A kind of auxiliary infrared positioning apparatus and method based on radiotherapyTechnical field
The invention belongs to field of medical device, fills more particularly, to a kind of infrared positioning of auxiliary based on radiotherapyIt sets and method.
Background technique
Radiotherapy is as being directed to the most universal therapeutic scheme in treating malignant tumor in current medical domain.However,Radiotherapy is by radioactive ray to local irradiation, and then tumor tissues is made to destroy or be gradually reduced, although having to tumour preferableCurative effect.But when doing radiotherapy other than meeting killing tumor cell, while the intracorporal normal cell of people can be also killed, and then leadCause the function of immune system of patient impaired.
Laser positioning technology is mainly carried out using laser orientation instru-ment system helps in tumour radiotherapy clinical practiceRadiotherapy position.
So-called pendulum position, exactly enables patient lie on the bed surface of therapeutic bed, posture and the position of patient is adjusted, so that patientAffected part be located at be most suitable for radiation exposure position.In a radiation course for the treatment of, need up in bimestrial one periodThe same privileged site of patient is repeatedly irradiated, to obtain optimal radiation response.Therefore we it is generally desirable to everyWhen secondary irradiation, all enough effects for being consistent as far as possible, therefore putting position of the irradiation area of ray guarantee that the side effect of radiotherapy drops toMinimum harm.
Radiotherapy needs to use radiographic source, that is, accelerator, most for discharging the accelerator of ray at present,Its ray chamber usually can be with target position, that is, the position of the quasi- heart of collimator is the centre of sphere, in a ball of three-dimensional spaceIt is moved on face.In order to which the affected part region of most suitable irradiation is exposed to sphere center position, in practice, it is fixed usually to use laserPosition.Therefore laser locating apparatus is usually fixed on the wall of radiotherapy room by people, so that the centre of location of laser is alwaysPositioned at this sphere center position.And in order to adjust the affected part of patient to the position of the centre of location, then need Mobile treatment tableBed surface.
Laser orientation instru-ment device is a kind of device for being used to correct patient posture in radiation therapy process, is that one kind ensuresRadiotherapy position repeatability and improve radiotherapy precision effective and essential posture radiotherapy tool, usually byThree groups of laser lamp compositions: on the removable vector potential line laser positioning lamp, rack side walls above therapeutic bed on ceilingRespectively there is one group of lateral cross-hair fixed laser positioning lamp, in the laser rays intersection point of three groups of laser lamps and the rotation of radiotherapy machine rackThe heart is overlapped.
When radiotherapy, after routinely setting position, laser cross-line is enabled to form skill shadow in the suitable position of the patient's body surface, soIt is marked at laser cross-line skill shadow using scratching liquid afterwards.When each posture radiotherapy, Mobile treatment table makes three to swashOn cross when light-seeking cross hairs just falls in Radiation Therapy Simulation on patient skin with scratching liquid label.
There are two major defects for this location technology: (1) being marked at laser cross line projection using scratching liquidThe label cross hairs usually obtained is thicker, increases radiotherapy error, reduces radiotherapy precision；(2) modern radiotherapy, which generallys use, controlsThe conventional fractionation technology that the time is about 1-2 months is treated, is easy to lose in the cross that skin surface marks with scratching liquid in therapeutic processIt loses, it is therefore desirable to repeat to trace cross through common scratching liquid, not only be possible to increase radiotherapy error, but also increase the work of doctorIntensity.
Summary of the invention
In view of this, the invention is directed to a kind of easy-to-use, raising operational stability, guarantee positioning accuracyThe auxiliary infrared positioning apparatus and method based on radiotherapy.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of auxiliary infrared positioning apparatus and method based on radiotherapy, including image collecting device, control unit, driveMotivation structure, bed body, targeting marker and communication device, the image collecting device and control unit data connection are describedControl unit and driving mechanism connection, the driving device are set to the inside of bed body, and control unit passes through communication dressIt sets and is connect with external mobile terminal data；Image collecting device includes Visible Light Camera and Infrared imaging cameras, it is seen that light phaseMachine and Infrared imaging cameras are connect with control unit respectively, and the targeting marker is coated in patient affected part superficial skin, targetIt is matched to marker with Infrared imaging cameras identification.
