calibration device, position calibration method, and radiotherapy apparatus |
| CN116850484B (en) * | 2023-08-17 | 2024-03-26 | 迈胜医疗设备有限公司 | Image guidance system, calibration device, position calibration method, and radiotherapy apparatus |
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