技术领域Technical Field
本发明属于粒子加速器准直定位技术领域，涉及一种放疗装置旋转束线终端的定位及实时监测方法和系统，尤其是涉及一种多束线放疗装置360度水平旋转束线终端与多个治疗室之间的快速切换匹配定位，以及放疗过程中对旋转束线终端的位置和姿态实时监测的方法和系统。The present invention belongs to the technical field of particle accelerator alignment and positioning, and relates to a method and system for positioning and real-time monitoring of a rotating beam terminal of a radiotherapy device, and in particular to a method and system for fast switching, matching and positioning between a 360-degree horizontal rotating beam terminal of a multi-beam radiotherapy device and multiple treatment rooms, as well as real-time monitoring of the position and posture of the rotating beam terminal during radiotherapy.
背景技术Background technique
使用物理放射技术治疗恶性肿瘤已经具有近百年的历史，近年来经过临床研究发现，重离子束在物理学和生物学上较传统光子和电子束对恶性肿瘤的治疗更具优势，使用重离子束放疗逐渐发展成为一种十分优越的肿瘤治疗手段。The use of physical radiation technology to treat malignant tumors has a history of nearly a hundred years. In recent years, clinical studies have found that heavy ion beams have more advantages in physics and biology than traditional photons and electron beams in the treatment of malignant tumors. The use of heavy ion beam radiotherapy has gradually developed into a very superior tumor treatment method.
在重离子束治疗肿瘤的过程中，如果单从一个方向照射治疗，离子所穿过的正常组织将会受到不同程度的损害。为减少这部分损害，通常将总剂量分成多个照射方向，这样正常组织受到的剂量就大幅降低。传统的多角度照射治疗束线或旋转机架占地面积大，且造价昂贵。为了降低造价、实现多角度照射，科学家研究了一种可以360度水平旋转的束线终端，并在旋转束线四周设置多个治疗室，通过旋转单条束线终端即可实现对周围不同方位角的多个治疗室的束流配送，从而解决了传统重离子治疗装置单条束线只能对应单一治疗室的问题，同时也减小了重离子治疗装置的占地面积和建造成本的投入。During heavy ion beam therapy for tumors, if the treatment is only carried out from one direction, the normal tissues that the ions pass through will be damaged to varying degrees. To reduce this part of the damage, the total dose is usually divided into multiple irradiation directions, so that the dose received by normal tissues is greatly reduced. Traditional multi-angle irradiation therapy beams or rotating racks occupy a large area and are expensive. In order to reduce costs and achieve multi-angle irradiation, scientists have studied a beam terminal that can rotate 360 degrees horizontally, and set up multiple treatment rooms around the rotating beam. By rotating a single beam terminal, beam distribution can be achieved to multiple treatment rooms at different azimuths around, thus solving the problem that a single beam of a traditional heavy ion therapy device can only correspond to a single treatment room. At the same time, it also reduces the floor space and construction cost of the heavy ion therapy device.
然而，360度旋转束线在治疗过程中需要在分布于四周的多个治疗室之间不断地水平旋转切换，其准直定位需求和方法不同于传统的固定束线，传统固定束线只需使用激光跟踪仪等测量仪器在安装时完成束线终端与治疗室之间的定位后即可达到治疗的定位要求。而360度旋转束线则在每次旋转切换后都需要快速、准确地把旋转束线和工作治疗室等中心点之间重新定位，为了保证放射治疗的精准度和安全可靠性还需实时动态监测旋转束线和工作治疗室等中心点之间的相对位置关系。如果使用传统光学仪器或者激光跟踪仪等测量方法实施旋转束线的切换定位，不但定位效率低而且也不能实现实时动态监测的功能。However, during the treatment process, the 360-degree rotating beam needs to be constantly rotated and switched horizontally between multiple treatment rooms distributed around. Its alignment and positioning requirements and methods are different from those of traditional fixed beams. Traditional fixed beams only need to use laser trackers and other measuring instruments to complete the positioning between the beam terminal and the treatment room during installation to meet the positioning requirements of treatment. However, after each rotation and switching, the 360-degree rotating beam needs to quickly and accurately reposition the rotating beam and the center point such as the working treatment room. In order to ensure the accuracy, safety and reliability of radiotherapy, the relative position relationship between the rotating beam and the center point such as the working treatment room needs to be monitored dynamically in real time. If traditional optical instruments or laser trackers and other measurement methods are used to implement the switching and positioning of the rotating beam, not only is the positioning efficiency low, but the function of real-time dynamic monitoring cannot be realized.
发明内容Summary of the invention
针对上述问题，本发明的目的是提供一种放疗装置旋转束线终端的定位及实时监测方法和系统，用于多束线放疗装置360度水平旋转束线终端与多个治疗室之间的快速切换匹配定位，以及放疗过程中对旋转束线终端的位置和姿态实时监测。In view of the above problems, the purpose of the present invention is to provide a method and system for positioning and real-time monitoring of a rotating beam terminal of a radiotherapy device, which is used for rapid switching and matching positioning between a 360-degree horizontal rotating beam terminal of a multi-beam radiotherapy device and multiple treatment rooms, as well as real-time monitoring of the position and posture of the rotating beam terminal during radiotherapy.
