CN208943291U - A kind of radiotherapy system - Google Patents
A kind of radiotherapy system Download PDFInfo
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- CN208943291U CN208943291U CN201820096650.4U CN201820096650U CN208943291U CN 208943291 U CN208943291 U CN 208943291U CN 201820096650 U CN201820096650 U CN 201820096650U CN 208943291 U CN208943291 U CN 208943291U
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Abstract
The utility model discloses a kind of radiotherapy systems, belong to field of radiation therapy.The radiotherapy system includes: therapeutic bed；Positioning device in the therapeutic bed is set, at least one label reference point is provided in the positioning device；Optical tracking system above the therapeutic bed is set, for during radiotherapy, the relative position between the pre-set mark point of affected part and the label reference point is detected, and determines the deviation between the relative position and base position, and the deviation is sent to host computer；Host computer is connect with optical tracking system and the therapeutic bed, for the position according to the deviation and predetermined deviation range adjustment therapeutic bed.The function of the radiotherapy system is compared with horn of plenty.
Description
Technical field
The utility model relates to field of radiation therapy, in particular to a kind of radiotherapy system.
Background technique
Radiotherapy (referred to as: radiotherapy) is a kind of local therapeutic approaches using radiation cure tumour.
In the related technology, radiotherapy system generally comprises treatment rack, therapeutic bed and host computer, treats and installs in rack
There is radioactive source, for emitting treatment beam.Host computer carries out pendulum position to patient for Mobile treatment table, by the target of patient's affected part
Point is aligned with the beam focus of radioactive source.
But radiotherapy system structure in the related technology is relatively simple, function is more single.
Utility model content
The utility model provides a kind of radiotherapy system, can solve radiotherapy system structure in the related technology
It is relatively simple, the more single problem of function.The system includes:
Therapeutic bed；Positioning device in the therapeutic bed is set, at least one label is provided in the positioning device
Reference point；
Optical tracking system above the therapeutic bed is set, for during radiotherapy, detection affected part to be pre-
Relative position between the mark point that is first arranged and the label reference point, and determine the relative position and base position it
Between deviation, and the deviation is sent to host computer；
Host computer is connect with optical tracking system and the therapeutic bed, for being sentenced according to the deviation and predetermined deviation range
The disconnected position for whether adjusting therapeutic bed.
Optionally, the optical tracking system includes: optical detection module, and the investigative range of the optical detection module is covered
Region where at least one described label reference point of lid, the optical detection module are used for during radiotherapy, visit
Survey the position of each label reference point and the position of the pre-set mark point of affected part.
Optionally, the radiotherapy system further include:
The termed image-guided radiotherapy IGRT system connecting with the host computer, the IGRT system include that at least one set of image is adopted
Collect component.
Optionally, the optical detection module includes at least one infrared detector, is set on each infrared detector
It is equipped with infrared transmitter and binocular camera.
Optionally, infrared reflective material is coated in each label reference point.
Optionally, the positioning device includes support frame and fixed frame, and the fixed frame is fixed in the therapeutic bed, institute
It states support frame and the fixed frame is rotatablely connected, the positioning device is for adjusting gamma angle locating for patient, the gamma angle
For the angle of plane and perpendicular where the support panel of support frame as described above.
Optionally, the system also includes anti-collision detection devices；
The anti-collision detection device is flexibly connected with the therapeutic bed, for surrounding the therapeutic bed according to desired guiding trajectory
It is mobile, to detect whether to collide with patient or the positioning device.
Optionally, the radiotherapy system further include: treat rack, be provided with multiple radiation in the treatment rack
Source；
Optical detection module in the optical tracking system is arranged in the top of the therapeutic bed, and with the therapy apparatus
Frame is oppositely arranged.
Optionally, there are two mark reference point for setting in the positioning device.
Optionally, each label reference point is spherical structure, and the spherical structure is made of carbon fibre material.
Technical solution provided by the utility model has the benefit that
The utility model embodiment provides a kind of radiotherapy system, includes optical tracking system in the radiotherapy system
System, the optical tracking system can detect the position for the mark point being arranged on the affected part of patient during radiotherapy, with
And the position for the label reference point being arranged in positioning device, it determines the mark point and marks the relative position between reference point, with
And the deviation of the relative position and base position, allow treating physician or host computer whether to determine patient according to the deviation
It moves, and after being moved determining patient, adjusts the position of therapeutic bed, in time to put again to patient
Position.The function of the radiotherapy system is compared with horn of plenty, and it is possible to prevente effectively from the mobile influence to treatment precision of patient, is improved
The precision of radiotherapy.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Figure 1A is a kind of structural schematic diagram of radiotherapy system provided by the embodiment of the utility model；
Figure 1B is a kind of structural schematic diagram of positioning device provided by the embodiment of the utility model；
Fig. 1 C is a kind of side view of positioning device provided by the embodiment of the utility model；
Fig. 1 D is the side view of another positioning device provided by the embodiment of the utility model；
Fig. 1 E is the structural schematic diagram of another radiotherapy system provided by the embodiment of the utility model；
Fig. 2 is a kind of flow chart of method for detecting position provided by the embodiment of the utility model；
Fig. 3 is the flow chart of another method for detecting position provided by the embodiment of the utility model；
Fig. 4 is the flow chart of another method for detecting position provided by the embodiment of the utility model；
Fig. 5 is the position schematic diagram of patient in a kind of radiation therapy process provided by the embodiment of the utility model；
Fig. 6 is the position schematic diagram of patient in another radiation therapy process provided by the embodiment of the utility model；
Fig. 7 is a kind of method flow diagram of position for adjusting therapeutic bed provided by the embodiment of the utility model；
Fig. 8 is a kind of divided stages schematic diagram of radiation therapy process provided by the embodiment of the utility model.
Specific embodiment
It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer
Type embodiment is described in further detail.
Figure 1A is a kind of structural schematic diagram of radiotherapy system provided by the embodiment of the utility model, as shown in Figure 1A,
The radiotherapy system may include optical tracking system 01, host computer 02, therapeutic bed 03 and be arranged in the therapeutic bed 03
Positioning device 031, at least one label reference point A can be set in the positioning device 031.
