A kind of method and device of automatic radiotherapy positionTechnical field
The present invention relates to radiotherapy position technical field, more particularly to a kind of method and device of automatic radiotherapy position.
Background technology
By adjusting the position between patient and therapeutic bed when pendulum position is doctor's each radiotherapy, the locus of therapeutic bed,Consistent process when making the position treated every time with positioning, is the important component of radiotherapy.
Pendulum position step used by current radiotherapy is：1) patient is lain on fixed bedstead when positioning；2) buckle film, immobilized patients withBedstead position；3) patient's row iconography is scanned；4) under laser lamp auxiliary, therapeutic community's point is marked on film body；5) film is removedBody, the position of patient and fixed bedstead is traced in patient body-surface；6) when treating every time, patient is adjusted by patient body-surface mark linePosition with treating fixed bedstead, it is consistent after to patient's buckle film, by die body mark line come Mobile treatment table position, it is ensured that patientTreatment is with positioning time space location matches every time.
The positioning of pendulum position, which exists, at present has the disadvantage：1) conventional patient body-surface mark is in patient skin table using pigment pen at presentFace is delineated, and it has the disadvantage the easy dizzy dye clothes of color；Mark easily fades, and patient indicia's heading line off or mark line often occursThicker situation (1cm, normal laser rays only 1 millimeter) also has a small number of units using tattooing apparatus in patient on the market at presentSkin line mark point, shortcoming is that mark exists all the life, and many patients are difficult to receive, while also some patient's later stage needsAnchor point is adjusted, so the anchor point of tatooing of mark can not be removed for the first time, be easy to obscure in successive treatment.2) patient treatsWhen putting position, therapist is needed to adjust the position of patient in bed repeatedly so that bedstead is marked when body marker line position is with positioningGraduation position is consistent, and many aged patients or handicapped patient move inconvenience；Simultaneously because being artificially to adjust patient with controllingThe position of bed is treated, pendulum position process is influenceed larger by supervisor technician.
The content of the invention
The technical problem that the scheme provided according to embodiments of the present invention is solved needs manually repeatedly when being each radiotherapy positionAdjust position of the patient in therapeutic bed.
A kind of method of the automatic radiotherapy position provided according to embodiments of the present invention, including：
When patient is fixed on and positioned on the bedstead, by setting up radiotherapy space coordinates to the bedstead external space, andIt is determined that located space position of the mark point being marked on patient body-surface in the radiotherapy space coordinates；
When patient is fixed on and puts position on the bedstead, by being visited to the mark point being marked on patient body-surfaceSurvey, determine pendulum bit space position of the mark point in radiotherapy space coordinates；
By the way that the pendulum bit space position and the located space position are carried out into matching treatment, locus is obtained poor；
It is poor according to locus, position adjustment is carried out to portable bedstead, makes the pendulum bit space position and the positioningLocus is consistent.
Preferably, the position adjustment of the portable bedstead includes：Before and after portable bedstead or so adjustment, portable bedsteadAdjustment and portable bedstead anglec of rotation adjustment above and below adjustment, portable bedstead.The radiotherapy space coordinates of the foundation areWhat the objects of reference such as magnetic field or infrared or laser outside using bedstead were set up.
Preferably, the skin-marker refers to have and docile on patient body-surface and be able to can sent out during Patients Treated by RadiotherapyGo out the mark point of detectable signal.
Preferably, the determination is marked at positioning sky of the mark point on patient body-surface in the radiotherapy space coordinatesBetween position include：
When patient is fixed on and puts position on the bedstead, by being visited to the mark point being marked on patient body-surfaceSurvey, determine located space position of the radiotherapy mark point in the radiotherapy space coordinates.
Preferably, it is described by the way that the pendulum bit space position and the located space position are carried out into matching treatment, obtainLocus difference includes：
By the way that the pendulum bit space position and the located space position are carried out into matching treatment, obtain including right positionDifference, front and back position are poor, upper-lower position is poor and the locus of rotary angle position difference is poor.
Preferably, described poor according to locus, carrying out position adjustment to portable bedstead includes：
It is poor according to the right position of locus difference, left and right adjust instruction is generated, and according to its position to portable bedsteadPut progress left and right adjustment；
Poor, the adjust instruction before and after generation according to the front and back position of locus difference, and according to its position to portable bedsteadPut adjustment before and after progress；
Poor, the adjust instruction above and below generation according to the upper-lower position of locus difference, and according to its position to portable bedsteadPut and adjusted above and below progress；
It is poor according to the rotary angle position of locus difference, anglec of rotation adjust instruction is generated, and according to it to movable typeThe position of bedstead carries out angle adjustment.