为实现上述目的，本发明采取以下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
第一方面，本发明提供一种放疗装置旋转束线终端的定位及实时监测系统，其包括放疗装置，所述放疗装置包括束线终端和用于对所述束线终端进行控制的转动控制系统；所述束线终端包括底座、设置于所述底座上的360度水平旋转束线机架、围设于所述360度水平旋转束线机架外部的各相互连接的治疗室以及设置于各工作治疗室的治疗室束流孔洞：还包括：In a first aspect, the present invention provides a positioning and real-time monitoring system for a rotating beam terminal of a radiotherapy device, comprising a radiotherapy device, the radiotherapy device comprising a beam terminal and a rotation control system for controlling the beam terminal; the beam terminal comprises a base, a 360-degree horizontal rotating beam rack arranged on the base, each interconnected treatment room arranged outside the 360-degree horizontal rotating beam rack, and a treatment room beam hole arranged in each working treatment room; and further comprising:
测量控制场，包括设置于各所述治疗室束流孔洞周围预设位置的束流孔洞测量控制场以及设置于所述360度水平旋转束线机架上的束线终端测量控制场，用于对各工作治疗室等中心点及束线终端进行辅助定位；The measurement control field includes a beam hole measurement control field arranged at a preset position around the beam hole of each treatment room and a beam terminal measurement control field arranged on the 360-degree horizontal rotating beam rack, which is used to assist in positioning the isocenter of each working treatment room and the beam terminal;
双相机摄影测量系统，用于对所述测量控制场进行实时动态监测；A dual-camera photogrammetry system for real-time dynamic monitoring of the measurement control field;
数据处理系统，用于根据所述双相机摄影测量系统的监测数据，自动解算出所述束线终端和工作治疗室等中心点之间的6自由度偏差，同步将6自由度偏差调节指令反馈于所述转动控制系统，由所述转动控制系统将所述束线终端和工作治疗室等中心点之间的6自由度偏差调节至预设范围内，实现所述束线终端和工作治疗室等中心点之间的快速测量定位。The data processing system is used to automatically calculate the 6-DOF deviation between the beamline terminal and the center point of the working treatment room based on the monitoring data of the dual-camera photogrammetry system, and synchronously feed back the 6-DOF deviation adjustment instruction to the rotation control system, so that the rotation control system adjusts the 6-DOF deviation between the beamline terminal and the center point of the working treatment room to within a preset range, thereby realizing rapid measurement and positioning between the beamline terminal and the center point of the working treatment room.
进一步，所述束流孔洞测量控制场设置在各工作治疗室束流孔洞四周相对于工作治疗室等中心点稳定不变的墙面上，包括阵列设置的若干第一摄影测量荧光反射编码点和设置在两两所述第一摄影测量荧光反射编码点之间的若干第一摄影测量球形标志点靶标座；Further, the beam hole measurement control field is arranged on a wall surface around the beam hole of each working treatment room which is stable and unchanged relative to the center point of the working treatment room, and includes a plurality of first photogrammetric fluorescence reflection coding points arranged in an array and a plurality of first photogrammetric spherical marker point target seats arranged between the first photogrammetric fluorescence reflection coding points in pairs;
所述束线终端测量控制场包括摄影测量自标定测量工装、阵列设置于所述摄影测量自标定测量工装上的若干第二摄影测量荧光反射编码点和若干第二摄影测量球形标志点靶标座。The beamline terminal measurement control field comprises a photogrammetry self-calibration measurement tool, a plurality of second photogrammetry fluorescence reflection coding points arrayed on the photogrammetry self-calibration measurement tool, and a plurality of second photogrammetry spherical marking point target seats.
进一步，所述双相机摄影测量系统包括双相机摄影测量架设工装和两个摄影测量相机，所述双相机摄影测量架设工装固定设置在所述360度水平旋转束线机架上，两所述摄影测量相机固定安装在所述双相机摄影测量架设工装两端，且两所述摄影测量相机的镜头朝向交会于所述束线终端和单个工作治疗室束流孔洞，保证相机镜头视野能够覆盖束线终端测量控制场和单个工作治疗室的束流孔洞测量控制场。Furthermore, the dual-camera photogrammetry system includes a dual-camera photogrammetry setup tooling and two photogrammetry cameras, wherein the dual-camera photogrammetry setup tooling is fixedly mounted on the 360-degree horizontally rotating beam line rack, and the two photogrammetry cameras are fixedly mounted at both ends of the dual-camera photogrammetry setup tooling, and the lenses of the two photogrammetry cameras are oriented to intersect at the beam line terminal and the beam hole of a single working treatment room, thereby ensuring that the camera lens field of view can cover the measurement control field of the beam line terminal and the beam hole measurement control field of a single working treatment room.
进一步，所述摄影测量相机经过特殊辐射防护处理，除镜头部分外漏，其他部分均使用铅板和含硼聚乙烯板内外两层进行电离辐射防护。Furthermore, the photogrammetry camera has undergone special radiation protection treatment. Except for the lens part which is exposed, the other parts are protected from ionizing radiation using two layers of lead plates and boron-containing polyethylene plates.
第二方面，本发明提供一种放疗装置旋转束线终端的定位及实时监测系统的使用方法，包括：In a second aspect, the present invention provides a method for using a positioning and real-time monitoring system for a rotating beam terminal of a radiotherapy device, comprising:
在放疗装置上布置双相机摄影测量系统以及测量控制场；Arrange a dual-camera photogrammetry system and a measurement control field on the radiotherapy device;
基于测量控制场进行相对位姿关系标定；Calibrate relative posture relationship based on measurement control field;
基于双相机摄影测量系统采集的图像数据，进行系统定向和编码点坐标解算；Based on the image data collected by the dual-camera photogrammetry system, the system orientation and the coded point coordinates are solved;
基于编码点坐标解算结果，利用转动控制系统将束线终端和工作治疗室等中心点之间的6自由度偏差调节至预设范围内。Based on the results of the encoded point coordinate solution, the 6-DOF deviation between the beamline terminal and the isocenter of the working treatment room is adjusted to within the preset range using a rotation control system.