Wherein, which can be set in the top of the therapeutic bed 03；The host computer 02 respectively with the light
It learns tracking system 01 and the therapeutic bed 03 connects.In radiotherapy, mark point has been can be set in the body surface of patient, the optics with
Track system 01 during radiotherapy, can detect position and the positioning device 031 of the pre-set mark point of affected part
The position of each label reference point A of upper setting, and then can determine the mark point and mark the relative position between reference point,
And the deviation between relative position and base position, the deviation can be sent to host computer by the optical tracking system 01 later
02.Host computer 02 can judge whether to adjust the position of the therapeutic bed 03 according to the deviation and predetermined deviation range.
In the utility model embodiment, optical tracking system 01 detects the mark point and each label reference point A
Position after, the position that can also be detected by treating physician according to the optical tracking system 01, determine mark point and label join
The deviation between relative position and the relative position and base position between examination point, and then judge whether patient moves
It is dynamic, that is, judge whether the position for needing to adjust therapeutic bed.
Further, after treating physician or host computer 02 can be moved determining patient, therapeutic bed is adjusted in time
Position, to carry out pendulum position to patient again.The function of the radiotherapy system is compared with horn of plenty, and it is possible to prevente effectively from patient
The mobile influence to treatment precision, improves the precision of radiotherapy.
Optionally, as shown in Figure 1A, which may include optical detection module 011, the optical detection
The investigative range of module 011 can cover the region where at least one label reference point A.The optical detection module 011 can
Light is detected to issue, to detect the position of the pre-set mark point of affected part and each label reference point.
Optionally, as shown in Figure 1A, which can also include processing module 012, the processing module 012
It can be connect respectively with the optical detection module 011 and the host computer 02.For example, the processing module 012 can pass through wired network
Network or wireless network and other equipment establish connection.
In the utility model embodiment, the position which can will test is sent to processing mould
Block 012.The processing module 012 can calculate the relative position between the mark point and each label reference point, and calculate the phase
To the deviation of position and pre-stored base position, the deviation is then sent to host computer 02, so that host computer 02 can be with
The position for judging whether to need to adjust therapeutic bed according to the deviation and predetermined deviation range, it is possible thereby to realize to therapeutic bed
Automation control improves the efficiency and precision exchanged when the position of whole therapeutic bed is adjusted.
With reference to Figure 1A as can be seen that can also include treating rack 04 in the radiotherapy system, in the treatment rack 04
Multiple radioactive sources 041 are provided with, the treatment beam that multiple radioactive source 041 issues can intersect at a point, which is beam
Focus.During radiotherapy, need to guarantee that the target spot of patient's affected part is aligned with the beam focus.As shown in Figure 1A, should
Optical detection module 011 can be set in the top of the therapeutic bed 03, and be arranged with 04 Dui of the treatment rack.
Optionally, in the utility model embodiment, which may include at least one infrared acquisition
Device, the infrared detector can emit infrared ray, and can receive mark point and each infrared ray marked with reference to point reflection,
And then the position of the mark point and each label reference point can be determined according to the infrared ray received.
Correspondingly, mark point set by each label reference point and patient body-surface that are arranged in the positioning device 031
On can be coated with and can effectively reflect the infrared reflective material of infrared ray, with improve the infrared detector to the mark point with
And the positioning accuracy of label reference point.Wherein, the mark point and each label reference point can be spherical structure, the spherical junctions
Structure can be formed by carbon fibre material, and the surface of the carbon fibre material is coated with the infrared reflective material.The infrared external reflection material
Material may include at least one of carbon, graphite, oxide and carbide.
Optionally, infrared transmitter and binocular camera can be set on each infrared detector, each infrared spy
The principle that surveying device can be positioned based on binocular determines the position of mark point and each label reference point.
Figure 1B is a kind of structural schematic diagram of positioning device provided by the embodiment of the utility model, and as shown in Figure 1B, this is fixed
Reference point A1 and A2, and the lines between this two labels reference point A1 and A2 are marked there are two can be set on the device 031 of position
Horizontal plane can be not parallel to.
With reference to Figure 1B as can be seen that the positioning device 031 may include fixed frame 31a and support frame 31b, the fixed frame
31a can be fixed in therapeutic bed, and support frame 31b and fixed frame 31a are rotatablely connected.Fig. 1 C and Fig. 1 D are the utility model realities
The side view of the positioning device 031 of example offer is applied, can be seen that support frame 31b in conjunction with Fig. 1 C and Fig. 1 D may include being used for
The affected part (such as head) of patient is supported to support panel b1 and two connecting rod b2 being oppositely arranged, each connecting rod b2's
One end is fixedly connected with support panel b1, and the other end and fixed frame 31a are rotatablely connected.Comparison diagram 1C and Fig. 1 D can be seen
Out, connecting rod b2 can drive support panel b1 to rotate in a vertical plane, so as to adjust gamma angle locating for patient.
Such as Fig. 1 C and Fig. 1 D, plane m1 and perpendicular m2 where which can refer to the support panel b1 of support frame 31b
Angle γ.Wherein, perpendicular m2 can be for perpendicular to horizontal plane, and the plane of the length direction perpendicular to therapeutic bed.
With reference to Figure 1B it can also be seen that fixed frame 31a can be made of a support bar and two shelves items it is U-shaped
Frame；Also, a label reference point can be set on each grade of item.
Optionally, which can also include: anti-collision detection device；
The anti-collision detection device is flexibly connected with therapeutic bed 04, for moving according to desired guiding trajectory around the therapeutic bed 04
It is dynamic, to detect whether to collide with patient or the positioning device 031.
Fig. 1 E is the structural schematic diagram of another radiotherapy system provided by the embodiment of the utility model, such as Fig. 1 E institute
Show, the radiotherapy system can also include image guided radiation therapy (Image Guide Radiation Therapy,
IGRT) system 05, the IGRT system 05 may include multiple groups image collection component, and every group image acquisition component may include opposite
The detector 051 and bulb 052 of setting, the bulb 052 can issue ray (such as X-ray), which can be flat
Partitioned detector, the detector 051 can receive the ray of the sending of bulb 052, which can be according to each detector
011 ray received generates IGRT image.What the bulb 012 in the multiple groups image collection component in the IGRT system emitted penetrates
Line can intersect at a point, which is the imaging point of IGRT system.
Fig. 2 is a kind of flow chart of method for detecting position provided by the embodiment of the utility model, and this method can be applied to
In optical tracking system 01 shown in figure 1A, with reference to Fig. 2, this method may include:
Step 101, during radiotherapy, between the pre-set mark point of detection affected part and label reference point
Relative position.
