WO2019041538A1 - 肿瘤追踪方法及装置、放疗***、存储介质 - Google Patents
肿瘤追踪方法及装置、放疗***、存储介质 Download PDFInfo
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Definitions
- the invention relates to the field of radiation therapy, in particular to a tumor tracking method and device, a radiotherapy system and a storage medium.
- Radiotherapy Radiation therapy
- Radiotherapy is a treatment that uses radiation to treat tumors. Radiotherapy can cause apoptosis or necrosis of cancer cells, and is one of the main means of treating malignant tumors.
- the key technique for radiation therapy is to maintain precise positioning of the tumor during radiotherapy. In the process of actual radiotherapy, the patient's involuntary movement or the movement of the patient's organs will cause the tumor to move and affect the accuracy of the radiotherapy position. Therefore, in the process of radiotherapy, tumor tracking is usually required to achieve precise positioning.
- Radiotherapy equipment includes a rotating gantry, a treatment head, a control assembly, and two imaging systems.
- Each imaging system includes an X-ray tube and a flat panel detector.
- the rotating frame has a cylindrical structure, a treatment head, and an X-ray tube.
- the flat panel detectors are disposed on the rotating frame, and the position of the X-ray tube of each imaging system on the rotating frame is opposite to the position of the flat panel detector on the rotating frame, between the two X-ray tubes
- the circular arc corresponds to a central angle of 90 degrees
- the control components are respectively connected to the rotating frame, the treatment head, the X-ray tube and the flat panel detector.
- the control assembly controls the rotation of the rotating gantry, and controls the two X-ray tubes simultaneously and periodically emits X-rays to the tumor, each X-ray ball
- the X-rays emitted by the tube pass through the tumor to reach the corresponding flat panel detector, and the control component determines a two-dimensional image according to the X-rays received by each flat panel detector to obtain two two-dimensional images and determines according to the two two-dimensional images.
- the three-dimensional position of the tumor enables tracking of the tumor.
- the invention provides a tumor tracking method and device, a radiotherapy system and a storage medium, which can solve the problem that the device for tumor tracking has high complexity and high equipment cost.
- the technical solution of the present invention is as follows:
- a tumor tracking method for use in a radiotherapy apparatus, the radiotherapy apparatus comprising a tumor image acquisition device, wherein the tumor image acquisition device is configured to acquire tumor images at different times, the method comprising:
- the dimensional position deviation is a two-dimensional positional deviation determined according to the tumor image at the N-1th time and the tumor reference image corresponding to the tumor image at the N-1th time, and the acquired position of the tumor image at the Nth time
- the acquisition position of the tumor image at the time of the N-1th time is different;
- the tumor is tracked based on the three-dimensional positional deviation of the tumor at the Nth time.
- a tumor tracking device comprising:
- Obtaining a module, configured to acquire a tumor image at the time N, N 2, 3, 4...M, M is a positive integer;
- a first determining module configured to determine a two-dimensional position deviation of the tumor at the Nth time according to the tumor image corresponding to the Nth time and the tumor reference image corresponding to the tumor image at the Nth time;
- a second determining module configured to determine a three-dimensional position deviation of the tumor at the Nth time according to the two-dimensional positional deviation of the tumor at the Nth time and the predetermined two-dimensional positional deviation of the tumor at the N-1th time, the first The two-dimensional positional deviation of the tumor at the time of N-1 is a two-dimensional positional deviation determined based on the tumor image at the N-1th time and the tumor reference image corresponding to the tumor image at the N-1th time, the Nth moment The acquired position of the tumor image is different from the acquired position of the tumor image at the time of the N-1th;
- a tracking module configured to track the tumor according to the three-dimensional positional deviation of the tumor at the Nth time.
- a radiotherapy system comprising: a treatment device, a treatment switch, a tracking switch, a setting switch, and a tumor tracking device according to the second aspect,
- the treatment switch is connected in parallel with the tracking switch, the setting switch is respectively connected in series with the treatment switch and the tracking switch, and the treatment device is connected with the treatment switch, the tumor chasing The tracking device is connected to the setting switch.
- a computer readable storage medium is provided, the instructions being stored in the computer readable storage medium, when the instructions are run on a processing component of a computer, causing the processing component to perform the first aspect Tumor tracking method.
- the invention provides a tumor tracking method and device, a radiotherapy system and a storage medium, the method comprising: acquiring a tumor image at the Nth time, determining the first according to the tumor image at the Nth time and the tumor reference image corresponding to the tumor image at the Nth time
- the two-dimensional positional deviation of the tumor at the time N, the three-dimensional positional deviation of the tumor at the Nth time is determined according to the two-dimensional positional deviation of the tumor at the Nth time and the predetermined two-dimensional positional deviation of the tumor at the Nth time, according to the tumor at the Nth time
- the three-dimensional positional deviation tracks the tumor. Since only the tumor image acquisition device (that is, a set of imaging systems, the imaging system including the imaging source and the detector) can achieve tumor tracking, the device for solving tumor tracking has high complexity and high equipment cost. The problem helps to reduce device complexity and equipment costs for tumor tracking.
- FIG. 1 is an application scenario diagram of a radiotherapy apparatus according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of acquiring a tumor image according to an embodiment of the present invention.
- FIG. 3 is a flowchart of a method for a tumor tracking method according to an embodiment of the present invention.
- FIG. 4 is a flowchart of a method for determining a three-dimensional position deviation of a tumor according to an embodiment of the present invention
- FIG. 5 is a flow chart of a method for tracking a tumor according to a three-dimensional positional deviation of a tumor according to an embodiment of the present invention
- FIG. 6 is a schematic diagram of acquiring a tumor image in a arc-shaping treatment mode according to an embodiment of the present invention
- FIG. 7 is a schematic diagram of acquiring a tumor image in a fixed-point treatment mode according to an embodiment of the present invention.
- FIG. 8 is a block diagram of a tumor tracking apparatus according to an embodiment of the present invention.
- FIG. 9 is a block diagram of a tracking module according to an embodiment of the present invention.
- FIG. 10 is a schematic structural diagram of a radiotherapy system according to an embodiment of the present invention.
- the radiotherapy apparatus includes: a rotating frame 01 , an imaging source 02 , a detector 03 , a treatment head 04 , Processing component 05 and control component 06.
- the imaging source 02 can be an X-ray tube
- the detector 03 can be a flat panel detector
- the imaging source 02 and the detector 03 can form a set of imaging systems, which can also be referred to as a tumor image acquisition device.
- the rotating frame 01 may be a cylindrical structure, which may specifically be a drum.
- the tumor image acquiring device and the treatment head 04 are respectively disposed on the rotating frame 01, and the tumor image acquiring device and the treatment head 04 are located on the same circumference of the rotating frame 01, and the position and detector of the imaging source 02 on the rotating frame 01
- the position on the rotating frame 01 is opposite, so that the radiation emitted from the imaging source 02 can be received by the detector 03, and the central angle corresponding to the arc between the treatment head 04 and the imaging source 02 can be j.
- the rotating frame 01 can be rotated in the rotation direction f to drive the tumor image acquiring device and the treatment head 04 to rotate.
- the processing component 05 can be coupled to the detector 03, the control component 06 is coupled to the rotating gantry 01, the imaging source 02, and the treatment head 04, respectively, and the processing component 05 is coupled to the control component 06, and the control component 06 can control the rotating gantry 01 to rotate.
- the direction f is rotated, the imaging source 02 and the treatment head 04 are controlled to emit radiation, the detector 03 can receive the radiation emitted by the imaging source 02, and the processing component 05 can determine the tumor image based on the radiation received by the detector 03.
- the processing component 05 can be a computer (for example, a computer), and the processing component 05 can be a processor of the computer.
- the processing component 05 can be processing software, and the control component 06 can be a controller.
- the rotating frame 01 can also be a cantilever or a mechanical arm, and the cantilever or the mechanical arm can drive the tumor image acquiring device and the treatment head 04 to rotate circumferentially.
- the processing component 05 and the control component 06 can be implemented as a whole, or the processing component 05 and the control component 06 can be separately provided.
- the specific structure of the rotating frame 01, the imaging source 02, the detector 03, and the treatment head 04 can be referred to the related art, and details are not described herein again.
- the patient 07 has a tumor 08 grown in the body, and if the tumor is a lung tumor, the tumor 08 can regularly move with the breathing of the patient 07.
- the patient 07 is positioned in the rotating gantry 01 through the treatment bed (not shown in Fig. 1), and the patient 07 is fixed in position on the treatment bed to maintain a smooth breathing, after which the control unit 06 controls the rotating machine.
- the frame 01 rotates in the direction of rotation f, during the rotation of the rotating frame 01:
- the control unit 06 controls the tumor image acquiring device to acquire the tumor image at the time of the N-1th, and the processing component 05 according to the tumor image at the N-1th time and the N-1th time.
- the tumor image corresponding to the tumor image determines the two-dimensional positional deviation of the tumor at the time of the N-1th.
- the imaging source 02 may be located at the position point A1 or the position point A2, or the imaging source 02 may also be located at other position points (not shown in FIG.
- the control component 06 controlling the tumor image acquiring device to acquire the tumor image may include: the control component 06 controls the imaging source 02 to emit radiation to the tumor, the radiation passes through the tumor to reach the detector 03, and the detector 03 passes through the tumor.
- the ray is received, and the processing component 05 determines the tumor image based on the ray received by the detector 03; the processing component 05 determines the N-1 based on the tumor image at the N-1th time and the tumor reference image corresponding to the tumor image at the N-1th time.
- the two-dimensional positional deviation of the tumor at the moment may include: the processing component 05 compares the tumor image at the N-1th time with the tumor reference image corresponding to the tumor image at the N-1th time, and determines the two-dimensional position of the tumor at the N-1th time. deviation.
- the control component 06 controls the tumor image acquiring device to acquire the tumor image at the Nth time, and the processing component 05 according to the tumor image at the Nth time and the tumor reference image corresponding to the tumor image at the Nth time. Determine the two-dimensional positional deviation of the tumor at the time N.
- the imaging source 02 may be located at the position point A1 or the position point A2, or the imaging source 02 may also be located at other position points (not shown in FIG. 2), and the position at which the imaging source 02 is located at the Nth time The point is different from the position at which the imaging source 02 is located at the time of the N-1th.
- the tumor reference image corresponding to the tumor image at the Nth time is the tumor reference image corresponding to the position point A1.
- the tumor reference image corresponding to the tumor image at time N is also the tumor reference image corresponding to the position point A2.
- the control component 06 controls the process of acquiring the tumor image by the tumor image acquiring device, and the process of determining the two-dimensional positional deviation of the tumor at the Nth time from the tumor image corresponding to the tumor image at the Nth time and the tumor reference image corresponding to the tumor image at the Nth time.
- the processes related to the above-mentioned time N-1 are the same or similar, and are not described herein again.
- the processing component 05 After determining the two-dimensional positional deviation of the tumor at the time of the N-1th and the two-dimensional positional deviation of the tumor at the time of the Nth, the processing component 05 determines the two-dimensional positional deviation of the tumor at the time of the N-1th and the two-dimensional positional deviation of the tumor at the Nth time. Determining the three-dimensional positional deviation of the tumor at the time N, the control component 06 is swollen according to the Nth moment The three-dimensional positional deviation of the tumor tracks the tumor.
- the processing component 05 determines, according to the two-dimensional positional deviation of the tumor at the time of the N-1th and the two-dimensional positional deviation of the tumor at the Nth time, determining the three-dimensional positional deviation of the tumor at the time of the Nth time, the processing component 05 may include: the processing component 05 combined with the time of the N-1th The two-dimensional positional deviation of the tumor and the two-dimensional positional deviation of the tumor at the time N are calculated, and the three-dimensional positional deviation of the tumor at the time N is calculated.
- the tracking of the tumor by the control component 06 according to the three-dimensional positional deviation of the tumor at the time of the Nth may include: the control component 06 tracks the tumor according to the relationship between the three-dimensional positional deviation of the tumor at the Nth time and the preset deviation range, and may specifically include: When the three-dimensional position deviation of the tumor at the time N is within the preset deviation range, the control component 06 automatically corrects the position of the tumor; when the three-dimensional position deviation of the tumor at the time N is greater than the upper limit of the preset deviation range, the control component 06 performs an alarm operation to It is suggested that the position of the tumor is manually corrected; when the three-dimensional position deviation of the tumor at the Nth time is less than the lower limit of the preset deviation range, it is not necessary to correct the position of the tumor.
- control component 06 automatically corrects the position of the tumor may include: the control component 06 controls the treatment bed movement of the radiotherapy device according to the three-dimensional positional deviation of the tumor at the Nth time to make the tumor coincide with the focus of the radiotherapy device; or, the control component 06 according to the Nth moment
- the three-dimensional positional deviation of the tumor adjusts the multi-leaf collimator of the radiotherapy device so that the field of the multi-leaf collimator coincides with the tumor.
- the detector 03 may include an analog to digital converter (English: Analog to Digital Converter; abbreviated as ADC).
- the processing component 05 determines the tumor image according to the radiation received by the detector 03.
- the detector 03 may include the detector 03 converting the received radiation into The optical signal, which is then converted to an analog signal, is converted by the ADC into a digital signal that is sent to processing component 05, which processes the tumor image based on the received digital signal.
- FIG. 3 is a flowchart of a method for tracking a tumor according to an embodiment of the present invention.
- the tumor tracking method is applied to the radiotherapy apparatus shown in FIG. 1 to illustrate the tumor tracking.