进一步，所述在放疗装置上布置双相机摄影测量系统以及测量控制场，包括：Furthermore, the dual-camera photogrammetry system and the measurement control field are arranged on the radiotherapy device, including:
在对两摄影测量相机进行电离辐射防护后，安装于双相机摄影测量架设工装两端；After the two photogrammetric cameras are protected from ionizing radiation, they are installed at both ends of the dual-camera photogrammetric setup;
在每个治疗室束流孔洞周围的预设位置处布置束流孔洞测量控制场，包括在预设位置设置各第一摄影测量荧光反射编码点和各第一摄影测量球形标志点靶标座；Arranging a beam hole measurement control field at a preset position around the beam hole in each treatment room, including setting each first photogrammetry fluorescence reflection coding point and each first photogrammetry spherical marker point target seat at the preset position;
在摄影测量自标定测量工装的预设位置处布置束线终端测量控制场，包括在预设位置设置各第二摄影测量荧光反射编码点和各第二摄影测量球形标志点靶标座；Arranging a beamline terminal measurement control field at a preset position of a photogrammetric self-calibration measurement tool, including setting each second photogrammetric fluorescent reflection coding point and each second photogrammetric spherical marker point target seat at the preset position;
将双相机摄影测量架设工装和摄影测量自标定工装安装于360度水平旋转束线机架的预设位置，使得两摄影测量相机的镜头朝向交会于束线终端和单个工作治疗室的束流孔洞，保证相机镜头视野能够覆盖束线终端测量控制场和单个工作治疗室的束流孔洞测量控制场。The dual-camera photogrammetry setup fixture and the photogrammetry self-calibration fixture are installed at the preset position of the 360-degree horizontal rotating beam rack, so that the lenses of the two photogrammetry cameras are directed to intersect at the beam terminal and the beam hole of a single working treatment room, ensuring that the camera lens field of view can cover the measurement control field of the beam terminal and the beam hole measurement control field of a single working treatment room.
进一步，所述基于测量控制场进行相对位姿关系标定，包括：Further, the relative posture relationship calibration based on the measurement control field includes:
基于束流孔洞测量控制场，对工作治疗室等中心点与治疗室束流孔洞四周的各第一摄影测量荧光反射编码点之间的相对位姿关系进行标定；Based on the beam hole measurement control field, the relative position relationship between the isocenter of the working treatment room and each first photogrammetry fluorescence reflection coding point around the beam hole of the treatment room is calibrated;
基于束流终端测量控制场，对束线终端与摄影测量自标定测量工装上各第二摄影测量荧光反射编码点之间的相对位姿关系进行标定。Based on the beam terminal measurement control field, the relative position and posture relationship between the beam line terminal and each second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tooling is calibrated.
进一步，所述基于束流终端测量控制场，对束线终端与摄影测量自标定测量工装上各第二摄影测量荧光反射编码点之间的相对位姿关系进行标定，包括：Further, the relative posture relationship between the beamline terminal and each second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tooling is calibrated based on the beamline terminal measurement control field, including:
使用激光跟踪仪标定束线终端与摄影测量自标定测量工装上第二摄影测量球形标志点靶标座之间的相对位姿关系；Use a laser tracker to calibrate the relative position relationship between the beam terminal and the second photogrammetry spherical marker target seat on the photogrammetry self-calibration measurement tooling;
使用双摄影测量相机标定束线终端与摄影测量自标定测量工装上第二摄影测量荧光反射编码点之间的相对位姿关系。The relative position relationship between the beamline terminal and the second photogrammetric fluorescent reflection coding point on the photogrammetric self-calibration measuring tool is calibrated using dual photogrammetric cameras.
进一步，所述使用双摄影测量相机标定束线终端与摄影测量自标定测量工装上第二摄影测量荧光反射编码点之间的相对位姿关系，包括：Further, the relative position relationship between the calibration beam terminal and the second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measuring tool using the dual photogrammetry cameras includes:
首先，将摄影测量1.5英寸球形标志放置在布设于各第二摄影测量球形标志点靶标座上，利用摄影测量相机对摄影测量自标定测量工装上的摄影测量1.5英寸球形标志点和第二摄影测量荧光反射编码点同时进行测量，获得摄影测量1.5英寸球形标志点坐标和摄影测量荧光反射编码点坐标；First, a photogrammetric 1.5-inch spherical marker is placed on the target seat arranged at each second photogrammetric spherical marker point, and a photogrammetric camera is used to simultaneously measure the photogrammetric 1.5-inch spherical marker point and the second photogrammetric fluorescent reflection coding point on the photogrammetric self-calibration measuring tooling to obtain the coordinates of the photogrammetric 1.5-inch spherical marker point and the coordinates of the photogrammetric fluorescent reflection coding point;
然后，根据激光跟踪仪布设的束线终端测量控制场数据，进行公共点转换，获得束线终端与摄影测量自标定测量工装上第二摄影测量荧光反射编码点之间的相对关系，同时获得束线终端坐标系下第二摄影测量荧光反射编码点的坐标。Then, according to the beamline terminal measurement control field data arranged by the laser tracker, the common point conversion is performed to obtain the relative relationship between the beamline terminal and the second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tooling, and at the same time, the coordinates of the second photogrammetry fluorescence reflection coding point in the beamline terminal coordinate system are obtained.
进一步，所述基于双相机摄影测量系统采集的图像数据，进行系统定向和编码点坐标解算，包括：Further, the image data collected by the dual-camera photogrammetry system is used to perform system orientation and code point coordinate calculation, including:
基于两台摄影测量相机采集的图像数据，利用标定结果对双相机摄影测量系统进行定向；Based on the image data collected by two photogrammetric cameras, the dual-camera photogrammetric system is oriented using the calibration results;
根据定向结果以及测量图像对测量点坐标进行解算，得到束线终端坐标系下当前状态摄影测量自标定测量工装中第二摄影测量荧光反射编码点和治疗室束流孔洞周围的第一摄影测量荧光反射编码点坐标。The coordinates of the measuring points are solved according to the orientation results and the measurement images to obtain the coordinates of the second photogrammetric fluorescence reflection coding points in the current state photogrammetric self-calibration measurement tooling and the first photogrammetric fluorescence reflection coding points around the beam hole in the treatment room in the beamline terminal coordinate system.