In the utility model embodiment, as described in Figure 1A, at least one is provided in the positioning device 031 of therapeutic bed 03
Reference point A is marked, and before radiation treatment, the affected part of patient can also be previously provided with mark point.In the mistake of radiotherapy
Cheng Zhong, optical detection module 011 in optical tracking system 01 can be with the position of the real-time detection mark point and each labels
The position of reference point, and the position that this is detected is sent to processing module 012.The processing module 012 can calculate the label
Relative position between point and each label reference point.For example, processing module 012 can be based on the mark point and this at least one
Label reference point determines reference origin, and calculates the coordinate of the mark point and each label reference point relative to the reference origin,
The coordinate is referred to as Measured Coordinates.
Step 102 determines deviation between the relative position and base position.
The base position can be for before radiation treatment, when radiotherapy system completes the pendulum position to patient, the mark
Relative position between note point and each label reference point.For example, the base position can for put position complete when mark point with
And each label, with reference to the coordinate relative to the reference origin, which is referred to as reference coordinate.It, can in determination deviation
To be first based on the reference coordinate, being averaged for the Euclidean distance at the end of putting position between the mark point and each label reference point is calculated
Value, and using the average value as reference distance；Later can be based on the Measured Coordinates, calculate radiation therapy process in mark point with
The average value of Euclidean distance between each label reference point, the average value are measured distance.Correspondingly, the deviation can be
Refer to the difference of the measured distance Yu the reference distance.
The deviation is sent to host computer by step 103.
After the deviation being calculated is sent to host computer by optical tracking system, host computer can be according to the deviation and default
Deviation range judges whether patient moves, and can adjust the position of therapeutic bed in time when determining that patient occurs mobile,
To re-start pendulum position to patient, avoid influencing radiotherapy there are deviation between the target spot of affected part and the focus for the treatment of beam
Precision.
In conclusion the utility model embodiment provides a kind of method for detecting position, this method can be in radiotherapy
During, the opposite position between the mark point being arranged on the affected part of patient and label reference point is detected by optical tracking system
It sets, and determines the deviation between the relative position and base position, allow host computer according to the deviation and predetermined deviation
Range determines whether patient moves, and after can moving determining patient, adjusts the position of therapeutic bed in time, with weight
Pendulum position newly is carried out to patient.Therefore method provided by the embodiment of the utility model can be to avoid the mobile shadow to treatment precision of patient
It rings, and can be to avoid the normal tissue for the treatment of beam damage patient.
Fig. 3 is the flow chart of another method for detecting position provided by the embodiment of the utility model, and this method can be applied
In host computer 02 shown in figure 1A, with reference to Fig. 3, this method may include:
Step 201 receives the deviation that optical tracking system is sent.
Wherein the deviation can deviation between relative position and base position, which is the optical tracking system
Relative position between the pre-set mark point of affected part detected during radiotherapy of uniting and label reference point.
In the utility model embodiment, which can work according to preset working frequency, that is to say,
The optical tracking system can be according to the relative position between the preset working frequency detection mark point and label reference point, meter
It calculates and sends deviation.Therefore, during the radiotherapy, host computer can receive the optical tracking system according to the work
At least one deviation that working frequency is sent.
Step 202 judges whether to adjust the position of therapeutic bed according to the deviation and predetermined deviation range.
The predetermined deviation range is opened as the predetermined deviation range for the treatment of physician, for example, the predetermined deviation range can be with
For 0 to 3 millimeter (mm).In the utility model embodiment, preset partially when upper computer detection to the deviation received is not at this
(alternatively, detecting in the deviation received in predetermined amount of time, the deviation within the scope of the predetermined deviation is not in poor range
When number is greater than preset threshold), it can determine that patient moves, exist between the target spot of affected part and the focus for treating beam inclined
Difference, it is therefore desirable to the position of therapeutic bed is adjusted, to re-start pendulum position to patient.Correspondingly, when upper computer detection is to receiving
Deviation be within the scope of the predetermined deviation and (alternatively, detect in the deviation received in predetermined amount of time, it is default to be not at this
When the number of deviation in deviation range is not more than the preset threshold), it can determine that the position of patient meets treatment accuracy requirement,
Without adjusting the position of therapeutic bed.
In conclusion the utility model embodiment provides a kind of method for detecting position, during radiotherapy, on
Position machine can determine whether patient moves according to the deviation between the relative position and base position that optical tracking system determines
It is dynamic, and after being moved determining patient, the position of adjustment therapeutic bed in time, to carry out pendulum position to patient again.Therefore
Method provided by the embodiment of the utility model can be to avoid the mobile influence to treatment precision of patient, and can penetrate to avoid treatment
The normal tissue of beam damage patient.
Fig. 4 is the flow chart of another method for detecting position provided by the embodiment of the utility model, and this method can be applied
In the transmitting treatment system shown in Fig. 1 E, with reference to Fig. 4, this method may include:
Step 301, host computer start optical tracking system, IGRT system, and load treatment plan.
It may include N number of gamma angle to be treated in the treatment plan, which is the integer more than or equal to 1.
According to the treatment plan, gamma angle is adjusted to n-th of gamma angle by instruction for step 302, host computer.
The n is that initial value is 1 and is less than or equal to the integer of N.After completing to the adjustment at gamma angle, radiotherapy system
Pendulum position and radiotherapy can be carried out to patient under current gamma angle (i.e. n-th of gamma angle)；With n-th of gamma
After angle is completed to the pendulum position of patient and radiotherapy, if n is less than N, host computer can be indicated according to the treatment plan by gal
Ma angle is adjusted to (n+1)th gamma angle, and continues to carry out pendulum position and radiotherapy to patient with (n+1)th gamma angle, until
Complete the radiotherapy to all N number of gamma angles.
It is exemplary, it is assumed that the affected part of patient is located at head, due to usually requiring the head to patient in head radiotherapy equipment
Pendulum parallactic angle degree (i.e. gamma angle) be adjusted, with this allow patient sensitive organization (such as eyes, brain stem, optic nerve and view hand over
Fork etc.) avoid the irradiation of radioactive source.As shown in figure 5, being put when patient lies low in therapeutic bed 03 (gamma angle is 90 degree at this time)
When penetrating the treatment beam exposure target spot A0 of the sending of source 041, it is possible to sensitive organization or the organ of patient, such as eyes can be passed through.