- the method can be performed by a tumor tracking device comprising a tumor image acquisition device (including an imaging source and detector), a processing component, a control component, and the like in the radiotherapy apparatus shown in FIG.
- the tumor tracking method includes:
- the tumor image at the Nth time can be acquired by the tumor image acquiring device.
- the tumor image acquiring device may include an imaging source and a detector, and the tumor image acquiring device can rotate around the circumference of the tumor, and can rotate at a constant speed or non-uniform speed.
- the imaging source can be swollen.
- the tumor emits a ray that passes through the tumor to reach the detector and is received by the detector.
- the tumor image determined by the processing component according to the radiation received by the detector is the tumor image at the Nth moment.
- the rays may be X-rays.
- N 2, 3, 4...M, M is a positive integer, that is, N is a positive integer greater than or equal to 2.
- the imaging source 02 emits radiation from the position point A2 shown in FIG. 2 to the tumor in the patient 07, and the radiation passes through the patient 07.
- the tumor reaches the detector 03 and is received by the detector 03, and the tumor image determined by the processing component based on the radiation received by the detector 03 is the tumor image at the time N.
- Step 302 Determine a two-dimensional position deviation of the tumor at the Nth time according to the tumor image corresponding to the Nth time and the tumor reference image corresponding to the tumor image at the Nth time.
- the tumor reference image corresponding to the tumor image at the Nth time is the tumor reference image corresponding to the position point where the imaging source is located at the Nth time.
- the processing component may store a preset image library, where the preset image library includes a tumor reference image corresponding to each of the plurality of location points, and the tumor reference image corresponding to each location point is based on A tumor reference image determined from the corresponding location point to the optical signal emitted by the tumor.
- the processing component may first acquire a tumor reference image corresponding to a position point where the imaging source is located at the Nth time from the preset image library, and determine the tumor reference image as the tumor reference image corresponding to the tumor image at the Nth time, and then The tumor image at the time N is compared with the tumor reference image corresponding to the tumor image at the Nth time, and the two-dimensional positional deviation of the tumor at the Nth time is determined.
- the two-dimensional positional deviation of the tumor at the Nth time may include the tumor at the Nth time on the x-axis.
- the origin of the x-axis, the y-axis, and the z-axis is the midpoint of the line connecting the imaging source and the detector
- the radiotherapy apparatus may include a treatment bed
- the y-axis is parallel to the length direction of the treatment bed of the radiotherapy apparatus
- the x-axis is The y-axis is in the same plane perpendicular to the y-axis
- the z-axis is perpendicular to the plane formed by the x-axis and the y-axis.
- the tumor reference image in the preset image database may be a digitally reconstructed two-dimensional image of a pre-acquired tumor computed tomography (English: Computed Tomography; CT).
- the tumor reference image corresponding to the tumor image at the time N may be a CT image of the tumor acquired in advance.
- the preset image library can be formed before treatment or can be formed during the treatment.
- the tumor can be scanned by a CT machine to obtain a CT image sequence of the tumor.
- the CT image sequence includes a series of CT images, and then calculated by an image reconstruction algorithm.
- the CT digital reconstructs the two-dimensional image, and the CT digital reconstructed two-dimensional image is also the tumor reference image.
- the preset image library is formed during the treatment, before the treatment, the tumor can be scanned by the CT machine to obtain a CT image sequence of the tumor, and the CT image sequence includes a series of CT images, and in the treatment, when it is necessary to determine
- the CT digital reconstructed two-dimensional image corresponding to the tumor image at the Nth time is calculated by the image reconstruction algorithm, and the CT digital reconstructed two-dimensional image is the tumor image corresponding to the Nth time.
- Tumor reference image is the image corresponding to the Nth time.
- the embodiment of the present invention is described by taking a CT machine to scan a tumor and acquiring a tumor reference image as an example.
- magnetic resonance imaging English: Magnetic Resonance Imaging; MRI
- the tumor reference image is obtained, and the embodiment of the present invention will not be described herein.
- Step 303 Determine a three-dimensional positional deviation of the tumor at the Nth time according to the two-dimensional positional deviation of the tumor at the Nth time and the predetermined two-dimensional positional deviation of the tumor at the N-1th time.
- the two-dimensional positional deviation of the tumor at the time of the N-1th time is a two-dimensional positional deviation determined according to the tumor image at the time of the N-1th time and the tumor reference image corresponding to the tumor image at the time of the N-1th, and the tumor image at the Nth time
- the acquisition position is different from the acquisition position of the tumor image at the time of the N-1th.
- the process of determining the two-dimensional positional deviation of the tumor at the time of the Nth time is similar to the process of determining the two-dimensional positional deviation of the tumor at the Nth time in the above steps 301 to 302, and the present embodiment will not be described herein.
- the acquisition position of the tumor image at the Nth time is different from the acquisition position of the tumor image at the N-1th time, for example, when the acquisition position point of the tumor image at the Nth time is the position point A2 in FIG. 2
- the acquisition position point of the tumor image at the time of the N-1th time may be the position point A1 in FIG.
- the two-dimensional position deviation of the tumor at the time of the N-1th time includes the Nth The positional deviation U N-1 of the tumor in the x-axis direction and the z-axis direction at the time of -1 and the positional deviation Y N-1 of the tumor in the y-axis direction at the time of the N-1th .
- Step 304 Track the tumor according to the three-dimensional position deviation of the tumor at the Nth time.
- the control component tracks the tumor based on the relationship between the three-dimensional positional deviation of the tumor at the Nth time and the preset deviation range.
- the tumor tracking method acquires the tumor image at the Nth time, and determines the tumor at the Nth time according to the tumor image at the Nth time and the tumor reference image corresponding to the tumor image at the Nth time.
- Dimensional positional deviation according to the two-dimensional positional deviation of the tumor at the Nth time and the predetermined two-dimensional positional deviation of the tumor at the N-1th time, the three-dimensional positional deviation of the tumor at the Nth time is determined, according to the three-dimensional positional deviation of the tumor at the Nth time The tumor is tracked.
- Imaging system that is, an imaging system, the imaging system including the imaging source and the detector
- Setting can achieve tumor tracking, thus solving the problem of high complexity of the device for tumor tracking and high equipment cost, which helps Reduce equipment complexity and equipment costs for tumor tracking.
- FIG. 4 illustrates a method for determining a three-dimensional positional deviation of a tumor at a time N according to a two-dimensional positional deviation of a tumor at the Nth time and a two-dimensional positional deviation of the tumor at the N-1th time according to an embodiment of the present invention.
- the method includes:
- Sub-step 3031 determining the rotation angle of the imaging source at the Nth time and the rotation angle of the imaging source at the N-1th time.
- the rotating frame can be rotated to drive the imaging source to rotate circumferentially.
- the rotation angle of the imaging source can be determined by rotating the frame driving device or the encoder, and the imaging source is different at different times.
- the rotation angle may include a rotation angle of the imaging source at the time N and a rotation angle of the imaging source at the time N-1.
- the rotation angle of the imaging source at the time of the Nth time may be: a rotation angle of the imaging source from the time when the imaging source rotates around the tumor to the Nth time, and the rotation angle of the imaging source at the time of the N-1th time may be: starting from the imaging source The angle of rotation of the imaging source from the moment the tumor is rotated to the time of the N-1th.
- the rotation angle of the imaging source when the imaging source starts to rotate around the tumor can be determined to be 0 degrees, and the position point where the imaging source is located at the Nth time and the position point where the imaging source is located when the imaging source starts to rotate around the tumor
- the angle between the angle (the central point corresponding to the arc between the position where the imaging source is located at the Nth time and the position where the imaging source is located when the imaging source starts to rotate around the tumor) is determined as the imaging source at the Nth moment.
- the angle of rotation the angle between the position point where the imaging source is located at the N-1th time and the position point where the imaging source is located when the imaging source starts to rotate around the tumor (that is, the position point where the imaging source is located at the time N-1)
- the angle of the circle corresponding to the arc between the position where the imaging source is located when the imaging source starts to rotate around the tumor is determined as the rotation angle of the imaging source at the time of the N-1th time; or, when the imaging source is rotated around the uniform circumference of the tumor, it can be determined
- the rotation speed of the rotation is determined by the product of the Nth time difference and the rotation speed as the rotation angle of the imaging source at the Nth time, and the product of the N-1th time difference and the rotation speed is determined
- Sub-step 3032 according to the two-dimensional position deviation of the tumor at the Nth time, the two-dimensional position deviation of the tumor at the N-1th time, the rotation angle of the imaging source at the Nth time, and the rotation angle of the imaging source at the N-1th time.
- the three-dimensional positional deviation of the tumor at the Nth time is determined by the three-dimensional positional deviation formula.
- the three-dimensional position deviation formula may be:
- X is the positional deviation of the tumor in the x-axis direction
- Y is the positional deviation of the tumor in the y-axis direction
- Z is the positional deviation of the tumor in the z-axis direction
- the origin of the x-axis, y-axis, and z-axis is imaging
- the midpoint of the line between the source and the detector, which may also be referred to as the treatment isocenter, and the y-axis is parallel to the length of the treatment bed of the radiotherapy device.
- the patient's longitudinal position may Parallel to the length direction of the treatment bed, the x-axis is in the same plane as the y-axis and perpendicular to the y-axis, and the z-axis is perpendicular to the plane composed of the x-axis and the y-axis;
- U N is the N-th order tumor in the x-axis direction and the z-axis Joint position deviation in the direction
- R N is the rotation angle of the imaging source at the Nth moment
- Y N is the positional deviation of the tumor in the y-axis direction at the time N
- U N-1 is the X-axis direction at the time of the N-1
- the joint position deviation in the z-axis direction R N-1 is the rotation angle of the imaging source at the time of the N-1th.
- SinR N represents the sine of R N
- SinR N-1 represents the sine of R N-1
- CosR N represents the cosine of R N
- CosR N-1 represents the cosine of R N-1
- / Divisor.
- U N-1 X ⁇ CosR N-1 + Z ⁇ SinR N-1 .
- the processing component may combine the joint position deviation U N of the tumor in the x-axis direction and the z-axis direction at the time N , and the joint position deviation U N- of the tumor in the x-axis direction and the z-axis direction at the time N-1. 1 .
- the rotation angle R N of the imaging source at the Nth time, the rotation angle R N -1 of the imaging source at the time N-1, and the position deviation Y N of the tumor in the y-axis direction at the Nth time are substituted into the above three-dimensional position deviation formula, and the calculation is performed.
- the positional deviation of the tumor in the x-axis direction at the time N, the positional deviation of the tumor in the y-axis direction, and the positional deviation of the tumor in the z-axis direction are obtained, thereby obtaining the three-dimensional positional deviation of the tumor at the time N.
- Y Y N
- Y N is the first The positional deviation of the tumor in the y-axis direction at time N, and the Nth moment is located after the time N-1.
- Y is equal to the positional deviation of the most recently acquired tumor in the y-axis direction, for example, when the two-dimensional positional deviation and the N-2th time of the tumor according to the N-1th time
- Y Y N-1
- Y N-1 is the positional deviation of the tumor in the y-axis direction at the time of the N-1th time
- the N-th 1 time is after the time N-2
- Y Y N +1
- Y N+1 is the positional deviation of the tumor in the y-axis direction at the time of the N+1th time
- the N+1th time is after the
- Y in the three-dimensional positional deviation is equal to the two two-dimensional positional deviations, and the last acquisition The positional deviation of the tumor in the y-axis direction in the two-dimensional positional deviation.
- FIG. 5 is a flowchart of a method for tracking a tumor according to a relationship between a three-dimensional position deviation of a tumor at a time N and a preset deviation range according to an embodiment of the present invention.
- the method includes:
- Sub-step 3041 when the three-dimensional positional deviation of the tumor at the Nth time is within the preset deviation range, the position of the tumor is automatically corrected.
- control component may compare the three-dimensional position deviation of the tumor at the Nth time with the preset deviation range to determine whether the three-dimensional position deviation of the tumor at the Nth time is within a preset deviation range, if the tumor at the Nth time The three-dimensional positional deviation is within the preset deviation range, and the control component automatically corrects the position of the tumor.
- the preset deviation range may be a deviation range of the square root of the three-dimensional position deviation.
- the processing component calculates the square root of the three-dimensional position deviation of the tumor at the Nth time according to the square root formula, and then compares the square root of the three-dimensional position deviation of the tumor at the Nth time with the upper limit of the preset deviation range and the lower limit of the preset deviation range to determine Whether the square root of the three-dimensional position deviation of the tumor at the time N is within a preset deviation range, and when the square root of the three-dimensional position deviation of the tumor at the time N is less than the upper limit of the preset deviation range and greater than the lower limit of the preset deviation range, or When the square root of the three-dimensional position deviation of the tumor at time N is equal to the upper limit of the preset deviation range, or when the square root of the three-dimensional position deviation of the tumor at the Nth time is equal to the lower limit of the preset deviation range, the processing component determines the three-dimensional position of the tumor at the time N The square
- the square root formula can be: X is the positional deviation of the tumor in the x-axis direction, Y is the positional deviation of the tumor in the y-axis direction, Z is the positional deviation of the tumor in the z-axis direction, and d is the square root of the three-dimensional positional deviation.
- the processing component may substitute the value of X, the value of Y, and the value of Z of the three-dimensional positional deviation of the tumor at the Nth time calculated in step 303 into the square root formula, and calculate the square root of the three-dimensional positional deviation of the tumor at the time N.