A kind of device of the automatic radiotherapy position provided according to embodiments of the present invention, including：
Located space position module is determined, for when patient is fixed on and positioned on the bedstead, outside to bedsteadRadiotherapy space coordinates are set up in space, and determine to be marked at the mark point on patient body-surface in the radiotherapy space coordinatesLocated space position；
It is determined that pendulum bit space position module, for when patient is fixed on and puts position on the bedstead, by being marked atMark point on patient body-surface is detected, and determines pendulum bit space position of the mark point in radiotherapy space coordinates；
Matching module, for by the way that the pendulum bit space position and the located space position are carried out into matching treatment, obtainingIt is poor to locus；
Position adjusting type modules, for poor according to locus, position adjustment is carried out to portable bedstead, makes the pendulum position emptyBetween position it is consistent with the located space position.
Preferably, the position adjustment of the portable bedstead includes：Before and after portable bedstead or so adjustment, portable bedsteadAdjustment and portable bedstead anglec of rotation adjustment above and below adjustment, portable bedstead.
Preferably, the skin-marker refers to have and docile on patient body-surface and be able to can sent out during Patients Treated by RadiotherapyGo out the mark point of detectable signal.
Preferably, the matching module is specifically for by the way that the pendulum bit space position is entered with the located space positionRow matching treatment, is obtained comprising right position is poor, front and back position is poor, upper-lower position is poor and the space bit of rotary angle position differencePut difference.
The scheme provided according to embodiments of the present invention, whole system can reduce the movement to patient when putting position, improve patientComfort level, reduces the Set-up errors that human factor is caused, and improves operating efficiency.
Brief description of the drawings
Fig. 1 is a kind of method flow diagram of automatic radiotherapy position provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic device of automatic radiotherapy position provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of the system of automatic radiotherapy position provided in an embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing to a preferred embodiment of the present invention will be described in detail, it will be appreciated that described below is excellentSelect embodiment to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Fig. 1 is a kind of method flow diagram of automatic radiotherapy position provided in an embodiment of the present invention, as shown in figure 1, including：
Step S101：When patient is fixed on and positioned on the bedstead, by setting up radiotherapy space to the bedstead external spaceCoordinate system, and determine to be marked at located space position of the mark point on patient body-surface in the radiotherapy space coordinates；
Step S102：When patient is fixed on and puts position on the bedstead, pass through the mark to being marked on patient body-surfacePoint is detected, and determines pendulum bit space position of the mark point in radiotherapy space coordinates；
Step S103：By the way that the pendulum bit space position and the located space position are carried out into matching treatment, sky is obtainedBetween alternate position spike；
Step S104：It is poor according to locus, to portable bedstead carry out position adjustment, make it is described pendulum bit space position withThe located space position is consistent.
Wherein, the position adjustment of the portable bedstead includes：Adjusted before and after portable bedstead or so adjustment, portable bedsteadAdjustment and portable bedstead anglec of rotation adjustment above and below whole, portable bedstead.
Wherein, the skin-marker refers to have and docile on patient body-surface and be able to can sent during Patients Treated by RadiotherapyThe mark point of detectable signal.
Wherein, the determination is marked at located space of the mark point on patient body-surface in the radiotherapy space coordinatesPosition includes：When patient is fixed on and puts position on the bedstead, by being visited to the mark point being marked on patient body-surfaceSurvey, determine located space position of the radiotherapy mark point in the radiotherapy space coordinates.
Wherein, it is described by the way that the pendulum bit space position and the located space position are carried out into matching treatment, obtain skyBetween alternate position spike include：By the way that the pendulum bit space position and the located space position are carried out into matching treatment, obtain comprising a left sideRight alternate position spike, front and back position are poor, upper-lower position is poor and the locus of rotary angle position difference is poor.
Wherein, described poor according to locus, carrying out position adjustment to portable bedstead includes：According to locus differenceRight position is poor, generates left and right adjust instruction, and carry out left and right adjustment according to its position to portable bedstead；According to space bitThe front and back position for putting difference is poor, adjust instruction before and after generation, and according to adjustment before and after its position progress to portable bedstead；According toThe upper-lower position of locus difference is poor, adjust instruction above and below generation, and carries out downward according to its position to portable bedsteadIt is whole；It is poor according to the rotary angle position of locus difference, anglec of rotation adjust instruction is generated, and according to it to portable bedsteadPosition carries out angle adjustment.
Wherein, patient is fixed on when being positioned on bedstead by the present invention for the first time, obtains and preserves patient in positioning skyBetween home position information, so that patient ensures patient when being treated on bedstead in therapeutic domain, and according to being preservedHome position information and the method for above-mentioned automatic radiotherapy position portable bedstead is micro-adjusted.