Therefore, as shown in fig. 6, treating physician can choose is treated with 70 degree of gamma angle.With reference to Fig. 6, which can be
The angle γ of plane m1 where the support panel of positioning device 031 and vertical plane m2 (i.e. with the plane of horizontal plane).
Assuming that including three (i.e. N=3) gamma angles to be treated, this three gamma angle difference to be treated in treatment plan
Be 70 degree, 90 degree and 110 degree, and the head of patient is fixed under 70 degree of gamma angle by current positioning device, then for this 70
The gamma angle of degree, host computer first can carry out pendulum position to patient in conjunction with optical tracking system and IGRT system, then again to trouble
Person carries out radiotherapy；Pendulum position and the radiotherapy for carrying out 90 degree of gamma angle again later, finally carry out 110 degree of gamma angle again
Pendulum position and radiotherapy.Wherein, which can be with reference to following step 303 to step 309, and radiation therapy process can be with
With reference to following step 310 to step 314.
It should be noted that in the case where introducing gamma angle in treatment plan, in order to avoid with different gamma angles
When being treated, the affected part (such as head) of patient collides with radiotherapy equipment, needs to be counted in host computer according to treatment
It draws, before gamma angle is adjusted to the 1st gamma angle by instruction, that is to say, before the step 302, it is anti-that simulation is carried out to patient
Collision detection.
Specifically, m-th of gamma angle (m can be 1 any integer into N) first can be adjusted at gamma angle, so
The pendulum position to patient is completed with m-th of gamma angle afterwards, later, host computer can indicate that being sequentially adjusted in gamma angle is the 1st to N
A gamma angle, and indicate that anti-collision detection device executes simulation anticollision detection under each gamma angle.
Simulate anticollision detection during, treating physician can first by anti-collision detection device (such as anticollision examine
Survey rocking bar) it is plugged on designated position, treating physician's (or host computer) can control the anti-collision detection device according to pre- later
If track is mobile around therapeutic bed, with detect the anti-collision detection device whether with patient or positioning device (such as head is fixed
The affiliated attachment of device) it collides.It, can be by treating physician according to touching after anti-collision detection device completes simulation anticollision detection
The number hit, judges whether the result of simulation anticollision detection can receive, and treating physician can pass through predetermined registration operation
Indicate that the simulation anticollision detects to the host computer as a result, the result can not pass through to detect pass through or detect.If upper
Machine examination measures the result and passes through for detection, then can continue radiotherapy；If detecting the knot of simulation anticollision detection
Fruit is that detection does not pass through, then can stop to treat process, to carry out pendulum position to patient again.
When gamma to be treated in treatment plan angle includes multiple, host computer can be controlled respectively under each gamma angle
It makes the anti-collision detection device and executes simulation anticollision detection, and the collision detection result under available each gamma angle.
Exemplary, after gamma angle is adjusted to 70 degree by treating physician, host computer can indicate that anti-collision detection device starts
Anti- simulation anticollision detection is executed, after anti-collision detection device executes completion simulation anticollision detection, the available mould of host computer
The result of quasi- anticollision detection.
Later, after gamma angle is adjusted to 90 degree by treating physician, host computer can again indicate that anti-collision detection device
Start to execute simulation anticollision detection, after anti-collision detection device executes completion simulation anticollision detection, host computer can be again
Obtain the result of simulation anticollision detection.
Further, gamma angle is adjusted to 110 degree by treating physician, and host computer instruction anti-collision detection device starts to execute
Anticollision detection is simulated, after anti-collision detection device executes completion simulation anticollision detection, the available simulation anti-collision of host computer
Hit the result of detection.
After host computer gets the result of multiple collision detections, needs can be judged whether according to the result of the collision detection
Reformulate treatment plan, however, it is determined that when not needing to reformulate treatment plan, then can continue to execute step 302, that is, start
Carry out radiotherapy；Otherwise, treatment plan is reformulated.
Wherein, host computer specifically may be used according to multiple collision detections as a result, judge whether to need to reformulate treatment plan
With are as follows: when the result of multiple collision detections is that detection passes through, can determine without reformulating treatment plan；It is touched when multiple
It hits in the result of detection, when detecting unsanctioned number more than or equal to preset threshold, can determine that needs reformulate treatment
Plan, such as in the result of three collision detections, when detecting unsanctioned number more than or equal to 2, can determine and need weight
It is new to formulate treatment plan；In the result of multiple collision detections, unsanctioned number is detected greater than 0 but is less than the preset threshold
When, host computer can determine whether to continue radiotherapy according to the prompt information with display reminding information, treating physician,
If treating physician's determination can continue radiotherapy, step 302 can be continued to execute；Otherwise, it needs to reformulate to control
Treat plan.
Step 303, optical tracking system detect the coordinate of each pendulum position mark point in multiple pendulum position mark points.
In the utility model embodiment, after gamma angle is adjusted to n-th of gamma angle by host computer instruction, radiating
Before treatment, preliminary pendulum position first can be carried out to patient using the optical tracking system.It, can be with during the preliminary pendulum position
Multiple pendulum positions mark point is set in the body surface of patient, the optical detection module in the optical tracking system can be each with real-time detection
Put the coordinate of position mark point.
Step 304, optical tracking system according in pre-recorded multiple preset mark points each preset mark point with
The pendulum position offset of therapeutic bed is calculated in deviation between corresponding preset mark point.
Before radiation treatment, electronic computer tomography (Computed Tomography, CT) scanning is carried out to patient,
When obtaining the CT image of patient, multiple preset mark points can be set in patient body-surface, optical tracking system can be pre-recorded
The coordinate of each preset mark point.
During tentatively pendulum position, multiple pendulum positions mark point of patient body-surface setting and multiple preset mark point are one by one
Corresponding, optical tracking system can be according to the coordinate of pre-recorded each preset mark point, and each pendulum position detected
The coordinate of mark point, calculates the deviation between each pendulum position mark point and corresponding preset mark point, which can be pendulum position
Offset distance of the mark point relative to preset mark point.Further, which can mark according to multiple pendulum positions
The deviation of point, is calculated the pendulum position offset of therapeutic bed.