- the radiotherapy device can be a multi-source focusing radiotherapy device or a conformal intensity-modulating radiotherapy device. Ready.
- the multi-source focusing radiotherapy apparatus has a treatment head loaded with a plurality of radiation sources, and the radiation emitted from the plurality of radiation sources can be concentrated at one point, and the convergence point of the radiation emitted by the plurality of radiation sources can be referred to as multi-source focusing radiotherapy.
- the focus of the device when the radiotherapy device is a multi-source focused radiotherapy device, the control component can move the treatment bed of the radiotherapy device according to the three-dimensional positional deviation of the tumor at the Nth time, so that the focus of the tumor coincides with the focus of the multi-source focused radiotherapy device to perform on the tumor Position correction.
- the conformal intensity-modulated radiotherapy apparatus usually has a treatment head, and the conformal intensity-modulated radiotherapy apparatus further includes a multi-leaf collimator (English: Multi-Leaf Collimator; abbreviation: MLC) that cooperates with the treatment head, and the multi-leaf collimator has a shot.
- MLC Multi-Leaf Collimator
- the control component can adjust the radiation therapy device according to the three-dimensional positional deviation of the tumor at the Nth time.
- the leaf collimator allows the field of the multi-leaf collimator to coincide with the tumor to positionally correct the tumor.
- Sub-step 3042 when the three-dimensional position deviation of the tumor at the time N is greater than the upper limit of the preset deviation range, an alarm operation is performed to prompt manual correction of the position of the tumor.
- the processing component may compare the three-dimensional positional deviation of the tumor at the Nth time with the upper limit of the preset deviation range to determine whether the three-dimensional positional deviation of the tumor at the Nth time is greater than the upper limit of the preset deviation range. If the three-dimensional position deviation of the tumor at the time N is greater than the upper limit of the preset deviation range, the positional deviation of the tumor is large. At this time, the radiotherapy device may not be able to position the tumor anyway, so the control component can perform an alarm operation. To prompt manual correction of the location of the tumor. Optionally, an alert tone may be issued, or a prompt message may be generated, and a prompt message may be displayed. After the control component performs the alarm operation, the staff can manually correct the position of the tumor according to the alarm prompt. For example, repositioning the patient's position on the treatment bed, etc.
- the preset deviation range may be a deviation range of the square root of the three-dimensional position deviation.
- the processing component can calculate the square root of the three-dimensional position deviation of the tumor at the Nth time according to the square root formula, and then compare the square root of the three-dimensional position deviation of the tumor at the Nth time with the upper limit of the preset deviation range to determine the three-dimensional tumor at the Nth time. Whether the square root of the position deviation is greater than the upper limit of the preset deviation range.
- the processing component calculating the square root of the three-dimensional positional deviation of the tumor at the time of the Nth time reference may be made to the above-mentioned sub-step 3041, which is not described herein again.
- Sub-step 3043 when the three-dimensional position deviation of the tumor at the time N is less than the lower limit of the preset deviation range, there is no need to correct the position of the tumor.
- the processing component may compare the three-dimensional positional deviation of the tumor at the Nth time with the lower limit of the preset deviation range to determine whether the three-dimensional positional deviation of the tumor at the Nth time is less than the lower limit of the preset deviation range. If the three-dimensional position deviation of the tumor at the time N is less than the lower limit of the preset deviation range, it indicates that the positional deviation of the tumor is small, or the tumor does not have a positional deviation. At this time, it is not necessary to correct the position of the tumor. For example, there is no need to move the treatment couch, no need to adjust the multi-leaf collimator, and no need to perform an alarm operation.
- the preset deviation range may be a deviation range of the square root of the three-dimensional position deviation.
- the processing component can calculate the square root of the three-dimensional position deviation of the tumor at the Nth time according to the square root formula, and then compare the square root of the three-dimensional position deviation of the tumor at the Nth time with the lower limit of the preset deviation range to determine the three-dimensional tumor at the Nth time. Whether the square root of the position deviation is less than the preset deviation range.
- the processing component calculating the square root of the three-dimensional positional deviation of the tumor at the time of the Nth time reference may be made to the above-mentioned sub-step 3041, which is not described herein again.
- the tumor tracking method acquires the tumor image at the Nth time, and determines the tumor at the Nth time according to the tumor image at the Nth time and the tumor reference image corresponding to the tumor image at the Nth time.
- Dimensional positional deviation according to the two-dimensional positional deviation of the tumor at the Nth time and the predetermined two-dimensional positional deviation of the tumor at the N-1th time, the three-dimensional positional deviation of the tumor at the Nth time is determined, according to the three-dimensional positional deviation of the tumor at the Nth time
- the tumor is tracked. Since only the tumor image acquisition device (that is, a set of imaging systems, the imaging system including the imaging source and the detector) can achieve tumor tracking, the device for solving tumor tracking has high complexity and high equipment cost. The problem helps to reduce device complexity and equipment costs for tumor tracking.
- the tumor tracking method rotates the rotating frame during the whole tumor tracking process, and drives the tumor image acquiring device (including the imaging source and the detector) to rotate circumferentially, and the tumor image is in the process of rotating the tumor image acquiring device.
- the acquiring device can acquire the tumor image at regular intervals, and the tumor tracking device can determine the two-dimensional positional deviation of the tumor at different times according to the tumor image at different times, and then combine the two-dimensional position deviation of the adjacent two obtained tumors to calculate the tumor.
- the three-dimensional deviation in real-time response to the movement of the tumor based on the three-dimensional deviation of the tumor, enables real-time tracking of the tumor throughout the treatment.
- the time interval between any two adjacent moments may be equal or unequal, and the time interval between any two adjacent moments may be adjusted, and the any two adjacent moments refer to It is the time at which the tumor image acquisition device acquires the tumor image twice arbitrarily.
- the tumor tracking device can adjust the time interval between any two adjacent moments to increase the imaging time of any adjacent two acquired tumor images. The angle between the points where the source is located, thereby reducing the error of the determined three-dimensional positional deviation of the tumor, and improving the accuracy of the tumor tracking.
- the tumor tracking method provided by the embodiment shown in FIG. 3 to FIG. 5 above can be applied to a radiotherapy apparatus, which comprises a rotating frame and a treatment head and a tumor image acquiring device disposed on the rotating frame, and the rotating frame drives the treatment head and The tumor image acquisition device rotates around the tumor.
- a radiotherapy apparatus which comprises a rotating frame and a treatment head and a tumor image acquiring device disposed on the rotating frame, and the rotating frame drives the treatment head and The tumor image acquisition device rotates around the tumor.
- the tumor tracking method in the embodiment shown in FIG. 3 to FIG. 5 above can be applied to a rotation treatment mode, a arc treatment mode, and a fixed point treatment mode.
- the rotating frame drives the treatment head and the tumor image acquisition device. Rotate around the circumference of the tumor.
- the arc-arc treatment mode can be a large-angle or small-angle arc-shaping treatment mode.
- the rotating gantry rotates (can be a uniform rotation or a non-uniform rotation), driving the treatment head in the arc-arcing section. Internal movement.
- the fixed-point treatment mode during the treatment, the treatment head stays at a certain point to treat the tumor.
- a virtual treatment point is arranged outside the arc-arc segment, and during the treatment, the treatment head can also move outside the arc-arc, the treatment head At the Nth time or the N-1th time, the virtual treatment point is located, and the arc between the position where the treatment head is located at the Nth time and the position where the treatment head is located at the N-1th time is larger than the arcing arc.
- the tumor image acquiring device in the arc-shaping treatment mode, can acquire the tumor image, and in the time when the tumor image is acquired twice, one of the treatment heads can be located in the arc-arcing arc, and the other moment
- the treatment head can be located at a virtual treatment point outside the arcing arc; or, at a time when the tumor image is acquired two times adjacently, the treatment head is located at two different virtual treatment points outside the arcing arc. Since the angle between the treatment head and the tumor image acquisition device is fixed, when the angle between the position points at which the treatment head is located at a time when the tumor image is acquired two times is large, the tumor image acquisition device is located The angle between the position points is also large.
- FIG. 6 is a schematic diagram of acquiring a tumor image in a arc-shaping treatment mode according to an embodiment of the present invention.
- the arc-arc arc segment may be an arc between the position point E1 and the position point E2. Any point on the arc may be a treatment point, and the position point E1 and the position point E2 may also be treatment points, and the treatment head may move in the arc-arc and emit radiation.
- Tumor tracking device can be in A virtual treatment point E3 is set outside the arcing arc. During the treatment, the treatment head can also move outside the arcing arc. When the treatment head moves outside the arcing arc, the treatment head does not emit radiation.
- the treatment head at the time of the N-1th, may be located at a position point E4 within the arc-arc arc segment.
- the treatment head may be located at the virtual treatment point E3 outside the arc-arc arc segment, the N-th
- the arc between the position where the treatment head is located at the moment 1 and the position at which the treatment head is located at the time N is greater than the arcing arc, so that the position and the Nth moment of the tumor image acquisition device at the time N-1
- the arc between the position points where the tumor image acquisition device is located is larger than the arcing arc segment.
- the tumor image acquiring device acquires the tumor image once, and the tumor image acquired by the tumor image acquiring device at the N-1th time is the tumor image at the N-1th time, and the tumor image at the Nth time is acquired.
- the tumor image acquired by the device is the tumor image at the time N.
- the treatment head is located in the arc arc segment at the time of the N-1th, and the treatment head is located at the virtual treatment point at the Nth time.
- the treatment at the N-1th time is described.
- the head can be located at the virtual treatment point, and the treatment head can be located in the arc arc segment at the Nth time; when at least two virtual treatment points are set outside the arc arc segment, the treatment heads at the N-1th and the Nth time can be located at least Two different virtual treatment points in the two virtual treatment points, as long as the arc between the position where the treatment head is located at the Nth time and the position where the treatment head is located at the N-1th time is larger than the arcing arc can.
- the tumor image acquiring device can acquire the tumor image when the treatment head is located in the arcing arc and the virtual treatment point or when the treatment head is located at two different virtual treatment points, so that the tumor is made
- the image acquisition device acquires the tumor image twice, the angle between the position points where the tumor image acquisition device is located increases, which reduces the error of the three-dimensional position deviation of the finally determined tumor, and improves the tumor tracking accuracy.
- the method for determining the three-dimensional position deviation and tracking of the tumor according to the acquired tumor image is as described above, and will not be described herein.
- a virtual treatment point is set outside the fixed point, and during the treatment, the treatment head can move outside the fixed point, and the treatment head is in the first The N time or the N-1 time is at the virtual treatment point.
- the tumor image acquiring device in the fixed-point treatment mode, can acquire the tumor image, and in the time when the tumor image is acquired twice, one of the treatment heads can be located at a fixed point (referring to the treatment point, the treatment head) At the other point of time, the treatment head can be located at a virtual treatment point outside the fixed point (the treatment head does not emit radiation when it is located at the virtual treatment point); or, In the moment when the tumor image is acquired twice, the treatment head is located at two different virtual treatment points outside the fixed point.
- the application of the tumor tracking method shown in the above FIGS. 3 to 5 in the fixed point treatment process can be realized.
- the angle between the treatment head and the tumor image acquisition device is fixed, when the angle between the position points at which the treatment head is located at a time when the tumor image is acquired two times is large, the tumor image acquisition device is located The angle between the position points is also large.
- the angle between the positions of the treatment head at the time of obtaining the tumor image twice may range from 45 to 135 degrees, preferably 90 degrees. .
- FIG. 7 is a schematic diagram of acquiring a tumor image in a fixed-point treatment mode according to an embodiment of the present invention.
- a fixed point D2 is a treatment point, and the treatment head can emit radiation at a fixed point D2.
- the tumor tracking device can set virtual treatment points D1, D3, and D4 outside the fixed point D2.
- the treatment head can also move outside the fixed point D2.
- Radiation for example, does not emit radiation when the treatment head is at virtual treatment points D1, D3, D4.
- the treatment head may be located at the fixed point D2.
- the treatment head may be located at the virtual treatment point D4, and the angle between the fixed point D2 and the virtual treatment point D4 may be a.
- the angle a may range from 45 to 135 degrees, such that the angle between the position point at which the tumor image acquiring device is located at the time N and the position at which the tumor image acquiring device at the time N-1 is located The value can range from 45-135 degrees.
- the treatment head at the time of the N-1th, the treatment head may be located at the virtual treatment point D1, and at the time of the Nth, the treatment head may be located at the virtual treatment point D3, between the virtual treatment point D1 and the virtual treatment point D3.
- the angle of the angle b may be b, and the angle b may range from 45 to 135 degrees, so that the position point where the tumor image acquiring device is located at the time N and the position of the tumor image acquiring device at the time N-1 are located.
- the angle between the angles can range from 45-135 degrees.
- FIG. 7 is merely exemplary.
- the treatment head at the N-1th time can be located at the virtual treatment point, and the treatment head at the Nth time can be located at the fixed point, or the N-1th and Nth moments.
- the treatment head is located at a different virtual treatment point, as long as the position of the treatment head at the Nth time is different from the position of the treatment head at the N-1th time.
- the treatment head by setting a virtual treatment point, when the treatment head is rotated to the virtual treatment point, the treatment head does not emit radiation, but the tumor image acquisition device acquires the tumor image, and the tumor image acquisition device can be located at the treatment point at the fixed point and the virtual Obtaining a tumor image at the treatment point, thus making the tumor image
- the acquiring device acquires the tumor image twice, the position of the tumor image acquiring device is different, and the application of the tumor tracking method described in FIG. 3 to FIG.