Further, at least provided with three, the first image collecting device is arranged before therapeutic bed the image collecting deviceOn the wall of side upside, second, third image collecting device is separately positioned in the side walls of bed body.
Further, the control unit include preprocessing module, it is picture recognition module, matching module, locating module, defeatedModule out；Preprocessing module, picture recognition module, matching module, locating module, output module are sequentially connected；
Further, the targeting marker is the coloured infrared markers coating of low temperature.
A kind of method applied to the infrared positioning apparatus based on radiotherapy includes people's following steps:
(1) pass through image acquisition device to visible images and infrared light image；It is input to preprocessing module, it is rightImage is filtered respectively, denoising；
(2) imaging region, visible images and infrared light in the picture recognition module recognition imaging region are extractedImage；It carries out binary conversion treatment and highlights marker；
(3) visible light and infrared cursor glyph are matched, is sat by the two dimension that matching module obtains markerMark information；
(4) the marker two-dimensional coordinate information that the image collecting device of three different locations obtains respectively is input to positioningModule obtains accurate marker coordinate information by three-point fix algorithm
(5) marker coordinate information is output to control unit by output module, position is put with control driving bed body.
Further, the picture recognition module further includes detection human body information, when patient's human body information for detecting withPatient's human body information is identical in database, then confirms the marker for expected label；Conversely, then method end of run.
Further, the human body information includes skin color and human body contour outline.
Further, the binary conversion treatment be binary conversion treatment be using OTSU maximum variance between clusters by gray level image fromIt adapts to threshold binarization and highlights marker.
Further, visible light and infrared cursor glyph matching process described in step (4) the following steps are included:
(44) infrared and visible images edges are extracted by Mathematical Morphology Method respectively, obtain thick edge image；
(45) characteristic point that two width edge images are then extracted by SURF algorithm, according to oblique between correct matching double pointsThe priori knowledge of rate consistency carries out human body contour outline Feature Points Matching；
(46) affine Transform Model parameter is acquired finally by least square method and realize the registration of two images.
Further, referential is set to each image collector, the respective coordinates of marker be respectively (x1, y1), (x2,y2),(x3,y3)；The accurate coordinates of marker are (x0, y0), are respectively d1 with three point distances, d2, d3 are with d1, d2, d3Radius makees three circles and obtains the accurate coordinates calculation formula of marker according to Pythagorean theorem:
(x1-x0)2+(y1-y0)2=d12
(x2-x0)2+(y2-y0)2=d22
(x3-x0)2+(y3-y0)2=d32
Compared with the existing technology, a kind of auxiliary infrared positioning apparatus and side based on radiotherapy described in the inventionMethod has the advantage that
(1) present invention is simultaneously by infrared acquisition and visible light fusion matching technique for determining the best body surface markedPosition strengthens position stability, reduces injury of the radiotherapy instrument to healthy normal tissue, can meet and determine body portionTo the requirement of radiotherapy；
(2) image collecting device of the present invention, three groups of corresponding configuration (every group of Visible Light Camera and one it is redOuter image camera), it is not only accurately positioned from x-direction and y-direction, and doctor can be made to fully understand patient by imageWhole body image keeps positioning system more perfect, more adapts to vertical without making doctor carry out pendulum position to patient around radiotherapy bed bodyThe requirement of body Stereotactic radiotherapy；
(3) the configuration of the present invention is simple, easy to use, accurate positioning.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention woundThe illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?In attached drawing:
Fig. 1 is structural schematic diagram described in the invention embodiment；
Fig. 2 is module diagram described in the invention embodiment；
Fig. 3 is method flow schematic diagram described in the invention embodiment；
Coordinate enlarged drawing described in the position Fig. 4 the invention embodiment.