Specifically, patient body-surface is already provided with multiple preset mark points, therefore is schemed according to the CT due in CT scan
As the relative positional relationship between each preset mark point and target spot can be predefined out.When carrying out preliminary pendulum position, optics
Tracking system can be according to each pendulum position mark point actually got in its optical coordinate system (such as infrared coordinate system)
Coordinate is inferred to coordinate of the target spot in the optical coordinate system, then by the coordinate and the target spot of each pendulum position mark point
Coordinate is respectively converted into the coordinate (also referred to as IEC coordinate) in the three-dimensional system of coordinate of radiotherapy apparatus, and therapeutic bed can be calculated
Pendulum position offset, the pendulum position offset can be three-dimensional data, i.e., may include three subdatas in the pendulum position offset, often
A subdata can serve to indicate that therapeutic bed in the three-dimensional system of coordinate of radiotherapy apparatus, along the offset of each reference axis.
The pendulum position offset being calculated is sent to host computer by step 305, optical tracking system.
Exemplary, the pendulum position offset being calculated can be sent to host computer by the processing module of optical tracking system.
Optionally, before transmitting data, treating physician can first to judge whether the pendulum position offset is located within the scope of predetermined deviation,
When determining the pendulum position offset bit when within the scope of predetermined deviation, the position for no longer needing to adjustment therapeutic bed, treatment doctor can be determined
Teacher, which can control the optical tracking system, to terminate to put bit manipulation；When treating physician determines that the pendulum position offset is not located at predetermined deviation
When in range, it can control the optical tracking system and continue to put bit manipulation.
The position for the pendulum position offset adjustment therapeutic bed that step 306, host computer are sent according to optical tracking system.
After host computer receives the pendulum position offset of optical tracking system transmission, it can be adjusted and be controlled according to the pendulum position offset
The position of bed is treated, realizes the preliminary pendulum position to patient.
Optionally, in the utility model embodiment, host computer can also first judge after receiving the pendulum position offset
Whether the pendulum position offset is located within the scope of predetermined deviation, when the pendulum position, offset is not located at predetermined deviation range, host computer
The position of therapeutic bed can be adjusted according to the pendulum position offset；When the pendulum position offset bit is when predetermined deviation range, host computer
It can determine that the error of preliminary pendulum position has been met the requirements, may not need the position for adjusting therapeutic bed again.
Step 307, IGRT system acquisition IGRT image, and by compare the IGRT image and get in advance with reference to figure
As the pendulum position offset being calculated.
Further, after by the preliminary pendulum position, accurate pendulum position can also be carried out to patient using IGRT system, with
Further increase the precision of pendulum position.During the accurate pendulum position, IGRT system can be adopted by multiple groups image collection component
Collect the IGRT image of the treatment region (i.e. target spot or target area) of patient, and by the IGRT image and the reference picture that in advance gets
It compares, pendulum position offset is calculated, which can be pre- in the imaging point and reference picture of IGRT system
If the offset between film making point.The reference picture can be previously-scanned obtained CT image, be also possible to scheme based on the CT
As digital reconstruction irradiation image (Digitally Reconstructured Radiograph, the DRR) image generated.
Wherein, which can be sextuple data, i.e., the pendulum position offset may include D translation data and
Three-dimensional perspective data, wherein D translation data may include three subdatas, and each subdata can serve to indicate that therapeutic bed
In preset three-dimensional system of coordinate, along the offset of each reference axis；The three-dimensional perspective data also may include three subdatas,
Each subdata is used to indicate rotation amount of the therapeutic bed in the three-dimensional system of coordinate, in each plane.
Step 308, IGRT system send the pendulum position offset to host computer.
Exemplary, IGRT system can be inclined by the pendulum position including D translation data and three-dimensional perspective data being calculated
Shifting amount is sent to host computer.
It should be noted that in practical applications, after IGRT system-computed obtains pendulum position offset, boundary can be operated at it
The pendulum position offset is shown on face, then judges the pendulum position offset whether within the scope of default bias amount by treating physician
(i.e. the default bias amount range is determined by treating physician), if treating physician determines that the pendulum position offset is default inclined at this
Within the scope of shifting amount, then it can complete to refer to by touch control operation (such as the operation for confirming key on clicking operation interface) triggering pendulum position
It enables, after IGRT system detection to the pendulum position completes instruction, can determine that pendulum bit manipulation is completed.If treating physician determines the pendulum
Position offset can then trigger IGRT system by touch control operation and continue to execute pendulum position behaviour not within the scope of the default bias amount
Make, that is, continues to execute above-mentioned steps 305 and step 306.
The position for the pendulum position offset adjustment therapeutic bed that step 309, host computer are sent according to the IGRT system.
After host computer receives the pendulum position offset, the position of therapeutic bed can be adjusted, according to the pendulum position offset with reality
Now to the accurate pendulum position of patient.
Optionally, in the utility model embodiment, after host computer receives the pendulum position offset, can also first judge
Whether the pendulum position offset is located within the scope of default bias amount, when the pendulum position offset bit is when within the scope of the default bias amount,
Host computer can determine that the pendulum position of patient is consistent with treatment plan, meet pendulum position and require, therefore do not need to adjust therapeutic bed again
Position；When the pendulum position, offset is not located within the scope of the default bias amount, host computer can determine that the pendulum position of patient is unsatisfactory for
It is required that therefore can continue adjust therapeutic bed position, to carry out pendulum position to patient again.
Further, after host computer has adjusted the position of therapeutic bed, enabled instruction can also be sent to IGRT system,
The enabled instruction is used to indicate the IGRT system and executes above-mentioned steps 307 and step 308 again, and later, host computer can continue
Step 309 is executed, until the pendulum position offset bit that the host computer receives is within the scope of the default bias amount.
It should be noted that in practical applications, in addition to IGRT system can be used to carry out accurate pendulum position to patient, may be used also
To realize the accurate pendulum position using other pendulum position systems, such as position system, the utility model embodiment can be put using laser lamp
It does not limit this.
Step 310, optical tracking system obtain mark point and mark the relative position between reference point, and will acquire
Relative position is determined as the base position.
In host computer after completing to the pendulum position of patient with n-th of gamma angle, the available mark point of optical tracking system
Relative position between label reference point, and the relative position that this gets is stored as base position.Wherein, should
Base position may include the coordinate of the mark point and the coordinate of each label reference point.The coordinate can refer to the optics with
The coordinate in optical coordinate system (such as infrared coordinate system) where track system, alternatively, optical tracking system can be based on the mark
Note point and label reference point determine reference origin (such as any label reference point or mark point can be determined as to reference origin,
Or the midpoint of line between reference point can be marked to be determined as reference origin by two), then with the reference origin to the light
It learns and obtains conversion coordinate system after coordinate system is converted, which may also mean that the coordinate in the conversion coordinate system.Alternatively, should
Base position may include the vector between the mark point and each label reference point.