- the angle between the position points of the tumor image acquisition device ranges from 45 to 135 degrees, which reduces the error of the three-dimensional position deviation of the finally determined tumor, and improves the tumor tracking accuracy.
- the method for determining the three-dimensional position deviation and tracking of the tumor according to the acquired tumor image is as described above, and will not be described herein.
- FIG. 8 is a block diagram of a tumor tracking apparatus 100 according to an embodiment of the present invention.
- the tumor tracking device 100 can be applied to a radiotherapy device.
- the tumor tracking device 100 can be used to perform the method provided by any of the embodiments shown in FIG. 3 to FIG. 5.
- the tumor tracking device 100 can include, but is not limited to:
- the first determining module 102 is configured to determine, according to the tumor image at the Nth time and the tumor reference image corresponding to the tumor image at the Nth time, the two-dimensional position deviation of the tumor at the Nth time;
- the second determining module 103 is configured to determine a three-dimensional position deviation of the tumor at the Nth time according to the two-dimensional position deviation of the tumor at the Nth time and the predetermined two-dimensional position deviation of the tumor at the N-1th time, and the tumor at the N-1th time
- the two-dimensional positional deviation is a two-dimensional positional deviation determined from the tumor image at the time of the N-1th and the tumor reference image corresponding to the tumor image at the time of the N-1th, and the acquisition position of the tumor image at the Nth time and the N-1th The location of the tumor image at the moment is different;
- the tracking module 104 is configured to track the tumor according to the three-dimensional positional deviation of the tumor at the Nth time.
- the tumor tracking device acquires the tumor image at the Nth time, and determines the tumor at the Nth time according to the tumor image at the Nth time and the tumor reference image corresponding to the tumor image at the Nth time.
- Dimensional positional deviation according to the two-dimensional positional deviation of the tumor at the Nth time and the predetermined two-dimensional positional deviation of the tumor at the N-1th time, the three-dimensional positional deviation of the tumor at the Nth time is determined, according to the three-dimensional positional deviation of the tumor at the Nth time
- the tumor is tracked. Since only the tumor image acquisition device (that is, a set of imaging systems, the imaging system including the imaging source and the detector) can achieve tumor tracking, the device for solving tumor tracking has high complexity and high equipment cost. Problem with Helps reduce device complexity and equipment costs for tumor tracking.
- the time intervals between any two adjacent moments are equal or unequal.
- the tracking module 104 is configured to track the tumor according to the relationship between the three-dimensional position deviation of the tumor at the Nth time and the preset deviation range.
- FIG. 9 is a block diagram of a tracking module 104 according to an embodiment of the present invention.
- the tracking module 104 includes:
- the first correcting unit 1041 is configured to automatically correct the position of the tumor when the three-dimensional position deviation of the tumor at the Nth time is within the preset deviation range;
- the alarm unit 1042 is configured to perform an alarm operation to prompt the manual correction of the position of the tumor when the three-dimensional position deviation of the tumor at the time N is greater than the upper limit of the preset deviation range;
- the tumor tracking device 100 is applied to a radiotherapy device, and the first correcting unit 1041 is configured to:
- the treatment bed of the radiotherapy device is moved according to the three-dimensional positional deviation of the tumor at the Nth time, so that the focus of the tumor coincides with the focus of the multi-source focusing radiotherapy device;
- the multi-leaf collimator of the radiotherapy device is adjusted according to the three-dimensional positional deviation of the tumor at the Nth time, so that the field of the multi-leaf collimator coincides with the tumor.
- the tumor reference image corresponding to the tumor image at the Nth time is a computed tomography CT image or an MRI image of the pre-acquired tumor.
- the tumor tracking device acquires the tumor image at the Nth time, and determines the tumor at the Nth time according to the tumor image at the Nth time and the tumor reference image corresponding to the tumor image at the Nth time.
- Dimensional positional deviation according to the two-dimensional positional deviation of the tumor at the Nth time and the predetermined two-dimensional positional deviation of the tumor at the N-1th time, the three-dimensional positional deviation of the tumor at the Nth time is determined, according to the three-dimensional positional deviation of the tumor at the Nth time
- the tumor is tracked. Since only the tumor image acquisition device (that is, a set of imaging systems, the imaging system including the imaging source and the detector) can achieve tumor tracking, the device for solving tumor tracking has high complexity and high equipment cost. The problem helps to reduce device complexity and equipment costs for tumor tracking.
- the imaging system in the tumor tracking device of the present invention can be used for image guidance before treatment, and can also be used for tumor tracking in therapy, so that the utilization rate of the imaging system (including the imaging source and the detector) is high.
- the pre-treatment image guides the accurate positioning of the tumor before treatment, that is, the image guidance before treatment is used to make the tumor coincide with the treatment center point of the radiotherapy apparatus.
- the method may include: acquiring an image of the tumor at the first position and the second position by using the imaging system, respectively, obtaining two tumor images, and combining the two tumor images Each tumor image in the image is compared with the tumor reference image at the corresponding position to obtain two two-dimensional positional deviations of the tumor, and the three-dimensional positional deviation of the tumor is calculated according to the two-dimensional positional deviation, and the tumor is positioned according to the three-dimensional positional deviation. Correction, so that the tumor coincides with the treatment center point of the radiotherapy equipment.