本发明由于采取以上技术方案，其具有以下优点：The present invention adopts the above technical solution, which has the following advantages:
1、本发明通过特殊辐射屏蔽保护处理的双相机摄影测量系统组合设置于360度水平旋转束线终端顶部，并在各治疗室束流孔洞周围布设定向控制场，当旋转束线旋转切换至工作治疗室后，能够快速、无接触地测量出360度旋转束线终端和工作治疗室等中心点之间的关键几何元素，通过控制系统将旋转束线终端和治疗室之间的6个自由度偏差调节至误差容许的范围内，可以大幅提升旋转束线终端每次旋转切换后的定位测量效率。1. The dual-camera photogrammetry system of the present invention is combined and arranged on the top of the 360-degree horizontal rotating beamline terminal through special radiation shielding protection treatment, and a directional control field is arranged around the beam hole of each treatment room. When the rotating beamline is rotated and switched to the working treatment room, the key geometric elements between the 360-degree rotating beamline terminal and the center point of the working treatment room can be measured quickly and contactlessly. The six-degree-of-freedom deviation between the rotating beamline terminal and the treatment room is adjusted to the allowable error range through the control system, which can greatly improve the positioning and measurement efficiency of the rotating beamline terminal after each rotation switch.
2、在患者放疗过程中，通过设置于360度旋转束线终端的双相机摄影测量系统实时测量布设于工作治疗室束流孔洞周围的摄影测量控制场，实时动态监测束线终端设备和工作治疗室等中心点之间的6自由度变化，进一步提升患者放疗过程中的可靠性和精度。2. During the patient's radiotherapy, the dual-camera photogrammetry system installed at the 360-degree rotating beamline terminal measures the photogrammetry control field around the beam hole in the working treatment room in real time, and dynamically monitors the 6-degree-of-freedom changes between the beamline terminal equipment and the working treatment room and other center points in real time, further improving the reliability and accuracy of the patient's radiotherapy.
3、本发明将单套双相机摄影测量设备设置于360度水平旋转的旋转束线上，并在旋转机架上设置摄影测量自标定工装，可以对摄影测量双相机进行实时定向标定，结合布设在各治疗室的控制场，实现了单套双相机摄影测量设备动态测量多个治疗室的快速定位功能，在定位过程中不但节约时间、人力，同时也最大限度地节省了建造成本。3. The present invention sets a single set of dual-camera photogrammetry equipment on a rotating beam line that rotates 360 degrees horizontally, and sets a photogrammetry self-calibration tool on the rotating frame, which can perform real-time directional calibration of the photogrammetry dual cameras. Combined with the control field arranged in each treatment room, the single set of dual-camera photogrammetry equipment can realize the rapid positioning function of dynamically measuring multiple treatment rooms, which not only saves time and manpower in the positioning process, but also saves construction costs to the greatest extent.
4、本发明通过对普通摄影测量系统的相机进行特殊电离辐射防护处理，不但可以避免360度旋转束线在供束过程中散射的离子对相机造成电离辐射破坏，而且通过辐射防护还可以增加摄影测量系统的使用安全性和使用寿命。4. The present invention performs special ionizing radiation protection treatment on the camera of the ordinary photogrammetry system, which can not only prevent the ions scattered by the 360-degree rotating beam line during the beam supply process from causing ionizing radiation damage to the camera, but also increase the safety and service life of the photogrammetry system through radiation protection.
本发明操作简单、方便，适用于360度水平旋转多束线配送放疗装置旋转束线切换定位及实时监测技术领域。The invention is simple and convenient to operate, and is applicable to the technical field of rotating beam switching positioning and real-time monitoring of a 360-degree horizontal rotating multi-beam delivery radiotherapy device.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。在整个附图中，用相同的附图标记表示相同的部件。在附图中：Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference numerals are used to represent the same components. In the accompanying drawings:
图1是本发明360度水平旋转束线机架与四周治疗室束流孔洞的位置关系布局示意图；FIG1 is a schematic diagram showing the positional relationship between the 360-degree horizontally rotating beam rack and the beam holes around the treatment room of the present invention;
图2是本发明双相机摄影测量系统在旋转束线终端的安装设置位置及治疗室孔洞定向控制场布设示意图；2 is a schematic diagram of the installation location of the dual-camera photogrammetry system of the present invention at the rotating beam terminal and the layout of the directional control field of the hole in the treatment room;
图3是本发明双相机摄影测量系统的自标定测量工装位置布局示意图；3 is a schematic diagram of the position layout of the self-calibration measurement tooling of the dual-camera photogrammetry system of the present invention;
图4是本发明双相机摄影测量系统自标定测量工装定向控制网点示意图；4 is a schematic diagram of directional control points of the self-calibration measurement tooling of the dual-camera photogrammetry system of the present invention;
图5是本发明电离辐射屏蔽后的双相机摄影测量系统示意图；FIG5 is a schematic diagram of a dual-camera photogrammetry system after ionizing radiation shielding according to the present invention;
图6是本发明治疗室束流孔洞控制场布局示意图；FIG6 is a schematic diagram of the layout of the beam hole control field in the treatment room of the present invention;
附图标记说明：Description of reference numerals:
1、治疗室束流孔洞；2、360度水平旋转束线机架；3、束流孔洞测量控制场；4、摄影测量自标定测量工装；5、双相机摄影测量架设工装；61、第一摄影测量球形标志点靶标座；62、第一摄影测量球形标志点靶标座；71、第一摄影测量荧光反射编码点；72、第一摄影测量荧光反射编码点；8、摄影测量相机。1. Beam hole in treatment room; 2. 360-degree horizontal rotating beam rack; 3. Beam hole measurement control field; 4. Photogrammetry self-calibration measurement tooling; 5. Dual-camera photogrammetry installation tooling; 61. First photogrammetry spherical marker point target seat; 62. First photogrammetry spherical marker point target seat; 71. First photogrammetry fluorescence reflection coding point; 72. First photogrammetry fluorescence reflection coding point; 8. Photogrammetry camera.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明的技术方案进行清楚、完整地描述。在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的系统或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，使用术语“第一”、“第二”等词语来限定零部件，仅仅是为了便于对上述零部件进行区别，如没有另行声明，上述词语并没有特殊含义，不能理解为指示或暗示相对重要性。In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "upper", "lower", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the above components. If not otherwise stated, the above terms have no special meaning and cannot be understood as indicating or implying relative importance.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
本发明的一些实施例中，提供一种放疗装置旋转束线终端的定位及实时监测系统，通过一组设置于360度水平旋转束线终端(以下简称束线终端)的经过特殊辐射防护处理的双相机摄影测量系统，配合设置于束线终端四周各治疗室束流孔洞周围的测量控制场，能够在束线终端旋转切换至工作治疗室后快速利用双相机摄影测量系统进行定向、无接触地快速精确测量出束线终端和工作治疗室等中心点之间的关键几何元素，并自动解算出束线终端和工作治疗室等中心点之间的6自由度偏差，同步将6自由度偏差调节指令反馈于转动控制系统，由转动控制系统将束线终端和工作治疗室等中心点之间的6自由度偏差调节至所能容许的范围内，从而实现束线终端和工作治疗室等中心点之间的快速测量定位。在患者放疗过程中，设置于束线终端端部的双相机摄影测量系统将通过实时测量工作治疗室束流孔洞周围的测量控制场，实时动态监测束线终端和工作治疗室等中心点之间的实时位置变化，进一步提升患者治疗的可靠性和精度。In some embodiments of the present invention, a positioning and real-time monitoring system for a rotating beam terminal of a radiotherapy device is provided. Through a group of dual-camera photogrammetry systems that have been specially treated with radiation protection and are arranged at a 360-degree horizontal rotating beam terminal (hereinafter referred to as the beam terminal), in conjunction with a measurement control field arranged around the beam holes in each treatment room around the beam terminal, the dual-camera photogrammetry system can be used to quickly and accurately measure the key geometric elements between the center points of the beam terminal and the working treatment room in a directional and non-contact manner after the beam terminal is rotated and switched to the working treatment room, and the 6-degree-of-freedom deviation between the center points of the beam terminal and the working treatment room can be automatically calculated, and the 6-degree-of-freedom deviation adjustment command can be synchronously fed back to the rotation control system, and the rotation control system can adjust the 6-degree-of-freedom deviation between the center points of the beam terminal and the working treatment room to an allowable range, thereby realizing rapid measurement and positioning between the center points of the beam terminal and the working treatment room. During the patient's radiotherapy, the dual-camera photogrammetry system installed at the end of the beamline terminal will measure the measurement control field around the beam hole in the working treatment room in real time, and dynamically monitor the real-time position changes between the beamline terminal and the working treatment room and other center points in real time, further improving the reliability and accuracy of patient treatment.
与之相对应地，本发明的另一些实施例中，提供一种放疗装置旋转束线终端的定位及实时监测方法。Correspondingly, in some other embodiments of the present invention, a method for positioning and real-time monitoring of a rotating beam terminal of a radiotherapy device is provided.
实施例1Example 1
本实施例以图1所示的放疗装置旋转束线终端为例进行介绍，该放疗装置包括束线终端和用于对束线终端进行控制的转动控制系统。其中，束线终端包括底座、设置于底座上的360度水平旋转束线机架2、围设于360度水平旋转束线机架2外部的各相互连接的治疗室以及设置于各工作治疗室的治疗室束流孔洞1。This embodiment is described by taking the rotating beam terminal of the radiotherapy device shown in FIG1 as an example, and the radiotherapy device includes a beam terminal and a rotation control system for controlling the beam terminal. The beam terminal includes a base, a 360-degree horizontal rotating beam rack 2 arranged on the base, treatment rooms connected to each other and arranged outside the 360-degree horizontal rotating beam rack 2, and a treatment room beam hole 1 arranged in each working treatment room.
如图2～图6所示，本实施例提供的一种放疗装置旋转束线终端的定位及实时监测系统，其包括：As shown in FIGS. 2 to 6 , this embodiment provides a positioning and real-time monitoring system for a rotating beam terminal of a radiotherapy device, which includes:
测量控制场，包括设置于各治疗室束流孔洞1周围的束流孔洞测量控制场3以及设置于360度水平旋转束线机架2上的束线终端测量控制场，用于对各治疗室束流孔洞及束线终端进行辅助定位；The measurement control field includes a beam hole measurement control field 3 arranged around the beam hole 1 of each treatment room and a beam terminal measurement control field arranged on a 360-degree horizontal rotating beam rack 2, which is used to assist in positioning the beam hole and beam terminal of each treatment room;
双相机摄影测量系统，用于对测量控制场进行实时动态监测；Dual-camera photogrammetry system for real-time dynamic monitoring of the measurement control field;
数据处理系统，用于根据双相机摄影测量系统的监测数据，自动解算出束线终端和工作治疗室等中心点之间的6自由度偏差，同步将6自由度偏差调节指令反馈于转动控制系统，由转动控制系统将束线终端和工作治疗室等中心点之间的6自由度偏差调节至所能容许的范围内，从而实现束线终端和工作治疗室等中心点之间的快速测量定位。The data processing system is used to automatically calculate the 6-DOF deviation between the beamline terminal and the center point of the working treatment room based on the monitoring data of the dual-camera photogrammetry system, and simultaneously feed back the 6-DOF deviation adjustment instruction to the rotation control system. The rotation control system adjusts the 6-DOF deviation between the beamline terminal and the center point of the working treatment room to within an allowable range, thereby realizing rapid measurement and positioning between the beamline terminal and the center point of the working treatment room.