It is exemplary, it is assumed that coordinate of the mark point that optical detection module detects in conversion coordinate system is (0,0,0), fixed
Be provided with a label reference point on the device of position, and the coordinate of the label reference point that detects of optical detection module for (3,4,
0), it is assumed that in coordinate system the unit of coordinate value be centimetre, then processing module can determine the base position be the two o'clock in this turn
Change the coordinate in coordinate system.
Step 311, optical tracking system are during radiotherapy, the detection pre-set mark point of affected part and label
Relative position between reference point.
After completing to the pendulum position of patient with n-th gamma angle, it can start to carry out patient at n-th of gamma angle to put
Penetrate treatment.Before radiation treatment, the affected part of patient can be previously provided with mark point.During radiotherapy, optics with
Optical detection module 011 in track system 01 can be with each label in the position of the real-time detection mark point and positioning device
The position of reference point, and the position that this is detected is sent to processing module 012.The processing module 012 can calculate the label
Relative position between point and each label reference point.
Correspondingly, with reference to the above-mentioned description for base position, it is opposite between the mark point and any label reference point
Position may include the mark point and the coordinate of any label reference point in optical coordinate system, or may include the label
Point and the coordinate of any label reference point in conversion coordinate system, or, it may include that the mark point and any label are joined
Vector between examination point.
Step 312, optical tracking system determine the deviation between the relative position and base position.
In the utility model embodiment, when calculating the deviation, optical tracking system can first according to the base position,
Determine the first Euclidean distance at the end of putting position between mark point and label reference point, and using first Euclidean distance as reference
Distance；Then can depending on the relative position, during determining radiotherapy, mark point and label reference point between second
Euclidean distance, second Euclidean distance are the measured distance in radiation therapy process, later can be by second Euclidean distance
Difference between the first Euclidean distance is determined as the deviation.
If being provided only with a label reference point in the positioning device, optical tracking system detects mark point and the mark
After remembering the relative position between reference point, the deviation between the relative position and base position can be directly calculated.
If being provided with multiple label reference points in the positioning device, which can be digit synbol point and each
The average value of Euclidean distance between a label reference point；During radiotherapy, optical tracking system detects label
Relative position between point and each label reference point, after obtaining multiple relative positions, which can be based on every
A relative position determines the second Euclidean distance between mark point and each label reference point, obtains multiple second Euclidean distances,
Then the deviation between each second Euclidean distance and first Euclidean distance can be calculated separately, multiple deviations are obtained；Alternatively,
After multiple second Euclidean distances are calculated in the optical tracking system, being averaged for multiple second Euclidean distance can be first calculated
Value, then calculates the average value of multiple second Euclidean distance and the difference of second Euclidean distance again, obtains the deviation.
It is exemplary, it is assumed that during radiotherapy, between the mark point that processing module detects and label reference point
Euclidean distance be 5.5 centimetres, due to put position complete when, the mark point and label reference point between Euclidean distance be 5 lis
Rice, therefore it is 0.5 centimetre that the deviation between the relative position and base position, which can be calculated, in the processing module.
The deviation is sent to host computer by step 313, optical tracking system.
If being provided only with a label reference point in the positioning device, which will can directly be calculated
To deviation be sent to host computer.
If being provided with multiple label reference points in the positioning device, which can first calculate multiple inclined
The average value of difference, is then sent to host computer for the average value again.
In the utility model embodiment, in above-mentioned steps 311, which can be according to preset work
Frequency, the relative position between the pre-set mark point of detection affected part and label reference point；Correspondingly, in above-mentioned steps 312
In, optical tracking system can calculate the deviation of relative position and base position according to the working frequency；Correspondingly, in step
In 313, which can send deviation to host computer according to the working frequency.
It is exemplary, it is assumed that the working frequency is f, then can determine the detection when optical tracking system detects relative position
Period is T=1/f (second), i.e., the optical tracking system can be every between a T seconds mark points of detection and label reference point
Relative position calculates the deviation between the relative position and base position, and the deviation is sent to host computer.
Step 314, host computer judge whether to adjust the position of therapeutic bed according to the deviation and predetermined deviation range.
Wherein, which it is predetermined to may range from treating physician, such as can be 0 to 3mm.Due at this
In utility model embodiment, optical tracking system can according to preset working frequency to the host computer send deviation, therefore on
After position machine often receives a deviation of optical tracking system transmission, it can be detected whether the deviation is in predetermined deviation range.
It is exemplary, it is assumed that the predetermined deviation range is 0 to 3mm, some deviation that host computer receives is 0.5 centimetre, i.e.,
5mm, then host computer can determine that the deviation is not within the scope of the predetermined deviation.
In the utility model embodiment, host computer judges whether to adjust therapeutic bed according to the deviation and predetermined deviation range
The process of position can at least be accomplished in the following manner:
In the first optional implementation: whether host computer can directly detect the deviation received default in this
In deviation range, when detecting that the deviation is not within the scope of the predetermined deviation, host computer can determine that needs adjust treatment
The position of bed；Otherwise, when detecting that the deviation is within the scope of the predetermined deviation, host computer can be determined without adjusting treatment
The position of bed.
In second of optional implementation: host computer, which can detecte each deviation received in predetermined amount of time, is
It is no to be within the scope of the predetermined deviation, when the number for detecting the deviation being not within the scope of the predetermined deviation is greater than preset threshold
When, the position of the adjustable therapeutic bed of host computer；Otherwise, when the number for detecting the deviation being not within the scope of the predetermined deviation
When no more than the preset threshold, host computer can determine the position without adjusting therapeutic bed.
In the utility model embodiment, host computer it is inscribed can to count predetermined amount of time during radiotherapy
In the deviation received, it is not at the number of the deviation within the scope of the predetermined deviation, when the number is greater than preset threshold, host computer
It can determine that patient moves, there are deviations between the target spot of affected part and the focus for treating beam, it is therefore desirable to adjustment treatment
The position of bed, to re-start pendulum position to patient.