- the radiotherapy system provided by the embodiments of the present invention can be used for image guidance before treatment, it can also be used for tumor tracking in therapy.
- Image guidance prior to treatment the imaging system only needs to be exposed at a predetermined location, while the tumor tracking during treatment, the imaging system needs to be continuously exposed at certain time intervals. Therefore, in order to make the pre-treatment image guidance work in conjunction with the tumor tracking in the treatment, the embodiments of the present invention also provide a radiotherapy system.
- FIG. 10 is a schematic structural diagram of a radiotherapy system according to an embodiment of the present invention.
- the radiotherapy system includes: a treatment device 1101 , a treatment switch 1102 , a tracking switch 1103 , a setting switch 1104 , and a tumor tracking system .
- Device 1105, tumor tracking device 1105 can be tumor tracking device 100 shown in FIG.
- the treatment switch 1102 is connected in parallel with the tracking switch 1103, the setting switch 1104 is connected in series with the treatment switch 1102 and the tracking switch 1103, the treatment device 1101 is connected to the treatment switch 1102, and the tumor tracking device 1105 is connected to the setting switch 1104.
- the tracking switch 1103 can also be referred to as an exposure switch, and the setting switch 1104 can also be referred to as a software setting exposure switch.
- the tracking switch 1103 is used to control the imaging system of the radiation therapy system for image guidance prior to treatment.
- the treatment switch 1102 is used to control the treatment of the tumor by the treatment head of the radiation therapy system, and to control the imaging system of the radiation therapy system for tumor tracking during treatment.
- a setting switch 1104 is used to control the imaging system of the radiotherapy system to switch between image guidance prior to treatment and tumor tracking in therapy.
- the tracking switch 1103 and the setting switch 1104 are simultaneously closed, the setting switch 1104 is selected as the image guidance before the treatment, the treatment switch 1102 is turned off, and the tumor tracking device 1105 is operated to realize the image guidance before the treatment.
- the treatment switch 1102 when the tumor tracking is not required, the treatment switch 1102 is closed, the tracking switch 1103 and the setting switch 1104 are turned off, the treatment device 1101 is operated to realize the treatment of the tumor; when the tumor tracking is required, the treatment switch 1102 is simultaneously closed.
- the radiotherapy system acquires the tumor image at the Nth time, and determines the Nth according to the tumor image at the Nth time and the tumor reference image corresponding to the tumor image at the Nth time.
- the two-dimensional positional deviation of the tumor at the moment, the three-dimensional positional deviation of the tumor at the Nth time is determined according to the two-dimensional positional deviation of the tumor at the Nth time and the predetermined two-dimensional positional deviation of the tumor at the Nth time, according to the tumor at the Nth time
- the three-dimensional positional deviation tracks the tumor. Since only the tumor image acquisition device (that is, a set of imaging systems, the imaging system including the imaging source and the detector) can achieve tumor tracking, the device for solving tumor tracking has high complexity and high equipment cost. The problem helps to reduce device complexity and equipment costs for tumor tracking.
- the radiotherapy system provided by the embodiment of the invention can realize the image guidance before the treatment, the tumor tracking in the treatment, and the individual treatment by setting the treatment switch, the tracking switch and the setting switch, and the three treatments can be realized. Working together, without affecting each other, improves the utilization of the imaging system.
- Embodiments of the present invention also provide a computer readable storage medium having instructions stored therein that, when executed on a processing component of a computer, cause the processing component to perform any of Figures 3 through 5. The method described.
- Embodiments of the present invention also provide a computer program product comprising instructions for causing a computer to perform the method described in any of Figures 3 through 5 when the computer program product is run on a computer.
- a person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium.
- the storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.
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Abstract
一种肿瘤追踪方法及装置、放疗***、存储介质,属于放射治疗领域。该方法包括:获取第N时刻的肿瘤图像,根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N时刻肿瘤的二维位置偏差,根据第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差,根据第N时刻肿瘤的三维位置偏差对肿瘤进行追踪。解决了肿瘤追踪的设备复杂度较高,设备成本较高的问题,有助于降低肿瘤追踪的设备复杂度和设备成本。该方法、装置及***用于肿瘤追踪。
Description
本发明涉及放射治疗领域,特别涉及一种肿瘤追踪方法及装置、放疗***、存储介质。
放射治疗(简称放疗)是利用放射线***的一种治疗方法。放疗可以让癌细胞凋亡或坏死,是治疗恶性肿瘤的主要手段之一。放疗的关键技术是在放疗过程中保持对肿瘤的精确定位。而在实际放疗的过程中,患者的不自主移动或患者器官的运动都会使肿瘤发生移动,影响放疗位置的准确性,因此,在放疗的过程中,通常需要进行肿瘤追踪以实现精确定位。
现有技术中,通常采用放射治疗设备(简称放疗设备)对肿瘤进行追踪。放疗设备包括旋转机架、治疗头、控制组件和两套成像***,每套成像***包括一个X射线球管和一个平板探测器,旋转机架为圆筒状结构,治疗头、X射线球管和平板探测器均设置在旋转机架上,且每套成像***的X射线球管在旋转机架上的位置与平板探测器在旋转机架上的位置相对,两个X射线球管之间的圆弧对应的圆心角为90度,控制组件分别与旋转机架、治疗头、X射线球管和平板探测器连接。在进行肿瘤追踪的过程中,通过治疗床将患者定位在旋转机架内,控制组件控制旋转机架旋转,并控制两个X射线球管同时且定时向肿瘤发射X射线,每个X射线球管发射出的X射线穿过肿瘤到达相应的平板探测器,控制组件根据每个平板探测器接收到的X射线确定一个二维图像,得到两个二维图像,并根据两个二维图像确定肿瘤的三维位置,从而实现对肿瘤的追踪。
在实现本发明的过程中,发明人发现现有技术至少存在以下问题:
相关技术在进行肿瘤追踪时,需要两套成像***,对放疗设备的空间及线缆布置的要求很高,且平板探测器较为昂贵,因此,现有技术进行肿瘤追踪的设备复杂度较高,设备成本较高。
发明内容
本发明提供了一种肿瘤追踪方法及装置、放疗***、存储介质,可以解决肿瘤追踪的设备复杂度较高,设备成本较高的问题。本发明的技术方案如下:
第一方面,提供一种肿瘤追踪方法,应用于放疗设备,所述放疗设备包括一肿瘤图像获取装置,所述肿瘤图像获取装置用于获取不同时刻的肿瘤图像,所述方法包括:
获取第N时刻的肿瘤图像,N=2,3,4……M,M为正整数;
根据所述第N时刻的肿瘤图像和所述第N时刻的肿瘤图像对应的肿瘤参考图像,确定所述第N时刻肿瘤的二维位置偏差;
根据所述第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定所述第N时刻肿瘤的三维位置偏差,所述第N-1时刻肿瘤的二维位置偏差是根据所述第N-1时刻的肿瘤图像和所述第N-1时刻的肿瘤图像对应的肿瘤参考图像确定的二维位置偏差,所述第N时刻的肿瘤图像的获取位置与所述第N-1时刻的肿瘤图像的获取位置不同;
根据所述第N时刻肿瘤的三维位置偏差,对所述肿瘤进行追踪。
第二方面,提供了一种肿瘤追踪装置,所述装置包括:
获取模块,用于获取第N时刻的肿瘤图像,N=2,3,4……M,M为正整数;
第一确定模块,用于根据所述第N时刻的肿瘤图像和所述第N时刻的肿瘤图像对应的肿瘤参考图像,确定所述第N时刻肿瘤的二维位置偏差;
第二确定模块,用于根据所述第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定所述第N时刻肿瘤的三维位置偏差,所述第N-1时刻肿瘤的二维位置偏差是根据所述第N-1时刻的肿瘤图像和所述第N-1时刻的肿瘤图像对应的肿瘤参考图像确定的二维位置偏差,所述第N时刻的肿瘤图像的获取位置与所述第N-1时刻的肿瘤图像的获取位置不同;
追踪模块,用于根据所述第N时刻肿瘤的三维位置偏差,对所述肿瘤进行追踪。
第三方面,提供一种放疗***,所述放疗***包括:治疗装置、治疗开关、追踪开关、设置开关和第二方面所述的肿瘤追踪装置,
所述治疗开关与所述追踪开关并联连接,所述设置开关分别与所述治疗开关和所述追踪开关串联连接,所述治疗装置与所述治疗开关连接,所述肿瘤追
踪装置与所述设置开关连接。
第四方面,提供一种计算机可读存储介质,所述计算机可读存储介质中存储有指令,当所述指令在计算机的处理组件上运行时,使得所述处理组件执行第一方面所述的肿瘤追踪方法。
本发明提供的技术方案带来的有益效果是:
本发明提供的肿瘤追踪方法及装置、放疗***、存储介质,该方法包括:获取第N时刻的肿瘤图像,根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N时刻肿瘤的二维位置偏差,根据第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差,根据第N时刻肿瘤的三维位置偏差对肿瘤进行追踪。由于仅采用肿瘤图像获取装置(也即是一套成像***,该一套成像***包括成像源和探测器)就能够实现肿瘤追踪,因此解决了肿瘤追踪的设备复杂度较高,设备成本较高的问题,有助于降低肿瘤追踪的设备复杂度和设备成本。
图1是本发明实施例提供的一种放疗设备的应用场景图;
图2是本发明实施例提供的一种获取肿瘤图像的示意图;
图3是本发明实施例提供的一种肿瘤追踪方法的方法流程图;
图4是本发明实施例提供的一种确定肿瘤的三维位置偏差的方法流程图;
图5是本发明实施例提供的一种根据肿瘤的三维位置偏差对肿瘤进行追踪的方法流程图;
图6是本发明实施例提供的一种拉弧治疗模式中获取肿瘤图像的示意图;
图7是本发明实施例提供的一种定点治疗模式中获取肿瘤图像的示意图;
图8是本发明实施例提供的一种肿瘤追踪装置的框图;
图9是本发明实施例提供的一种追踪模块的框图;
图10是本发明实施例提供的一种放疗***的结构示意图。
为了使本发明的目的、技术方案和优点更加清楚,下面将结合附图对申请作进一步地详细描述,显然,所描述的实施例仅仅是本发明的一部分实施例,
而不是全部的实施例。
请参考图1,其示出了本发明实施例提供的一种放疗设备的应用场景图,参见图1,该放疗设备包括:旋转机架01、成像源02、探测器03、治疗头04、处理组件05和控制组件06。其中,成像源02可以为X射线球管,探测器03可以为平板探测器,成像源02和探测器03可以组成一套成像***,该成像***也可以称为肿瘤图像获取装置。
旋转机架01可以为圆筒状结构,其具体可以为滚筒。肿瘤图像获取装置和治疗头04分别设置在旋转机架01上,且肿瘤图像获取装置和治疗头04位于旋转机架01的同一圆周上,成像源02在旋转机架01上的位置与探测器03在旋转机架01上的位置相对,从而成像源02发射出的射线能够被探测器03接收,治疗头04与成像源02之间的圆弧对应的圆心角可以为j。在本发明实施例中,旋转机架01能够按照旋转方向f旋转,带动肿瘤图像获取装置和治疗头04旋转。
处理组件05可以与探测器03连接,控制组件06分别与旋转机架01、成像源02和治疗头04连接,且处理组件05与控制组件06连接,控制组件06可以控制旋转机架01按照旋转方向f旋转,控制成像源02和治疗头04发射射线,探测器03可以对成像源02发射出的射线进行接收,处理组件05可以根据探测器03接收到的放射线确定肿瘤图像。其中,处理组件05可以位于计算机(例如电脑)中,且处理组件05可以为计算机的处理器,或者,处理组件05可以为处理软件,控制组件06可以为控制器。
需要说明的是,实际应用中,旋转机架01还可以是悬臂或机械臂,悬臂或机械臂能够带动肿瘤图像获取装置和治疗头04圆周旋转。处理组件05与控制组件06可以实施成为整体,或者,处理组件05与控制组件06单独设置。旋转机架01、成像源02、探测器03和治疗头04的具体结构可以参考相关技术,本发明实施例在此不再赘述。
如图1所示,患者07体内生长有肿瘤08,若肿瘤为肺部肿瘤,则肿瘤08能够随患者07的呼吸而规律性运动。放疗设备在使用时,通过治疗床(图1中未示出)将患者07定位在旋转机架01中,并使患者07在治疗床上固定***,保持平稳呼吸,之后,控制组件06控制旋转机架01按照旋转方向f旋转,在旋转机架01旋转的过程中:
结合图1和图2,在第N-1时刻,控制组件06控制肿瘤图像获取装置获取第N-1时刻的肿瘤图像,处理组件05根据第N-1时刻的肿瘤图像和第N-1时刻的肿瘤图像对应的肿瘤参考图像,确定第N-1时刻肿瘤的二维位置偏差。其中,在第N-1时刻,成像源02可以位于位置点A1或位置点A2,或者成像源02还可以位于其他位置点(图2中未示出),当第N-1时刻成像源02位于位置点A1时,第N-1时刻的肿瘤图像对应的肿瘤参考图像也即是位置点A1对应的肿瘤参考图像,当第N-1时刻成像源02位于位置点A2时,第N-1时刻的肿瘤图像对应的肿瘤参考图像也即是位置点A2对应的肿瘤参考图像。在本发明实施例中,控制组件06控制肿瘤图像获取装置获取肿瘤图像可以包括:控制组件06控制成像源02向肿瘤发射射线,射线穿过肿瘤到达探测器03,探测器03对穿过肿瘤的射线进行接收,处理组件05根据探测器03接收到的射线确定肿瘤图像;处理组件05根据第N-1时刻的肿瘤图像和第N-1时刻的肿瘤图像对应的肿瘤参考图像确定第N-1时刻肿瘤的二维位置偏差可以包括:处理组件05将第N-1时刻的肿瘤图像与第N-1时刻的肿瘤图像对应的肿瘤参考图像进行对比,确定第N-1时刻肿瘤的二维位置偏差。
结合图1和图2,在第N时刻,控制组件06控制肿瘤图像获取装置获取第N时刻的肿瘤图像,处理组件05根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N时刻肿瘤的二维位置偏差。其中,在第N时刻,成像源02可以位于位置点A1或位置点A2,或者成像源02还可以位于其他位置点(图2中未示出),且第N时刻成像源02所处的位置点与第N-1时刻成像源02所处的位置点不同。当第N时刻成像源02位于位置点A1时,第N时刻的肿瘤图像对应的肿瘤参考图像也即是位置点A1对应的肿瘤参考图像,当第N时刻成像源02位于位置点A2时,第N时刻的肿瘤图像对应的肿瘤参考图像也即是位置点A2对应的肿瘤参考图像。控制组件06控制肿瘤图像获取装置获取肿瘤图像的过程,以及,处理组件05根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像确定第N时刻肿瘤的二维位置偏差的过程与上述第N-1时刻相关的过程相同或类似,这里不再赘述。
确定第N-1时刻肿瘤的二维位置偏差和第N时刻肿瘤的二维位置偏差之后,处理组件05根据第N-1时刻肿瘤的二维位置偏差和第N时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差,控制组件06根据第N时刻肿
瘤的三维位置偏差对肿瘤进行追踪。可选地,处理组件05根据第N-1时刻肿瘤的二维位置偏差和第N时刻肿瘤的二维位置偏差确定第N时刻肿瘤的三维位置偏差可以包括:处理组件05结合第N-1时刻肿瘤的二维位置偏差和第N时刻肿瘤的二维位置偏差,计算得到第N时刻肿瘤的三维位置偏差。控制组件06根据第N时刻肿瘤的三维位置偏差对肿瘤进行追踪可以包括:控制组件06根据第N时刻肿瘤的三维位置偏差与预设偏差范围的关系对肿瘤进行追踪,且具体可以包括:当第N时刻肿瘤的三维位置偏差位于预设偏差范围内时,控制组件06自动校正肿瘤的位置;当第N时刻肿瘤的三维位置偏差大于预设偏差范围的上限时,控制组件06执行报警操作,以提示对肿瘤的位置进行人工校正;当第N时刻肿瘤的三维位置偏差小于预设偏差范围的下限时,无需对肿瘤的位置进行校正。其中,控制组件06自动校正肿瘤的位置可以包括:控制组件06根据第N时刻肿瘤的三维位置偏差控制放疗设备的治疗床移动使肿瘤与放疗设备的焦点重合;或者,控制组件06根据第N时刻肿瘤的三维位置偏差调整放疗设备的多叶准直器,使多叶准直器的射野与肿瘤重合。
在本发明实施例中,如图2所示,位置点A2与位置点A1之间的圆弧对应的圆心角可以为a,a的具体取值可以根据实际情况设置,可选地,a=90度。探测器03中可以包括模拟数字转换器(英文:Analog to Digital Converter;简称:ADC),处理组件05根据探测器03接收到的放射线确定肿瘤图像可以包括:探测器03将接收到的射线转化为光信号,之后将光信号转化为模拟信号,ADC将模拟信号转化为数字信号发送给处理组件05,处理组件05根据接收到的数字信号生成肿瘤图像。
请参考图3,其示出了本发明实施例提供的一种肿瘤追踪方法的方法流程图,本实施例以该肿瘤追踪方法应用于图1所示的放疗设备中来举例说明,该肿瘤追踪方法可以由肿瘤追踪装置来执行,该肿瘤追踪装置包括图1所示的放疗设备中的肿瘤图像获取装置(包括成像源和探测器)、处理组件和控制组件等。参见图3,该肿瘤追踪方法包括:
步骤301、获取第N时刻的肿瘤图像,N=2,3,4……M,M为正整数。
本发明实施例中,可以由肿瘤图像获取装置获取第N时刻的肿瘤图像。其中,肿瘤图像获取装置可以包括成像源和探测器,肿瘤图像获取装置能够绕肿瘤圆周旋转,且可以是匀速旋转或非匀速旋转,在第N时刻,成像源可以向肿
瘤发射射线,该射线穿过肿瘤到达探测器被探测器接收,处理组件根据探测器接收的放射线确定的肿瘤图像即为第N时刻的肿瘤图像。其中,射线可以为X射线。N=2,3,4……M,M为正整数,也即是,N为大于或等于2的正整数。
示例地,如图2所示,假设第N时刻成像源02旋转至位置点A2,则成像源02从图2所示的位置点A2向患者07体内的肿瘤发射射线,射线穿过患者07体内的肿瘤到达探测器03并被探测器03接收,处理组件根据探测器03接收的射线确定的肿瘤图像即为第N时刻的肿瘤图像。
步骤302、根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N时刻肿瘤的二维位置偏差。
其中,第N时刻的肿瘤图像对应的肿瘤参考图像也即是第N时刻成像源所处的位置点对应的肿瘤参考图像。在本发明实施例中,处理组件可以存储预设图像库,预设图像库中包括与多个位置点中的每个位置点对应的肿瘤参考图像,每个位置点对应的肿瘤参考图像是基于从相应的位置点向肿瘤发射的光学信号所确定的肿瘤参考图像。
处理组件可以先从预设图像库中获取与第N时刻成像源所处的位置点对应的肿瘤参考图像,将该肿瘤参考图像确定为第N时刻的肿瘤图像对应的肿瘤参考图像,然后将第N时刻的肿瘤图像与第N时刻的肿瘤图像对应的肿瘤参考图像进行对比,确定第N时刻肿瘤的二维位置偏差,该第N时刻肿瘤的二维位置偏差可以包括第N时刻肿瘤在x轴方向和z轴方向上的联合位置偏差UN和第N时刻肿瘤在y轴方向上的位置偏差YN。其中,x轴、y轴和z轴的原点为成像源与探测器之间的连线的中点,放疗设备可以包括治疗床,y轴与放疗设备的治疗床的长度方向平行,x轴与y轴位于同一平面内与y轴垂直,z轴垂直于x轴和y轴组成的平面。
需要说明的是,在本发明实施例中,预设图像库中的肿瘤参考图像可以为预先获取的肿瘤的电子计算机断层扫描(英文:Computed Tomography;简称:CT)数字重建二维图像,从而第N时刻的肿瘤图像对应的肿瘤参考图像可以为预先获取的肿瘤的CT图像。其中,预设图像库可以在治疗前形成,也可以在治疗过程中形成。当预设图像库在治疗前形成时,在治疗前,可以利用CT机对肿瘤进行扫描,得到肿瘤的CT图像序列,该CT图像序列中包括一系列CT图像,然后通过图像重建算法计算得到与多个位置点中的每个位置点对应
的CT数字重建二维图像,该CT数字重建二维图像也即是肿瘤参考图像。当预设图像库在治疗过程中形成时,在治疗前,可以利用CT机对肿瘤进行扫描,得到肿瘤的CT图像序列,该CT图像序列中包括一系列CT图像,在治疗中,当需要确定第N时刻肿瘤的二维位置偏差时,通过图像重建算法计算出与第N时刻的肿瘤图像对应的CT数字重建二维图像,该CT数字重建二维图像也即是第N时刻的肿瘤图像对应的肿瘤参考图像。需要说明的是,本发明实施例是以利用CT机对肿瘤进行扫描并获取肿瘤参考图像为例进行说明的,实际应用中,还可以通过磁共振成像(英文:Magnetic Resonance Imaging;简称:MRI)获取肿瘤参考图像,本发明实施例在此不再赘述。
步骤303、根据第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差。
其中,第N-1时刻肿瘤的二维位置偏差是根据第N-1时刻的肿瘤图像和第N-1时刻的肿瘤图像对应的肿瘤参考图像确定的二维位置偏差,第N时刻的肿瘤图像的获取位置与第N-1时刻的肿瘤图像的获取位置不同。处理组件确定第N-1时刻肿瘤的二维位置偏差的过程与上述步骤301至步骤302中,处理组件确定第N时刻肿瘤的二维位置偏差的过程类似,本实施例在此不再赘述。需要说明的是,第N时刻的肿瘤图像的获取位置与第N-1时刻的肿瘤图像的获取位置不同,例如,当第N时刻的肿瘤图像的获取位置点为图2中的位置点A2时,第N-1时刻的肿瘤图像的获取位置点可以为图2中的位置点A1,且与第N时刻肿瘤的二维位置偏差类似,第N-1时刻肿瘤的二维位置偏差包括第N-1时刻肿瘤在x轴方向和z轴方向上的联合位置偏差UN-1和第N-1时刻肿瘤在y轴方向上的位置偏差YN-1。
步骤304、根据第N时刻肿瘤的三维位置偏差,对肿瘤进行追踪。
控制组件根据第N时刻肿瘤的三维位置偏差与预设偏差范围的关系,对肿瘤进行追踪。
综上所述,本发明实施例提供的肿瘤追踪方法,获取第N时刻的肿瘤图像,根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N时刻肿瘤的二维位置偏差,根据第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差,根据第N时刻肿瘤的三维位置偏差对肿瘤进行追踪。由于仅采用肿瘤图像获取装
置(也即是一套成像***,该一套成像***包括成像源和探测器)就能够实现肿瘤追踪,因此解决了肿瘤追踪的设备复杂度较高,设备成本较高的问题,有助于降低肿瘤追踪的设备复杂度和设备成本。
下面对上述步骤303进行说明。请参考图4,其示出了本发明实施例提供的一种根据第N时刻肿瘤的二维位置偏差和第N-1时刻肿瘤的二维位置偏差确定第N时刻肿瘤的三维位置偏差的方法流程图,参见图4,该方法包括:
子步骤3031、确定第N时刻成像源的旋转角度和第N-1时刻成像源的旋转角度。
在整个肿瘤追踪过程中,旋转机架可以旋转,带动成像源圆周旋转,在成像源旋转的过程中,通过旋转机架驱动装置或编码器可以确定不同时刻成像源的旋转角度,不同时刻成像源的旋转角度可以包括第N时刻成像源的旋转角度和第N-1时刻成像源的旋转角度。其中,第N时刻成像源的旋转角度可以为:从成像源开始绕肿瘤旋转的时刻开始到第N时刻成像源的旋转角度,第N-1时刻成像源的旋转角度可以为:从成像源开始绕肿瘤旋转的时刻开始到第N-1时刻成像源的旋转角度。
在本发明实施例中,可以将成像源开始绕肿瘤旋转时成像源的旋转角度确定为0度,将第N时刻成像源所在的位置点与成像源开始绕肿瘤旋转时成像源所在的位置点之间的夹角(也即是第N时刻成像源所在的位置点与成像源开始绕肿瘤旋转时成像源所在的位置点之间的圆弧对应的圆心角)确定为第N时刻成像源的旋转角度,将第N-1时刻成像源所在的位置点与成像源开始绕肿瘤旋转时成像源所在的位置点之间的夹角(也即是第N-1时刻成像源所在的位置点与成像源开始绕肿瘤旋转时成像源所在的位置点之间的圆弧对应的圆心角)确定为第N-1时刻成像源的旋转角度;或者,当成像源绕肿瘤匀速圆周旋转时,可以确定第N时刻与成像源开始绕肿瘤旋转的时刻之间的第N时间差,和,第N-1时刻与成像源开始绕肿瘤旋转的时刻之间的第N-1时间差,并确定成像源绕肿瘤匀速圆周旋转的旋转速度,将第N时间差与旋转速度的乘积确定为第N时刻成像源的旋转角度,将第N-1时间差与旋转速度的乘积确定为第N-1时刻成像源的旋转角度。
子步骤3032、根据第N时刻肿瘤的二维位置偏差、第N-1时刻肿瘤的二维位置偏差、第N时刻成像源的旋转角度和第N-1时刻成像源的旋转角度,采
用三维位置偏差公式确定第N时刻肿瘤的三维位置偏差。
在本发明实施例中,三维位置偏差公式可以为:
X=(UN×SinRN-1–UN-1×SinRN)/(CosRN-1×SinRN–CosRN×SinRN-1);
Y=YN;
Z=(UN×CosRN-1-UN-1×CosRN)/(SinRN-1×CosRN-SinRN×CosRN-1);