优选地，如图2、图6所示，束流孔洞测量控制场3设置在各工作治疗室束流孔洞四周相对于工作治疗室等中心点稳定不变的墙面上，包括阵列设置的若干摄影测量荧光反射编码点71和设置在两两摄影测量荧光反射编码点71之间的若干摄影测量球形标志点靶标座61。Preferably, as shown in Figures 2 and 6, the beam hole measurement control field 3 is arranged on a wall surface around the beam hole of each working treatment room that is stable and unchanged relative to the center point of the working treatment room, including a plurality of photogrammetric fluorescence reflection coding points 71 arranged in an array and a plurality of photogrammetric spherical marker point target seats 61 arranged between each pair of photogrammetric fluorescence reflection coding points 71.
如图4所示，束线终端测量控制场包括摄影测量自标定测量工装4、多个摄影测量球形标志点靶标座62、多个摄影测量荧光反射编码点72。其中，摄影测量自标定测量工装4设置于360度水平旋转束线机架2上，摄影测量自标定测量工装4上设置有多个摄影测量球形标志点靶标座62和多个摄影测量荧光反射编码点72，用于确保束线终端与摄影测量自标定测量工装4之间的相对关系稳固不变。As shown in Fig. 4, the beamline terminal measurement control field includes a photogrammetric self-calibration measuring fixture 4, a plurality of photogrammetric spherical marker target seats 62, and a plurality of photogrammetric fluorescent reflection coding points 72. The photogrammetric self-calibration measuring fixture 4 is arranged on the 360-degree horizontal rotating beamline rack 2, and a plurality of photogrammetric spherical marker target seats 62 and a plurality of photogrammetric fluorescent reflection coding points 72 are arranged on the photogrammetric self-calibration measuring fixture 4 to ensure that the relative relationship between the beamline terminal and the photogrammetric self-calibration measuring fixture 4 is stable and unchanged.
更为优选地，本实施例中，束流孔洞测量控制场包括四组摄影测量荧光反射编码点71和四个摄影测量球形标志点靶标座61，且四组摄影测量荧光反射编码点71围绕孔洞1构成矩形阵列，四个摄影测量球形标志点靶标座61构成“十”字阵列。More preferably, in this embodiment, the beam hole measurement control field includes four groups of photogrammetric fluorescence reflection coding points 71 and four photogrammetric spherical marker point target seats 61, and the four groups of photogrammetric fluorescence reflection coding points 71 form a rectangular array around the hole 1, and the four photogrammetric spherical marker point target seats 61 form a "cross" array.
束线终端测量控制场包括6组摄影测量荧光反射编码点72和5个摄影测量球形标志点靶标座62，且6组摄影测量荧光反射编码点72构成矩形阵列，5个摄影测量球形标志点靶标座62构成“十”字型结构。The beamline terminal measurement control field includes 6 groups of photogrammetric fluorescence reflection coding points 72 and 5 photogrammetric spherical marker target seats 62, and the 6 groups of photogrammetric fluorescence reflection coding points 72 form a rectangular array, and the 5 photogrammetric spherical marker target seats 62 form a "cross" structure.
优选地，如图5所示，双相机摄影测量系统包括双相机摄影测量架设工装5和两个摄影测量相机8。其中，双相机摄影测量架设工装5固定设置在360度水平旋转束线机架2上，两摄影测量相机8固定安装在双相机摄影测量架设工装5两端，且两摄影测量相机8的镜头朝向交会于束线终端和治疗室束流孔洞，保证相机镜头视野能够覆盖束线终端和单个治疗室束流孔洞测量控制场。摄影测量相机8通过对束线终端测量控制场和单个治疗室束流孔洞测量控制场内各摄影测量球形标志点靶标座和摄影测量荧光反射编码点进行图像采集，能够定向、无接触地快速精确测量出旋转束线终端和工作治疗室等中心点之间的关键几何元素。Preferably, as shown in FIG5 , the dual-camera photogrammetry system includes a dual-camera photogrammetry installation fixture 5 and two photogrammetry cameras 8. The dual-camera photogrammetry installation fixture 5 is fixedly mounted on the 360-degree horizontal rotating beamline frame 2, and the two photogrammetry cameras 8 are fixedly mounted at both ends of the dual-camera photogrammetry installation fixture 5, and the lens orientations of the two photogrammetry cameras 8 intersect at the beamline terminal and the beam hole of the treatment room, ensuring that the camera lens field of view can cover the beamline terminal and the beam hole measurement control field of a single treatment room. The photogrammetry camera 8 can quickly and accurately measure the key geometric elements between the rotating beamline terminal and the center point of the working treatment room in a directional and non-contact manner by capturing images of the target seats of the photogrammetry spherical marker points and the photogrammetry fluorescent reflection coding points in the beamline terminal measurement control field and the beam hole measurement control field of a single treatment room.
优选地，摄影测量相机8经过特殊辐射防护处理，具体地，除镜头部分外漏，其他部分均使用铅板和含硼聚乙烯板内外两层进行电离辐射防护。更为优选地，本实施例中，选用厚度为5mm的铅板安装于里层，厚度为5mm的含硼聚乙烯板安装于外层，对摄影测量相机8进行电离辐射防护。Preferably, the photogrammetric camera 8 is subjected to special radiation protection treatment. Specifically, except for the lens part, the other parts are protected from ionizing radiation by using lead plates and boron-containing polyethylene plates in two layers. More preferably, in this embodiment, a lead plate with a thickness of 5 mm is installed in the inner layer, and a boron-containing polyethylene plate with a thickness of 5 mm is installed in the outer layer to protect the photogrammetric camera 8 from ionizing radiation.