In the third optional implementation: as shown in fig. 7, the process of the adjustment may include:
Step 3141, when detecting deviation that the first reception arrives not within the scope of the predetermined deviation, instruction, which is closed, puts
Penetrate source.
In the utility model embodiment, after radioactive source unlatching, arrived when upper computer detection to the first reception
When deviation is not within the scope of the predetermined deviation, it can determine that the deviation between current patents' target spot and beam focus is larger, be
It avoids damaging patient's normal tissue, which can close radioactive source in time.
Step 3142, radioactive source closing after preset time period in, detect whether the M deviation continuously received is located
In within the scope of the predetermined deviation.
Wherein M is the integer greater than 1.In the preset time period, when to be not at this pre- for the M deviation continuously received
If when in deviation range, host computer can execute step 3143；When the M deviation continuously received is in predetermined deviation range
When interior, host computer can execute step 3144.
Host computer is caused by patient is accidentally mobile after radioactive source is closed in instruction, in order to further determine the deviation,
Or the position of patient is deviated really, and host computer can continue to count the preset time period after closing radioactive source
It is interior, the number of the deviation in the preset range is not in the deviation received.In the preset time period, upper computer detection
It is not within the scope of the predetermined deviation to the M deviation continuously received, or continuous M deviation is not detected and is in
When within the scope of the predetermined deviation, then it can determine that the position of the patient is deviated really, therefore step 3143 can be executed.
Step 3143 keeps radioactive source to be in off state, and adjusts the position of therapeutic bed.
It is upper when the M deviation continuously received is not within the scope of the predetermined deviation in the preset time period
Machine can determine that the position of patient is deviated really, therefore radioactive source can be kept to be in off state, and adjust therapeutic bed
Position.
It is exemplary, it is assumed that the preset time period is 20 seconds, M 5, is preset when upper computer detection to some deviation is not at this
In deviation range, and after closing radioactive source, statistics can be continued in subsequent 20 seconds, whether each deviation received is in
Within the scope of the predetermined deviation.If host computer is being closed in 20 seconds after radioactive source, detect that continuous 5 deviations are not at this
Within the scope of predetermined deviation, then radioactive source can be kept to be in off state, and adjust the position of therapeutic bed.
Radioactive source is opened in step 3144, instruction.
When upper computer detection is within the scope of the predetermined deviation to the M deviation continuously received, trouble can be determined
The position of person restores normal, thus may determine that without the position for adjusting therapeutic bed, and can indicate to open radioactive source, so as to after
It is continuous to carry out radiotherapy.
It is exemplary, when host computer is in 20 seconds after closing radioactive source, detect that 5 deviations continuously received are respectively positioned on
When within the scope of the predetermined deviation, it is recovered normal can to determine the pendulum position of patient, therefore radioactive source can be opened, continue
Radiotherapy.
In the utility model embodiment, the process that radiotherapy system carries out radiotherapy to patient may include: to put
It penetrates source and opens the first stage terminated to radiotherapy, and the second stage before the first stage.Optionally, as schemed
Shown in 8, which can specifically include initial stage T1 and preparation stage T2, which can be treatment stage
T3。
Wherein, the shield door that the initial stage T1 in the second stage can be completed to radiotherapy equipment for pendulum position is opened
Period before；Preparation stage T2 in the second stage can open for shield door, start to open it into bed to radioactive source
The preceding period；Treatment stage T3 can for radioactive source be opened into radiotherapy terminate between period.
In the utility model embodiment, in initial stage T1, preparation stage T2 and treatment stage T3, optical tracking
System 01 can continue to send its deviation being calculated to host computer 02 according to preset working frequency.For each stage,
Host computer can adjust the position of therapeutic bed in different ways.For example, host computer can use upper in the second stage
The position for stating the first or second of optional implementation adjustment therapeutic bed can then use upper in the first stage
It states second or the position of the third optional implementation adjustment therapeutic bed.
Assuming that host computer adjusts the position of therapeutic bed using second of optional implementation, then in the second stage
The adjustment process can specifically include:
Step S1, in initial stage T1, detect whether the number of deviation being not within the scope of predetermined deviation is greater than the
One preset threshold.
In initial stage T1, when being not at the number of the deviation within the scope of predetermined deviation greater than the first preset threshold,
Host computer can execute step S2；In initial stage T1, the number for the deviation being not within the scope of predetermined deviation is not more than
When the first preset threshold, host computer can determine that the position of patient meets treatment required precision, therefore can continue to execute step
S3。
Step S2, the position of therapeutic bed is adjusted.
In initial stage T1, if the number that host computer counts on the deviation being not within the scope of the predetermined deviation is greater than
First preset threshold N1 can then determine that patient moves, and need to re-start patient pendulum position.Therefore can stop to radiate
The process for the treatment of, and readjust the position of therapeutic bed.
Step S3, in preparation stage T2, whether the number for detecting the deviation being not within the scope of the predetermined deviation is greater than
Second preset threshold.
When the number of upper computer detection to the deviation being not within the scope of the predetermined deviation is greater than the second preset threshold N2,
Step S2 can be executed, that is, readjusts the position of therapeutic bed；In preparation stage T2, it is not within the scope of predetermined deviation
Deviation number be not more than the second preset threshold when, host computer can determine patient position meet treatment required precision, because
This can enter the first stage.
Wherein, N1 can be equal with N2 or differs, and the utility model embodiment does not limit this.
It, can be with when host computer, which determines, needs to adjust the position of therapeutic bed it should be noted that in above-mentioned steps 314
Through the above steps 303 to method shown in step 309 or step 307 to 309 shown in method adjustment therapeutic bed position
It sets；Alternatively, the i.e. deviation includes three subnumbers if the deviation that the optical tracking system that host computer receives is sent is three-dimensional deviation
According to each subdata is used to indicate therapeutic bed in the three-dimensional system of coordinate of radiotherapy apparatus, when along the offset of each reference axis, then
Host computer can also be directly according to the position of the three-dimensional deviation adjusting therapeutic bed, and the utility model embodiment controls host computer adjustment
Treat the mode of the position of bed without limitation.
If should be noted includes multiple gamma angles (such as three gamma angles), radiotherapy in treatment plan
Before, treating physician adjusts the position of patient to first gamma angle (such as 70 degree), and host computer can combine optics
Tracking system and IGRT system carry out pendulum position to patient with reference to above-mentioned steps 303 to method shown in step 309, then referring to
Above-mentioned steps 310 carry out the radiotherapy at first gamma angle to method shown in step 314 to patient.