Description of symbols:
1, radiotherapy accelerator；2, bed body；3, image collecting device；31, the first image collecting device；32, the second image is adoptedAcquisition means；33, third image collecting device.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention canTo be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" isIt is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicateOr imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understandFor the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicatingOr it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separatelyIt is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peaceDress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrallyConnection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete conditionState concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
A kind of auxiliary infrared positioning apparatus and method based on radiotherapy, including image collecting device, control unit, driveMotivation structure, bed body, targeting marker and communication device, the image collecting device and control unit data connection are describedControl unit and driving mechanism connection, the driving device are set to the inside of bed body, and control unit passes through communication dressIt sets and is connect with external mobile terminal data；Image collecting device includes Visible Light Camera and Infrared imaging cameras, it is seen that light phaseMachine and Infrared imaging cameras are connect with control unit respectively, and the targeting marker is coated in patient affected part superficial skin, targetIt is matched to marker with Infrared imaging cameras identification.
For the image collecting device at least provided with three, upside in front of therapeutic bed is arranged in the first image collecting deviceOn wall, second, third image collecting device is separately positioned in the side walls of bed body.
The control unit includes preprocessing module, picture recognition module, matching module, locating module, output module；Preprocessing module, picture recognition module, matching module, locating module, output module are sequentially connected；
The targeting marker is the coloured infrared markers coating of low temperature.
A kind of method applied to the infrared positioning apparatus based on radiotherapy includes people's following steps:
(1) pass through image acquisition device to visible images and infrared light image；It is input to preprocessing module, it is rightImage is filtered respectively, denoising；
(2) imaging region, visible images and infrared light in the picture recognition module recognition imaging region are extractedImage；It carries out binary conversion treatment and highlights marker；
(3) visible light and infrared cursor glyph are matched, is sat by the two dimension that matching module obtains markerMark information；
(4) the marker two-dimensional coordinate information that the image collecting device of three different locations obtains respectively is input to positioningModule obtains accurate marker coordinate information by three-point fix algorithm
(5) marker coordinate information is output to control unit by output module, position is put with control driving bed body.
Visible light described in step (4) and infrared cursor glyph matching process the following steps are included:
(47) infrared and visible images edges are extracted by Mathematical Morphology Method respectively, obtain thick edge image；
(48) characteristic point that two width edge images are then extracted by SURF algorithm, according to oblique between correct matching double pointsThe priori knowledge of rate consistency carries out human body contour outline Feature Points Matching；
(49) affine Transform Model parameter is acquired finally by least square method and realize the registration of two images.
Be set to referential with each image collector, the respective coordinates of marker be respectively (x1, y1), (x2, y2), (x3,y3)；The accurate coordinates of marker are (x0, y0), are respectively d1 with three point distances, and d2, d3 are that radius makees three with d1, d2, d3A circle obtains the accurate coordinates calculation formula of marker according to Pythagorean theorem:
(x1-x0)2+(y1-y0)2=d12
(x2-x0)2+(y2-y0)2=d22
(x3-x0)2+(y3-y0)2=d32
The present invention is used to realize that the system control of complete machine and image procossing, system control mainly by advance using control unitManage the modules such as module, picture recognition module, matching module, locating module, output module composition；The present invention is by establishing human body wheelWide two-dimensional coordinate system positions targeting marker from horizontal bedding and passes through each figure then by radiotherapy accelerator targeted therapyAs acquisition device infrared image+visual image fusion, the gray scale clear image highlighted with marker is generated, and fusion is schemedMarker as in highlights, and establishes coordinate, and 3 image collecting devices, each image collector is arranged in therapeutic room altogetherIt sets and establishes a label article coordinate respectively, if the image collecting device of a certain angle does not collect marker, directly with (0,0) shapeFormula substitutes into step (4) and is calculated, and then three-point fix algorithm is carried out by each label article coordinate, as shown in figure 4, obtaining essenceThe coordinate information of true label object point, output control bedstead carries out pendulum position, while step (1) image generated can be passed throughCommunication device (3G communication) communication module is sent on the diagnosis and treatment instrument in doctor's hand, and doctor can directly judge the position of patientIt sets, without carrying out other side adjustment again around bedstead.
The picture recognition module further includes detection human body information, when in the patient's human body information and database detectedPatient's human body information is identical, then confirms the marker for expected label；Conversely, then method end of run.
The human body information includes skin color and human body contour outline.
The binary conversion treatment is that binary conversion treatment is using OTSU maximum variance between clusters by gray level image adaptive thresholdingValue binaryzation highlights marker.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at thisWithin the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the inventionProtection scope within.