实施例2Example 2
基于实施例1提供的一种放疗装置旋转束线终端的定位及实时监测系统，本实施例提供一种放疗装置旋转束线终端的定位及实时监测方法，整体可以分为设备安装阶段、前期标定阶段、数据采集阶段、数据反馈及调节阶段。其中，设备安装阶段和前期标定阶段可在系统调试时完成，后续使用时，将通过数据采集阶段和数据反馈及调节阶段即可实现旋转束线终端和工作治疗室等中心点之间的匹配定位和准直。具体地，包括以下步骤：Based on the positioning and real-time monitoring system of a rotating beam terminal of a radiotherapy device provided in Example 1, this embodiment provides a positioning and real-time monitoring method of a rotating beam terminal of a radiotherapy device, which can be divided into an equipment installation stage, a preliminary calibration stage, a data collection stage, and a data feedback and adjustment stage. Among them, the equipment installation stage and the preliminary calibration stage can be completed during system debugging. During subsequent use, the matching positioning and alignment between the rotating beam terminal and the center point such as the working treatment room can be achieved through the data collection stage and the data feedback and adjustment stage. Specifically, the following steps are included:
S1、设备安装阶段：在放疗装置上布置双相机摄影测量系统以及测量控制场。S1. Equipment installation phase: Arrange a dual-camera photogrammetry system and a measurement control field on the radiotherapy device.
具体地，包括以下步骤：Specifically, the steps include:
S11、在对两摄影测量相机8进行电离辐射防护后，安装于双相机摄影测量架设工装5两端(如图5所示)。S11, after protecting the two photogrammetric cameras 8 from ionizing radiation, they are installed at both ends of the dual-camera photogrammetric mounting tool 5 (as shown in FIG. 5 ).
S12、在每个治疗室束流孔洞1周围的预设位置处布置束流孔洞测量控制场。S12, arranging a beam hole measurement control field at a preset position around the beam hole 1 in each treatment room.
本实施例中，在布置束流孔洞测量控制场时，为了提高定位精度，在每个治疗室束流孔洞1四周相对于工作治疗室等中心点稳定不变的墙面上，安装四组摄影测量荧光反射编码点71和四个摄影测量球形标志点靶标座61，用于保证每个工作治疗室束流孔洞1四周的摄影测量荧光反射编码点71和摄影测量球形标志点靶标座61与对应工作治疗室等中心点之间的相对位置关系稳固不变。In this embodiment, when arranging the beam hole measurement control field, in order to improve the positioning accuracy, four groups of photogrammetric fluorescence reflection coding points 71 and four photogrammetric spherical marking point target seats 61 are installed on the wall around the beam hole 1 of each treatment room, which is stable and unchanged relative to the center point of the working treatment room, so as to ensure that the relative position relationship between the photogrammetric fluorescence reflection coding points 71 and the photogrammetric spherical marking point target seat 61 around the beam hole 1 of each working treatment room and the center point of the corresponding working treatment room is stable and unchanged.
S13、在摄影测量自标定测量工装4的预设位置处布置束线终端测量控制场。S13, arranging a beam line terminal measurement control field at a preset position of the photogrammetry self-calibration measurement tooling 4.
本实施例中，布置束线终端测量控制场时，在采用高强度金属板形成的摄影测量自标定测量工装4表面布置六组摄影测量荧光反射编码点72和五个摄影测量球形标志点靶标座62，用于确保束线终端与摄影测量自标定测量工装4之间的相对关系稳固不变。其中，摄影测量球形标志点靶标座62需要能适配1.5英寸激光跟踪仪靶球和1.5英寸摄影测量球形标志点。In this embodiment, when arranging the beamline terminal measurement control field, six groups of photogrammetric fluorescent reflection coding points 72 and five photogrammetric spherical marker target seats 62 are arranged on the surface of the photogrammetric self-calibration measuring tool 4 formed of a high-strength metal plate to ensure that the relative relationship between the beamline terminal and the photogrammetric self-calibration measuring tool 4 is stable and unchanged. Among them, the photogrammetric spherical marker target seat 62 needs to be able to adapt to the 1.5-inch laser tracker target ball and the 1.5-inch photogrammetric spherical marker point.
S14、将双相机摄影测量架设工装5和摄影测量自标定工装4安装于360度水平旋转束线机架2的预设位置(如图2所示)，使得两摄影测量相机8的镜头朝向交会于束线终端和单个治疗室束流孔洞1，保证相机镜头视野能够覆盖束线终端测量控制场和单个工作治疗室的束流孔洞测量控制场。S14. Install the dual-camera photogrammetry setup fixture 5 and the photogrammetry self-calibration fixture 4 at the preset position of the 360-degree horizontal rotating beam rack 2 (as shown in FIG2 ), so that the lens directions of the two photogrammetry cameras 8 intersect at the beam terminal and the beam hole 1 of a single treatment room, ensuring that the camera lens field of view can cover the measurement control field of the beam terminal and the beam hole measurement control field of a single working treatment room.
S2、前期标定阶段：基于测量控制场进行相对位姿关系标定。S2, preliminary calibration stage: relative posture relationship calibration based on the measurement control field.
具体地，包括以下步骤：Specifically, the steps include:
S21、基于束流终端测量控制场，对束线终端与摄影测量自标定测量工装4上各摄影测量荧光反射编码点7之间的相对位姿关系进行标定。S21. Calibrate the relative position relationship between the beamline terminal and each photogrammetry fluorescence reflection coding point 7 on the photogrammetry self-calibration measurement tooling 4 based on the beam terminal measurement control field.
本实施例中，束线终端与摄影测量自标定测量工装4之间的相对位姿关系标定的目的是为了通过摄影测量相机8测量束线终端上的摄影测量自标定测量工装4来获得束线终端旋转切换后的位置和姿态。In this embodiment, the purpose of calibrating the relative posture relationship between the beam terminal and the photogrammetric self-calibration measuring fixture 4 is to obtain the position and posture of the beam terminal after rotation switching by measuring the photogrammetric self-calibration measuring fixture 4 on the beam terminal through the photogrammetric camera 8.