Further, the adjustable gamma angle for the treatment of physician is second gamma angle (such as 90 degree), then host computer can be with
In conjunction with optical tracking system and IGRT system, patient is put again with reference to above-mentioned steps 303 to method shown in step 309
Then position carries out the radiotherapy at second gamma angle referring again to above-mentioned steps 310 to method shown in step 314 to patient.
Further, the adjustable gamma angle for the treatment of physician is third gamma angle (such as 110 degree), then host computer can be with
In conjunction with optical tracking system and IGRT system, patient is put again with reference to above-mentioned steps 303 to method shown in step 309
Then position carries out the radiotherapy at third gamma angle referring again to above-mentioned steps 310 to method shown in step 314 to patient.
It should be noted that the sequencing of the step of method for detecting position provided by the embodiment of the utility model can be into
Row appropriate adjustment, step according to circumstances can also accordingly be increased and decreased, for example, step 303 to step 306 can according to circumstances into
Row is deleted.Anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in change
The method of change, should be covered within the scope of the utility model, therefore repeat no more.
In conclusion the utility model embodiment provides a kind of method for detecting position, during radiotherapy, on
Position machine can determine whether patient moves according to the deviation between the relative position and base position that optical tracking system determines
It is dynamic, and after being moved determining patient, the position of adjustment therapeutic bed in time, to carry out pendulum position to patient again.Therefore
Method provided by the embodiment of the utility model can be to avoid the mobile influence to treatment precision of patient, and can penetrate to avoid treatment
The normal tissue of beam damage patient.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. a kind of radiotherapy system, which is characterized in that the system comprises:
Therapeutic bed；
Positioning device in the therapeutic bed is set, at least one label reference point is provided in the positioning device；
Optical tracking system above the therapeutic bed is set, for during radiotherapy, detection patient body-surface to be pre-
Relative position between the mark point that is first arranged and the label reference point, and determine the relative position and base position it
Between deviation, and the deviation is sent to host computer；
Host computer is connect with optical tracking system and the therapeutic bed, for being according to the deviation and the judgement of predetermined deviation range
The position of no adjustment therapeutic bed.
2. radiotherapy system according to claim 1, which is characterized in that the optical tracking system includes: that optics is visited
Survey module, the region where at least one described label reference point of the investigative range covering of the optical detection module, the light
It learns detecting module to be used for during radiotherapy, position and the patient body-surface for detecting each label reference point are pre-
The position for the mark point being first arranged.
3. radiotherapy system according to claim 2, which is characterized in that
The optical detection module includes at least one infrared detector, is provided with infrared emission on each infrared detector
Device and binocular camera.
4. radiotherapy system according to claim 3, which is characterized in that
Infrared reflective material is coated in each label reference point.
5. radiotherapy system according to any one of claims 1 to 4, which is characterized in that the radiotherapy system also wraps
It includes:
The termed image-guided radiotherapy IGRT system connecting with the host computer, the IGRT system include at least one set of image collection group
Part.
6. radiotherapy system according to any one of claims 1 to 4, which is characterized in that
The positioning device includes support frame and fixed frame, and the fixed frame is fixed in the therapeutic bed, support frame as described above with
The fixed frame rotation connection, the positioning device are the support for adjusting gamma angle locating for patient, the gamma angle
The angle of plane and perpendicular where the support panel of frame.
7. radiotherapy system according to any one of claims 1 to 4, which is characterized in that the system also includes: anticollision
Detection device；
The anti-collision detection device is flexibly connected with the therapeutic bed, for moving according to desired guiding trajectory around the therapeutic bed
It is dynamic, to detect whether to collide with patient or the positioning device.
8. radiotherapy system according to any one of claims 1 to 4, which is characterized in that the radiotherapy system also wraps
It includes: treating rack, be provided with multiple radioactive sources in the treatment rack；
Optical detection module in the optical tracking system is arranged in the top of the therapeutic bed, and with the treatment rack phase
To setting.
9. radiotherapy system according to any one of claims 1 to 4, which is characterized in that
There are two mark reference point for setting in the positioning device.
10. radiotherapy system according to any one of claims 1 to 4, which is characterized in that
Each label reference point is spherical structure, and the spherical structure is made of carbon fibre material.
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| CN201820096650.4U CN208943291U (en) | 2018-01-19 | 2018-01-19 | A kind of radiotherapy system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108273199A (en) * | 2018-01-19 | 2018-07-13 | 深圳市奥沃医学新技术发展有限公司 | A kind of method for detecting position, device and radiotherapy system |
| CN112843504A (en) * | 2021-02-06 | 2021-05-28 | 中国人民解放军陆军军医大学第二附属医院 | Intelligent treatment bed capable of assisting patient in adjusting treatment posture |
| CN113577578A (en) * | 2021-08-03 | 2021-11-02 | 中国医学科学院肿瘤医院深圳医院 | Method for predicting limit in-place angle of treatment head of linear accelerator during off-center treatment |
-
2018
- 2018-01-19 CN CN201820096650.4U patent/CN208943291U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108273199A (en) * | 2018-01-19 | 2018-07-13 | 深圳市奥沃医学新技术发展有限公司 | A kind of method for detecting position, device and radiotherapy system |
| CN108273199B (en) * | 2018-01-19 | 2024-05-14 | 深圳市奥沃医学新技术发展有限公司 | Position detection method, position detection device and radiotherapy system |
| CN112843504A (en) * | 2021-02-06 | 2021-05-28 | 中国人民解放军陆军军医大学第二附属医院 | Intelligent treatment bed capable of assisting patient in adjusting treatment posture |
| CN113577578A (en) * | 2021-08-03 | 2021-11-02 | 中国医学科学院肿瘤医院深圳医院 | Method for predicting limit in-place angle of treatment head of linear accelerator during off-center treatment |
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Address after: 518057 8th floor, block B, Fuhua science and technology building, 9116 Beihuan Avenue, Nanshan District, Shenzhen, Guangdong Patentee after: Shenzhen Dayi Gamma Knife Technology Co.,Ltd. Country or region after: China Address before: 518017 8th floor, block B, Fuhua technology building, 9116 Beihuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Aowo Medical New Technology Development Co.,Ltd. Country or region before: China |