Fig. 2 is a kind of schematic device of automatic radiotherapy position positioning provided in an embodiment of the present invention, as shown in Fig. 2 bagInclude：Located space position module 201 is determined, for when patient is fixed on and positioned on the bedstead, by bedstead outer spaceBetween set up radiotherapy space coordinates, and determine mark point the determining in the radiotherapy space coordinates that is marked on patient body-surfaceBit space position；It is determined that pendulum bit space position module 202, for when patient is fixed on and puts position on the bedstead, by rightThe mark point being marked on patient body-surface is detected, and determines pendulum bit space position of the mark point in radiotherapy space coordinatesPut；Matching module 203, for by the way that the pendulum bit space position and the located space position are carried out into matching treatment, obtainingLocus is poor；Position adjusting type modules 204, for poor according to locus, position adjustment is carried out to portable bedstead, is made describedPut bit space position consistent with the located space position.
Wherein, the position adjustment of the portable bedstead includes：Adjusted before and after portable bedstead or so adjustment, portable bedsteadAdjustment and portable bedstead anglec of rotation adjustment above and below whole, portable bedstead.
Wherein, the skin-marker refers to have and docile on patient body-surface and be able to can sent during Patients Treated by RadiotherapyThe mark point of detectable signal.
Wherein, the matching module 203 by described specifically for by putting bit space position and the located space positionMatching treatment is carried out, is obtained comprising right position is poor, front and back position is poor, upper-lower position is poor and the space of rotary angle position differenceAlternate position spike.
Fig. 3 is the schematic diagram of the system of automatic radiotherapy position positioning provided in an embodiment of the present invention, as shown in figure 3, including：Base 1：For bedstead to be fixed with ground.Fixed card slot 2：For devices such as fixed body film, vacuum pads.Detectable marker thing 3：For patient body-surface mark, treatment isocenter point mark sends detectable signal.Detector 4：For receiving what label was sentInstruction, sends information to central processing unit 5.Central processing unit 5：The information sent for pick-up probe 4, carries out space mistakeDifference matching, generates adjustment information, the movement of guiding treatment bed 7.Movable mechanical part 6：For being treated by the component controlsBed moves up and down and rotated.Portable bedstead 7：Can be according to the instruction of central processing unit 5, in movable mechanical part 6The lower position adjustment for carrying out top to bottom, left and right, front and rear and the anglec of rotation of control.Accelerator head 8：Ray is sent to control patientTreat.
Wherein, detectable marker thing 3 includes：1st layer：The 2nd layer of bottom：Spy's detection hypothallus；3rd layer：Coat of colo(u)r；4thLayer：Glue-line；5th layer：Surface protection film.The marker material outward appearance is black, and length is not limited, can reduced as needed, and width is2mm linear patterns, manufacture craft is transferred using current disposable tattoo sticker water.Its advantage：Current top grade is tatooed rubberizingMaterial has waterproof, and abrasion-resistant is difficult erasing, can be maintained 2 months in human body surface.Need to use special molten during erasingAgent (skin care milk/alcohol etc.)., can be real as long as detectable signal or other electric signals can be sent the invention is not restricted to this labelThis existing function.
Bedstead is designed as movable type.Portable bedstead can front and rear up and down and the anglec of rotation position adjustment, bedFrame both sides, which are carried, can fix the neck of film body or vacuum pad.
Central processing unit 7 can instruct mobile bedstead and accelerator to control according to the signal of change volumetric position error of detectionTreat bed automatic adjusting position.
Use step：
Positioning：1) marker material is cut into suitable length as needed；Tear diaphragm off, covered under the auxiliary of laser lampCover human skin/die body surface；When the mark lines such as lines and laser are consistent, water saturates base paper is used, after 10 seconds gentlyTear lines of basic unit's black with detection hypothallus off and just stick to body surface.2 with portable bedstead outside fix room certain pointSpace coordinates are set up for origin.Survey meter detection patient body-surface mark, locus where record patient when patient positions.
Treat self-oscillate position：1) when treating every time, patient is lain in therapeutic bed, using corresponding Postural immobilization measure (buttonFilm, vacuum pad) 2) signal that sends of survey meter detection patient body-surface mark, it is transferred in central processing unit, by analyzing patientPosition now and location matches during with positioning, according to space error twice, send instruction adjustment Part II and may move automaticallyThe position of bedstead, it is consistent when making patient space position with positioning.3) after locus confirms, start to treat patient.
The scheme provided according to embodiments of the present invention, whole system can reduce the movement to patient when putting position, improve patientComfort level, reduces the Set-up errors that human factor is caused, and improves operating efficiency.Novel markings material is maintained in patient body-surface simultaneouslyTime is more longlasting, and patient comfort is higher.
Although the present invention is described in detail above, the invention is not restricted to this, those skilled in the art of the present techniqueVarious modifications can be carried out according to the principle of the present invention.Therefore, all modifications made according to the principle of the invention, all should be understood toFall into protection scope of the present invention.