其中,X为肿瘤在x轴方向上的位置偏差,Y为肿瘤在y轴方向上的位置偏差,Z为肿瘤在z轴方向上的位置偏差,x轴、y轴和z轴的原点为成像源与探测器之间的连线的中点,该中点也可以称为治疗等中心点,y轴与放疗设备的治疗床的长度方向平行,当患者躺在治疗床上时,患者的纵向可以与治疗床的长度方向平行,x轴与y轴位于同一平面内且与y轴垂直,z轴垂直于x轴和y轴组成的平面;UN为第N时刻肿瘤在x轴方向和z轴方向上的联合位置偏差,RN为第N时刻成像源的旋转角度,YN为第N时刻肿瘤在y轴方向上的位置偏差,UN-1为第N-1时刻肿瘤在x轴方向和z轴方向上的联合位置偏差,RN-1为第N-1时刻成像源的旋转角度。SinRN表示求RN的正弦值,SinRN-1表示求RN-1的正弦值,CosRN表示求RN的余弦值,CosRN-1表示求RN-1的余弦值,/表示除号。UN、UN-1、RN、RN-1、X、Y、Z的关系可以为UN=X×CosRN+Z×SinRN,UN-1=X×CosRN-1+Z×SinRN-1。
可选地,处理组件可以将第N时刻肿瘤在x轴方向和z轴方向上的联合位置偏差UN,第N-1时刻肿瘤在x轴方向和z轴方向上的联合位置偏差UN-1,第N时刻成像源的旋转角度RN,第N-1时刻成像源的旋转角度RN-1和第N时刻肿瘤在y轴方向上的位置偏差YN代入上述三维位置偏差公式,计算得到第N时刻肿瘤在x轴方向上的位置偏差,肿瘤在y轴方向上的位置偏差和肿瘤在z轴方向上的位置偏差,从而得到第N时刻肿瘤的三维位置偏差。
需要说明的是,在根据第N时刻肿瘤的二维位置偏差和第N-1时刻肿瘤的二维位置偏差确定肿瘤的第N时刻肿瘤的三维位置偏差时,Y=YN,YN为第N时刻肿瘤在y轴方向上的位置偏差,且第N时刻位于第N-1时刻之后。实际应用中,在计算肿瘤的三维位置偏差时,Y等于最近一次获取的肿瘤在y轴方向上的位置偏差,例如,当根据第N-1时刻肿瘤的二维位置偏差和第N-2时刻肿瘤的二维位置偏差确定第N-1时刻肿瘤的三维位置偏差时,Y=YN-1,YN-1为第N-1时刻肿瘤在y轴方向上的位置偏差,且第N-1时刻位于第N-2时刻之
后,当根据第N+1时刻肿瘤的二维位置偏差和第N时刻肿瘤的二维位置偏差确定第N+1时刻肿瘤的三维位置偏差时,Y=YN+1,YN+1为第N+1时刻肿瘤在y轴方向上的位置偏差,且第N+1时刻位于第N时刻之后,依次类推。也即是,在根据相邻两次获取的肿瘤图像得到的两个二维位置偏差确定肿瘤的三维位置偏差时,该三维位置偏差中的Y等于该两个二维位置偏差中,最后一次获取的二维位置偏差中的肿瘤在y轴方向上的位置偏差。
下面对上述步骤304进行说明。请参考图5,其示出了本发明实施例提供的一种根据第N时刻肿瘤的三维位置偏差与预设偏差范围的关系对肿瘤进行追踪的方法流程图,参见图5,该方法包括:
子步骤3041、当第N时刻肿瘤的三维位置偏差位于预设偏差范围内时,自动校正肿瘤的位置。
在本发明实施例中,控制组件可以将第N时刻肿瘤的三维位置偏差与预设偏差范围进行比较,来判断第N时刻肿瘤的三维位置偏差是否位于预设偏差范围内,若第N时刻肿瘤的三维位置偏差位于预设偏差范围内,则控制组件自动校正肿瘤的位置。
可选地,预设偏差范围可以是三维位置偏差的平方根的偏差范围。处理组件根据平方根公式,计算得到第N时刻肿瘤的三维位置偏差的平方根,然后将第N时刻肿瘤的三维位置偏差的平方根分别与预设偏差范围的上限和预设偏差范围的下限进行比较来判断第N时刻肿瘤的三维位置偏差的平方根是否位于预设偏差范围内,当第N时刻肿瘤的三维位置偏差的平方根小于预设偏差范围的上限且大于预设偏差范围的下限时,或者,当第N时刻肿瘤的三维位置偏差的平方根等于预设偏差范围的上限时,或者,当第N时刻肿瘤的三维位置偏差的平方根等于预设偏差范围的下限时,处理组件确定第N时刻肿瘤的三维位置偏差的平方根位于预设偏差范围内。其中,平方根公式可以为:X为肿瘤在x轴方向上的位置偏差,Y为肿瘤在y轴方向上的位置偏差,Z为肿瘤在z轴方向上的位置偏差,d为三维位置偏差的平方根。处理组件可以将步骤303计算得到的第N时刻肿瘤的三维位置偏差的X的值、Y的值和Z的值代入该平方根公式,计算得到第N时刻肿瘤的三维位置偏差的平方根。
在本发明实施例中,放疗设备可以为多源聚焦放疗设备或适形调强放疗设
备。多源聚焦放疗设备具有一个装载有多个放射源的治疗头,且多个放射源发射出的放射线能够汇聚于一点,该多个放射源发射出的放射线的汇聚点可以称为多源聚焦放疗设备的焦点,当放疗设备为多源聚焦放疗设备时,控制组件可以根据第N时刻肿瘤的三维位置偏差移动放疗设备的治疗床,使肿瘤与多源聚焦放疗设备的焦点重合,以对肿瘤进行位置校正。适形调强放疗设备通常具有一个治疗头,且适形调强放疗设备还包括与治疗头配合的多叶准直器(英文:Multi-LeafCollimator;简称:MLC),多叶准直器具有射野,治疗头发射出的放射线可以经过多叶准直器的射野照射到肿瘤,当放疗设备为适形调强放疗设备时,控制组件可以根据第N时刻肿瘤的三维位置偏差调整放疗设备的多叶准直器,使多叶准直器的射野与肿瘤重合,以对肿瘤进行位置校正。
子步骤3042、当第N时刻肿瘤的三维位置偏差大于预设偏差范围的上限时,执行报警操作,以提示对肿瘤的位置进行人工校正。
处理组件可以将第N时刻肿瘤的三维位置偏差与预设偏差范围的上限进行比较,来判断第N时刻肿瘤的三维位置偏差是否大于预设偏差范围的上限。若第N时刻肿瘤的三维位置偏差大于预设偏差范围的上限,则说明肿瘤的位置偏差较大,此时,无论如何调整放疗设备可能都无法对肿瘤进行位置校正,因此控制组件可以执行报警操作,以提示对肿瘤的位置进行人工校正。可选地,可以发出告警提示音,或者,生成提示信息,并显示提示信息等。控制组件执行报警操作之后,工作人员可以根据报警提示,对肿瘤的位置进行人工校正。例如,重新固定患者在治疗床上的位置等。
可选地,预设偏差范围可以是三维位置偏差的平方根的偏差范围。处理组件可以根据平方根公式,计算得到第N时刻肿瘤的三维位置偏差的平方根,然后将第N时刻肿瘤的三维位置偏差的平方根与预设偏差范围的上限进行比较,来判断第N时刻肿瘤的三维位置偏差的平方根是否大于预设偏差范围的上限。其中,处理组件计算第N时刻肿瘤的三维位置偏差的平方根的过程可以参考上述子步骤3041,本实施例在此不再赘述。
子步骤3043、当第N时刻肿瘤的三维位置偏差小于预设偏差范围的下限时,无需对肿瘤的位置进行校正。
处理组件可以将第N时刻肿瘤的三维位置偏差与预设偏差范围的下限进行比较,来判断第N时刻肿瘤的三维位置偏差是否小于预设偏差范围的下限。
若第N时刻肿瘤的三维位置偏差小于预设偏差范围的下限,则说明肿瘤的位置偏差较小,或者肿瘤不存在位置偏差,此时,无需对肿瘤的位置进行校正。例如,无需移动治疗床、无需调整多叶准直器和无需执行报警操作等。
可选地,预设偏差范围可以是三维位置偏差的平方根的偏差范围。处理组件可以根据平方根公式,计算得到第N时刻肿瘤的三维位置偏差的平方根,然后将第N时刻肿瘤的三维位置偏差的平方根与预设偏差范围的下限进行比较,来判断第N时刻肿瘤的三维位置偏差的平方根是否小于预设偏差范围的下。其中,处理组件计算第N时刻肿瘤的三维位置偏差的平方根的过程可以参考上述子步骤3041,本实施例在此不再赘述。
综上所述,本发明实施例提供的肿瘤追踪方法,获取第N时刻的肿瘤图像,根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N时刻肿瘤的二维位置偏差,根据第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差,根据第N时刻肿瘤的三维位置偏差对肿瘤进行追踪。由于仅采用肿瘤图像获取装置(也即是一套成像***,该一套成像***包括成像源和探测器)就能够实现肿瘤追踪,因此解决了肿瘤追踪的设备复杂度较高,设备成本较高的问题,有助于降低肿瘤追踪的设备复杂度和设备成本。
本发明实施例提供的肿瘤追踪方法,在整个肿瘤追踪过程中,旋转机架旋转,带动肿瘤图像获取装置(包括成像源和探测器)圆周旋转,在肿瘤图像获取装置旋转的过程中,肿瘤图像获取装置可以每隔一定时间间隔获取肿瘤图像,肿瘤追踪装置可以根据不同时刻的肿瘤图像,确定不同时刻肿瘤的二维位置偏差,进而结合相邻两次获得肿瘤的二维位置偏差,计算肿瘤的三维偏差,根据肿瘤的三维偏差,对肿瘤的移动作出实时响应,即可实现整个治疗过程中对肿瘤的实时追踪。在本发明实施例中,任意两个相邻的时刻之间的时间间隔可以相等或不等,且任意两个相邻的时刻之间的时间间隔可以调节,该任意两个相邻的时刻指的是肿瘤图像获取装置任意相邻的两次获取肿瘤图像的时刻。
需要说明的是,实际应用中,若肿瘤图像获取装置相邻两次获取肿瘤图像时,成像源所处的位置点之间的夹角较小,则会导致最终确定的肿瘤的三维位置偏差的误差较大。因此,本发明实施例中,肿瘤追踪装置可以调节任意两个相邻的时刻之间的时间间隔,以增大任意相邻的两次获取肿瘤图像的时刻成像
源所处位置点之间的夹角,进而减小确定的肿瘤的三维位置偏差的误差,提高肿瘤追踪的精度。
上述图3至图5所示实施例提供的肿瘤追踪方法可以应用于放疗设备,放疗设备包括旋转机架及设置在旋转机架上的治疗头和肿瘤图像获取装置,旋转机架带动治疗头和肿瘤图像获取装置绕肿瘤旋转。该放疗设备的示意图可以参考图1。
上述图3至图5所示实施例中的肿瘤追踪方法,可以应用于旋转治疗模式、拉弧治疗模式和定点治疗模式中,在旋转治疗模式中,旋转机架带动治疗头和肿瘤图像获取装置绕肿瘤圆周旋转。拉弧治疗模式可以为大角度或小角度拉弧治疗模式,拉弧治疗模式中,在治疗过程中,旋转机架旋转(可以是匀速旋转或者非匀速旋转),带动治疗头在拉弧弧段内运动。定点治疗模式中,在治疗过程中,治疗头停留在某一定点对肿瘤进行治疗。
在拉弧治疗模式中,特别是小角度拉弧治疗时,由于拉弧角度小,肿瘤图像获取装置相邻两次获取肿瘤图像时,肿瘤图像获取装置所处的位置点之间的夹角较小,则会导致最终确定的肿瘤的三维位置偏差的误差较大。为了提高在拉弧治疗过程中的肿瘤追踪精度,本发明实施例中,在拉弧弧段外设置有虚拟治疗点,在治疗过程中,治疗头还能够在拉弧弧段外运动,治疗头在第N时刻或第N-1时刻位于虚拟治疗点,且第N时刻治疗头所处的位置点与第N-1时刻治疗头所处的位置点之间的弧段大于拉弧弧段。
本发明实施例中,在拉弧治疗模式中,肿瘤图像获取装置可以获取肿瘤图像,且相邻两次获取肿瘤图像的时刻中,其中一个时刻治疗头可以位于拉弧弧段内,另一个时刻治疗头可以位于拉弧弧段外的虚拟治疗点;或者,相邻两次获取肿瘤图像的时刻中,治疗头位于拉弧弧段外的两个不同的虚拟治疗点。由于治疗头与肿瘤图像获取装置之间的夹角固定,因此,当相邻两次获取肿瘤图像的时刻治疗头所处的位置点之间的夹角较大时,肿瘤图像获取装置所处的位置点之间的夹角也较大。
请参考图6,其示出了本发明实施例提供的一种拉弧治疗模式中获取肿瘤图像的示意图,参见图6,拉弧弧段可以为位置点E1和位置点E2之间的圆弧,该圆弧上的任一位置点可以为治疗点,且位置点E1和位置点E2也可以为治疗点,治疗头可以在该拉弧弧段内运动,并发射放射线。肿瘤追踪装置可以在该
拉弧弧段之外设置虚拟治疗点E3,在治疗过程中,治疗头还能够在拉弧弧段外运动,当治疗头在该拉弧弧段外运动时,治疗头不发射放射线。本发明实施例中,在第N-1时刻,治疗头可以位于拉弧弧段内的位置点E4,在第N时刻,治疗头可以位于拉弧弧段外的虚拟治疗点E3,第N-1时刻治疗头所处的位置点与第N时刻治疗头所处的位置点之间的弧段大于拉弧弧段,从而第N-1时刻肿瘤图像获取装置所处的位置点与第N时刻肿瘤图像获取装置所处的位置点之间的弧段大于拉弧弧段。第N-1时刻和第N时刻,肿瘤图像获取装置分别获取一次肿瘤图像,且第N-1时刻肿瘤图像获取装置获取的肿瘤图像为第N-1时刻的肿瘤图像,第N时刻肿瘤图像获取装置获取的肿瘤图像为第N时刻的肿瘤图像。
需要说明的是,本发明实施例是以第N-1时刻治疗头位于拉弧弧段内,第N时刻治疗头位于虚拟治疗点为例进行说明的,实际应用中,第N-1时刻治疗头可以位于虚拟治疗点,第N时刻治疗头可以位于拉弧弧段内;当拉弧弧段之外设置至少两个虚拟治疗点时,第N-1时刻和第N时刻治疗头可以位于至少两个虚拟治疗点中不同的两个虚拟治疗点,只要保证第N时刻治疗头所处的位置点与第N-1时刻治疗头所处的位置点之间的弧段大于拉弧弧段即可。
本发明实施例中,通过设置虚拟治疗点,使肿瘤图像获取装置可以在治疗头位于拉弧弧段内和虚拟治疗点时或治疗头位于两个不同虚拟治疗点时获取肿瘤图像,这样使得肿瘤图像获取装置相邻两次获取肿瘤图像时,肿瘤图像获取装置所处的位置点之间的夹角增大,减小了最终确定的肿瘤的三维位置偏差的误差,提高了肿瘤追踪精度。
获取肿瘤图像之后,根据获取到的肿瘤图像确定肿瘤三维位置偏差及追踪的方法如前所述,在此不再赘述。
为了在定点治疗模式下采用上述图3至图5所示的肿瘤追踪方法,本发明实施例,在定点外设置虚拟治疗点,在治疗过程中,治疗头能够在定点外运动,治疗头在第N时刻或第N-1时刻位于虚拟治疗点。
本发明实施例中,在定点治疗模式中,肿瘤图像获取装置可以获取肿瘤图像,且相邻两次获取肿瘤图像的时刻中,其中一个时刻治疗头可以位于定点(指的是治疗点,治疗头位于治疗点时发射放射线),另一个时刻治疗头可以位于定点之外的虚拟治疗点(治疗头位于虚拟治疗点时不发射放射线);或者,相
邻两次获取肿瘤图像的时刻中,治疗头位于定点之外的两个不同的虚拟治疗点。由此,可以实现上述图3至图5所示的肿瘤追踪方法在定点治疗过程中的应用。
由于治疗头与肿瘤图像获取装置之间的夹角固定,因此,当相邻两次获取肿瘤图像的时刻治疗头所处的位置点之间的夹角较大时,肿瘤图像获取装置所处的位置点之间的夹角也较大。为了提高在定点治疗过程中肿瘤的追踪精度,相邻两次获取肿瘤图像的时刻治疗头所处的位置点之间的夹角的取值范围可以为45-135度,优选地,为90度。
请参考图7,其示出了本发明实施例提供的一种定点治疗模式中获取肿瘤图像的示意图,参见图7,定点D2为治疗点,治疗头可以在定点D2发射放射线。肿瘤追踪装置可以在定点D2之外设置虚拟治疗点D1、D3、D4,在治疗过程中,治疗头还能够在定点D2之外运动,当治疗头在定点D2之外运动时,治疗头不发射放射线,例如,当治疗头位于虚拟治疗点D1、D3、D4时,治疗头均不发射放射线。本发明实施例中,在第N-1时刻,治疗头可以位于定点D2,在第N时刻,治疗头可以位于虚拟治疗点D4,定点D2与虚拟治疗点D4之间的夹角可以为a,该夹角a的取值范围可以为45-135度,从而,第N时刻肿瘤图像获取装置所处的位置点与第N-1时刻肿瘤图像获取装置所处的位置点之间的夹角的取值范围可以为45-135度。或者,本发明实施例中,在第N-1时刻,治疗头可以位于虚拟治疗点D1,在第N时刻,治疗头可以位于虚拟治疗点D3,虚拟治疗点D1与虚拟治疗点D3之间的夹角可以为b,该夹角b的取值范围可以为45-135度,从而,第N时刻肿瘤图像获取装置所处的位置点与第N-1时刻肿瘤图像获取装置所处的位置点之间的夹角的取值范围可以为45-135度。
需要说明的是,图7仅仅是示例性的,实际应用中,第N-1时刻治疗头可以位于虚拟治疗点,第N时刻治疗头可以位于定点,或者,第N-1时刻和第N时刻治疗头位于不同的虚拟治疗点,只要保证第N时刻治疗头所处的位置点与第N-1时刻治疗头所处的位置点不同即可。
本发明实施例中,通过设置虚拟治疗点,当治疗头旋转至虚拟治疗点时,治疗头不发射放射线,但是肿瘤图像获取装置获取肿瘤图像,且肿瘤图像获取装置可以在治疗头位于定点和虚拟治疗点时获取肿瘤图像,这样使得肿瘤图像
获取装置相邻两次获取肿瘤图像时,肿瘤图像获取装置所处的位置点不同,实现了图3至图5所述肿瘤追踪方法在定点治疗模式中的应用;通过使肿瘤图像获取装置相邻两次获取肿瘤图像时,肿瘤图像获取装置所处的位置点之间的夹角的取值范围为45-135度,减小了最终确定的肿瘤的三维位置偏差的误差,提高了肿瘤追踪精度。
获取肿瘤图像之后,根据获取到的肿瘤图像确定肿瘤三维位置偏差及追踪的方法如前所述,在此不再赘述。
下述为本发明的装置实施例,可以用于执行本发明的方法实施例。对于本发明装置实施例中未披露的细节,请参照本发明方法实施例。
请参考图8,其示出了本发明实施例提供的一种肿瘤追踪装置100的框图。该肿瘤追踪装置100可以应用于放疗设备,该肿瘤追踪装置100可以用于执行图3至图5任一所示实施例提供的方法,参见图8,该肿瘤追踪装置100可以包括但不限于:
获取模块101,用于获取第N时刻的肿瘤图像,N=2,3,4……M,M为正整数;
第一确定模块102,用于根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N时刻肿瘤的二维位置偏差;
第二确定模块103,用于根据第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差,第N-1时刻肿瘤的二维位置偏差是根据第N-1时刻的肿瘤图像和第N-1时刻的肿瘤图像对应的肿瘤参考图像确定的二维位置偏差,第N时刻的肿瘤图像的获取位置与第N-1时刻的肿瘤图像的获取位置不同;
追踪模块104,用于根据第N时刻肿瘤的三维位置偏差,对肿瘤进行追踪。
综上所述,本发明实施例提供的肿瘤追踪装置,获取第N时刻的肿瘤图像,根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N时刻肿瘤的二维位置偏差,根据第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差,根据第N时刻肿瘤的三维位置偏差对肿瘤进行追踪。由于仅采用肿瘤图像获取装置(也即是一套成像***,该一套成像***包括成像源和探测器)就能够实现肿瘤追踪,因此解决了肿瘤追踪的设备复杂度较高,设备成本较高的问题,有
助于降低肿瘤追踪的设备复杂度和设备成本。
可选地,任意两个相邻时刻之间的时间间隔相等或不等。
可选地,追踪模块104,用于根据第N时刻肿瘤的三维位置偏差与预设偏差范围的关系,对肿瘤进行追踪。
可选地,请参考图9,其示出了本发明实施例提供的一种追踪模块104的框图,参见图9,该追踪模块104包括:
第一校正单元1041,用于当第N时刻肿瘤的三维位置偏差位于预设偏差范围内时,自动校正肿瘤的位置;
报警单元1042,用于当第N时刻肿瘤的三维位置偏差大于预设偏差范围的上限时,执行报警操作,以提示对肿瘤的位置进行人工校正;
可选地,肿瘤追踪装置100应用于放疗设备,第一校正单元1041,用于:
当放疗设备为多源聚焦放疗设备时,根据第N时刻肿瘤的三维位置偏差移动放疗设备的治疗床,使肿瘤与多源聚焦放疗设备的焦点重合;
当放疗设备为适形调强放疗设备时,根据第N时刻肿瘤的三维位置偏差调整放疗设备的多叶准直器,使多叶准直器的射野与肿瘤重合。
可选地,第N时刻的肿瘤图像对应的肿瘤参考图像为预先获取的肿瘤的电子计算机断层扫描CT图像或MRI图像。
综上所述,本发明实施例提供的肿瘤追踪装置,获取第N时刻的肿瘤图像,根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N时刻肿瘤的二维位置偏差,根据第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差,根据第N时刻肿瘤的三维位置偏差对肿瘤进行追踪。由于仅采用肿瘤图像获取装置(也即是一套成像***,该一套成像***包括成像源和探测器)就能够实现肿瘤追踪,因此解决了肿瘤追踪的设备复杂度较高,设备成本较高的问题,有助于降低肿瘤追踪的设备复杂度和设备成本。
本发明肿瘤追踪装置中的成像***,可以用于治疗前的图像引导,也可以用于治疗中的肿瘤追踪,从而成像***(包括成像源和探测器)的利用率较高。其中,治疗前的图像引导用于治疗前对肿瘤的准确定位,即:治疗前的图像引导用于使肿瘤与放疗设备的治疗等中心点重合。具体可以包括:利用成像***分别在第一位置和第二位置获取肿瘤图像,得到两个肿瘤图像,将两个肿瘤图
像中的每个肿瘤图像与相应位置处的肿瘤参考图像进行对比得到肿瘤的两个二维位置偏差,根据两个二维位置偏差计算得到肿瘤的三维位置偏差,根据三维位置偏差对肿瘤进行位置校正,使肿瘤与放疗设备的治疗等中心点重合。
由于本发明实施例提供的放疗***可以用于治疗前的图像引导,也可以用于治疗中的肿瘤追踪。治疗前的图像引导,成像***仅需在预定位置点曝光,而治疗中的肿瘤追踪,成像***需要以一定的时间间隔连续曝光。因此,为了使治疗前的图像引导与治疗中的肿瘤追踪协同工作,互不影响,本发明实施例还提供了一种放疗***。
请参考图10,其示出了本发明实施例提供的一种放疗***的结构示意图,参见图10,该放疗***包括:治疗装置1101、治疗开关1102、追踪开关1103、设置开关1104和肿瘤追踪装置1105,该肿瘤追踪装置1105可以为图8所示的肿瘤追踪装置100。治疗开关1102与追踪开关1103并联连接,设置开关1104分别与治疗开关1102和追踪开关1103串联连接;治疗装置1101与治疗开关1102连接,肿瘤追踪装置1105与设置开关1104连接。
其中,追踪开关1103也可以称为曝光开关,设置开关1104也可以称为软件设置曝光开关。追踪开关1103用于控制放疗***的成像***在治疗前进行图像引导。治疗开关1102用于控制放疗***的治疗头对肿瘤进行治疗,以及控制放疗***的成像***在治疗中进行肿瘤追踪。设置开关1104用于控制放疗***的成像***在治疗前的图像引导与治疗中的肿瘤追踪之间进行切换。
本发明实施例提供的放疗***的控制过程可以如下:
在治疗前进行图像引导时,同时闭合追踪开关1103和设置开关1104,选择设置开关1104为治疗前的图像引导,断开治疗开关1102,肿瘤追踪装置1105工作,实现治疗前的图像引导。
在治疗中,当不需要进行肿瘤追踪时,闭合治疗开关1102,断开追踪开关1103和设置开关1104,治疗装置1101工作,实现对肿瘤的治疗;当需要进行肿瘤追踪时,同时闭合治疗开关1102和设置开关1104,选择设置开关1104为治疗中的肿瘤追踪,断开追踪开关1103,肿瘤追踪装置1105和治疗装置1101同时工作,实现治疗中的肿瘤追踪。
综上所述,本发明实施例提供的放疗***,获取第N时刻的肿瘤图像,根据第N时刻的肿瘤图像和第N时刻的肿瘤图像对应的肿瘤参考图像,确定第N
时刻肿瘤的二维位置偏差,根据第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定第N时刻肿瘤的三维位置偏差,根据第N时刻肿瘤的三维位置偏差对肿瘤进行追踪。由于仅采用肿瘤图像获取装置(也即是一套成像***,该一套成像***包括成像源和探测器)就能够实现肿瘤追踪,因此解决了肿瘤追踪的设备复杂度较高,设备成本较高的问题,有助于降低肿瘤追踪的设备复杂度和设备成本。
本发明实施例提供的放疗***,通过设置治疗开关、追踪开关和设置开关,使用放疗***既可以实现治疗前的图像引导,又可以治疗中的肿瘤追踪,还可以实现单独治疗,且该三者协同工作,互不影响,提高了成像***的利用率。
本发明实施例还提供了一种计算机可读存储介质,该计算机可读存储介质中存储有指令,当该指令在计算机的处理组件上运行时,使得处理组件执行图3至图5任一所描述的方法。
本发明实施例还提供了一种包含指令的计算机程序产品,当计算机程序产品在计算机上运行时,使得计算机执行图3至图5任一所描述的方法。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成,也可以通过程序来指令相关的硬件完成,所述的程序可以存储于一种计算机可读存储介质中,上述提到的存储介质可以是只读存储器,磁盘或光盘等。
以上所述仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。
Claims (19)
- 一种肿瘤追踪方法,其特征在于,应用于放疗设备,所述放疗设备包括一肿瘤图像获取装置,所述肿瘤图像获取装置用于获取不同时刻的肿瘤图像,所述方法包括:获取第N时刻的肿瘤图像,N=2,3,4……M,M为正整数;根据所述第N时刻的肿瘤图像和所述第N时刻的肿瘤图像对应的肿瘤参考图像,确定所述第N时刻肿瘤的二维位置偏差;根据所述第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定所述第N时刻肿瘤的三维位置偏差,所述第N-1时刻肿瘤的二维位置偏差是根据所述第N-1时刻的肿瘤图像和所述第N-1时刻的肿瘤图像对应的肿瘤参考图像确定的二维位置偏差,所述第N时刻的肿瘤图像的获取位置与所述第N-1时刻的肿瘤图像的获取位置不同;根据所述第N时刻肿瘤的三维位置偏差,对所述肿瘤进行追踪。
- 根据权利要求1所述的肿瘤追踪方法,其特征在于,任意两个相邻时刻之间的时间间隔相等或不等。
- 根据权利要求1或2所述的肿瘤追踪方法,其特征在于,所述根据所述第N时刻肿瘤的三维位置偏差,对所述肿瘤进行追踪,包括:根据所述第N时刻肿瘤的三维位置偏差与预设偏差范围的关系,对所述肿瘤进行追踪。
- 根据权利要求3所述的肿瘤追踪方法,其特征在于,所述根据所述第N时刻肿瘤的三维位置偏差与预设偏差范围的关系,对所述肿瘤进行追踪,包括:当所述第N时刻肿瘤的三维位置偏差位于所述预设偏差范围内时,自动校正所述肿瘤的位置;当所述第N时刻肿瘤的三维位置偏差大于所述预设偏差范围的上限时,执行报警操作,以提示对所述肿瘤的位置进行人工校正;当所述第N时刻肿瘤的三维位置偏差小于所述预设偏差范围的下限时,无 需对所述肿瘤的位置进行校正。
- 根据权利要求4所述的肿瘤追踪方法,其特征在于,所述肿瘤追踪方法应用于放疗设备,所述自动校正所述肿瘤的位置,包括:当所述放疗设备为多源聚焦放疗设备时,根据所述第N时刻肿瘤的三维位置偏差移动所述放疗设备的治疗床,使所述肿瘤与所述多源聚焦放疗设备的焦点重合;当所述放疗设备为适形调强放疗设备时,根据所述第N时刻肿瘤的三维位置偏差调整所述放疗设备的多叶准直器,使所述多叶准直器的射野与所述肿瘤重合。
- 根据权利要求1至5任一项所述的肿瘤追踪方法,其特征在于,所述第N时刻的肿瘤图像对应的肿瘤参考图像为预先获取的所述肿瘤的电子计算机断层扫描CT图像或磁共振成像MRI图像。
- 一种应用权利要求1至6任一项所述的肿瘤追踪方法的放疗设备,其特征在于,所述放疗设备包括旋转机架及设置在所述旋转机架上的治疗头和所述肿瘤图像获取装置,所述旋转机架带动所述治疗头和所述肿瘤图像获取装置绕所述肿瘤旋转。
- 一种拉弧治疗过程中的肿瘤追踪方法,其特征在于,应用权利要求7所述的放疗设备,在治疗过程中,所述治疗头能够在拉弧弧段内运动。
- 根据权利要求8所述的肿瘤追踪方法,其特征在于,所述拉弧弧段外设置有虚拟治疗点,在治疗过程中,所述治疗头还能够在所述拉弧弧段外运动,所述治疗头在所述第N时刻或所述第N-1时刻位于所述虚拟治疗点,且所述第N时刻所述治疗头所处的位置点与所述第N-1时刻所述治疗头所处的位置点之间的弧段大于所述拉弧弧段。
- 一种定点治疗过程中的肿瘤追踪方法,其特征在于,应用权利要求7 所述的放疗设备,所述定点外设置有虚拟治疗点,在治疗过程中,所述治疗头能够在所述定点外运动,所述治疗头在所述第N时刻或所述第N-1时刻位于所述虚拟治疗点。
- 根据权利要求10所述的肿瘤追踪方法,其特征在于,所述第N时刻所述治疗头所处的位置点与所述第N-1时刻所述治疗头所处的位置点之间的夹角的取值范围为45-135度。
- 一种肿瘤追踪装置,其特征在于,所述装置包括:获取模块,用于获取第N时刻的肿瘤图像,N=2,3,4……M,M为正整数;第一确定模块,用于根据所述第N时刻的肿瘤图像和所述第N时刻的肿瘤图像对应的肿瘤参考图像,确定所述第N时刻肿瘤的二维位置偏差;第二确定模块,用于根据所述第N时刻肿瘤的二维位置偏差和预先确定的第N-1时刻肿瘤的二维位置偏差,确定所述第N时刻肿瘤的三维位置偏差,所述第N-1时刻肿瘤的二维位置偏差是根据所述第N-1时刻的肿瘤图像和所述第N-1时刻的肿瘤图像对应的肿瘤参考图像确定的二维位置偏差,所述第N时刻的肿瘤图像的获取位置与所述第N-1时刻的肿瘤图像的获取位置不同;追踪模块,用于根据所述第N时刻肿瘤的三维位置偏差,对所述肿瘤进行追踪。
- 根据权利要求12所述的肿瘤追踪装置,其特征在于,任意两个相邻时刻之间的时间间隔相等或不等。
- 根据权利要求12或13所述的肿瘤追踪装置,其特征在于,所述追踪模块,用于根据所述第N时刻肿瘤的三维位置偏差与预设偏差范围的关系,对所述肿瘤进行追踪。
- 根据权利要求14所述的肿瘤追踪装置,其特征在于,所述追踪模块,包括:第一校正单元,用于当所述第N时刻肿瘤的三维位置偏差位于所述预设偏 差范围内时,自动校正所述肿瘤的位置;报警单元,用于当所述第N时刻肿瘤的三维位置偏差大于所述预设偏差范围的上限时,执行报警操作,以提示对所述肿瘤的位置进行人工校正。
- 根据权利要求15所述的肿瘤追踪装置,其特征在于,所述肿瘤追踪装置应用于放疗设备,所述第一校正单元,用于:当所述放疗设备为多源聚焦放疗设备时,根据所述第N时刻肿瘤的三维位置偏差移动所述放疗设备的治疗床,使所述肿瘤与所述多源聚焦放疗设备的焦点重合;当所述放疗设备为适形调强放疗设备时,根据所述第N时刻肿瘤的三维位置偏差调整所述放疗设备的多叶准直器,使所述多叶准直器的射野与所述肿瘤重合。
- 根据权利要求12至16任一项所述的肿瘤追踪装置,其特征在于,所述第N时刻的肿瘤图像对应的肿瘤参考图像为预先获取的所述肿瘤的电子计算机断层扫描CT图像或磁共振成像MRI图像。
- 一种放疗***,其特征在于,所述放疗***包括:治疗装置、治疗开关、追踪开关、设置开关和权利要求12所述的肿瘤追踪装置,所述治疗开关与所述追踪开关并联连接,所述设置开关分别与所述治疗开关和所述追踪开关串联连接,所述治疗装置与所述治疗开关连接,所述肿瘤追踪装置与所述设置开关连接。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质中存储有指令,当所述指令在计算机的处理组件上运行时,使得所述处理组件执行权利要求1至11任一所述的肿瘤追踪方法。
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US11638838B2 (en) | 2021-06-30 | 2023-05-02 | Accuray Incorporated | 3D imaging with simultaneous treatment and non-treatment imaging beams |
CN114463326B (zh) * | 2022-03-14 | 2022-06-21 | 深圳灿维科技有限公司 | 一种手机中框视觉检测算法、装置、设备及存储介质 |
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- 2017-11-02 CN CN201780042621.8A patent/CN109997146B/zh active Active
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US20050251029A1 (en) * | 2004-04-21 | 2005-11-10 | Ali Khamene | Radiation therapy treatment plan |
CN101248441A (zh) * | 2005-06-29 | 2008-08-20 | 艾可瑞公司 | 图像引导放射治疗的x射线图像与锥束ct扫描的精密配准 |
CN202235412U (zh) * | 2011-08-12 | 2012-05-30 | 杭州美诺瓦医疗科技有限公司 | 使用时间延时积分探测器的扫描型数字乳腺机 |
CN106163408A (zh) * | 2014-03-11 | 2016-11-23 | 皇家飞利浦有限公司 | 使用同时的x平面成像的图像配准和引导 |
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