具体地，标定方法为：首先，使用激光跟踪仪在束线终端坐标系下标定获得束线终端与束线终端附近的摄影测量球形标志点靶标座62之间的相对位姿关系；其次，标定摄影测量球形标志点靶标座62与摄影测量自标定测量工装4之间的相对位姿关系。Specifically, the calibration method is: first, use a laser tracker to calibrate in the beam terminal coordinate system to obtain the relative posture relationship between the beam terminal and the photogrammetric spherical marker point target seat 62 near the beam terminal; secondly, calibrate the relative posture relationship between the photogrammetric spherical marker point target seat 62 and the photogrammetric self-calibration measurement tooling 4.
其中，标定摄影测量球形标志点靶标座62与摄影测量自标定测量工装4之间的相对位姿关系时，包括：首先，将摄影测量1.5英寸球形标志放置在布设于束线终端的摄影测量球形标志点靶标座62上，利用摄影测量相机8对摄影测量自标定测量工装4上的摄影测量1.5英寸球形标志点和摄影测量荧光反射编码点72同时进行测量，获得摄影测量1.5英寸球形标志点坐标和摄影测量荧光反射编码点坐标；然后，根据激光跟踪仪布设的控制场数据，进行公共点转换，获得束线终端与摄影测量自标定测量工装4上摄影测量荧光反射编码点72之间的相对关系，同时获得束线终端坐标系下摄影测量自标定测量工装4上摄影测量荧光反射编码点72的坐标。Among them, when calibrating the relative position relationship between the photogrammetric spherical marker point target seat 62 and the photogrammetric self-calibration measuring tool 4, it includes: first, placing the photogrammetric 1.5-inch spherical marker on the photogrammetric spherical marker point target seat 62 arranged at the beam line terminal, and using the photogrammetric camera 8 to simultaneously measure the photogrammetric 1.5-inch spherical marker point and the photogrammetric fluorescent reflection coding point 72 on the photogrammetric self-calibration measuring tool 4 to obtain the photogrammetric 1.5-inch spherical marker point coordinates and the photogrammetric fluorescent reflection coding point coordinates; then, according to the control field data arranged by the laser tracker, common point conversion is performed to obtain the relative relationship between the beam line terminal and the photogrammetric fluorescent reflection coding point 72 on the photogrammetric self-calibration measuring tool 4, and at the same time, the coordinates of the photogrammetric fluorescent reflection coding point 72 on the photogrammetric self-calibration measuring tool 4 in the beam line terminal coordinate system are obtained.
S22、基于束流孔洞测量控制场，对治疗室等中心点与治疗室束流孔洞1四周的摄影测量荧光反射编码点71之间的相对位姿关系进行标定。S22. Based on the beam hole measurement control field, the relative position relationship between the center point of the treatment room and the photogrammetric fluorescence reflection coding points 71 around the beam hole 1 of the treatment room is calibrated.
本实施例中，标定各治疗室等中心点与治疗室束流孔洞的摄影测量荧光反射编码点71之间的相对位姿关系，目的是为了通过摄影测量相机8测量治疗室束流孔洞的摄影测量荧光反射编码点71来获得治疗室等中心点的位置和姿态。In this embodiment, the relative position and posture relationship between the isocenter of each treatment room and the photogrammetric fluorescence reflection coding point 71 of the beam hole of the treatment room is calibrated, with the purpose of obtaining the position and posture of the isocenter of the treatment room by measuring the photogrammetric fluorescence reflection coding point 71 of the beam hole of the treatment room by the photogrammetric camera 8.
由于提前已使用激光跟踪仪在各治疗室的等中心点坐标系下标定获得等中心点与等中心点附近的激光跟踪仪靶球基座之间的相对位姿关系，因此，本系统只需标定激光跟踪仪靶球基座与治疗室束流孔洞的摄影测量荧光反射编码点之间的相对位姿关系即可。Since the laser tracker has been used to calibrate the relative position relationship between the isocenter and the laser tracker target sphere base near the isocenter in advance in the isocenter coordinate system of each treatment room, this system only needs to calibrate the relative position relationship between the laser tracker target sphere base and the photogrammetry fluorescence reflection coding point of the beam hole in the treatment room.
具体地，标定方法为：首先，将摄影测量1.5英寸球形标志放置在治疗室束流孔洞四周的摄影测量球形标志点靶标座61上，使用摄影测量相机8对摄影测量1.5英寸球形标志和治疗室束流孔洞的摄影测量荧光反射编码点71同时进行测量，获得摄影测量1.5英寸球形标志坐标和治疗室束流孔洞的摄影测量荧光反射编码点71的坐标；然后，根据激光跟踪仪布设的控制场数据，进行公共点转换，即可获得各治疗室等中心点与治疗室束流孔洞的摄影测量荧光反射编码点71之间的相对关系。Specifically, the calibration method is as follows: first, a photogrammetric 1.5-inch spherical marker is placed on the photogrammetric spherical marker point target seat 61 around the beam hole of the treatment room, and the photogrammetric 1.5-inch spherical marker and the photogrammetric fluorescence reflection coding point 71 of the beam hole of the treatment room are measured simultaneously using the photogrammetric camera 8 to obtain the coordinates of the photogrammetric 1.5-inch spherical marker and the coordinates of the photogrammetric fluorescence reflection coding point 71 of the beam hole of the treatment room; then, according to the control field data arranged by the laser tracker, a common point conversion is performed to obtain the relative relationship between the isocenter point of each treatment room and the photogrammetric fluorescence reflection coding point 71 of the beam hole of the treatment room.
S3、数据采集阶段：基于双相机摄影测量系统采集的图像数据，进行系统定向和编码点坐标解算。S3, data acquisition stage: based on the image data collected by the dual-camera photogrammetry system, the system orientation and coding point coordinates are solved.
具体地，包括以下步骤：Specifically, the steps include:
S31、基于两台摄影测量相机8采集的图像数据，对双相机摄影测量系统进行定向。S31 . Orienting the dual-camera photogrammetry system based on the image data collected by the two photogrammetry cameras 8 .
双相机摄影测量系统定向即为标定两台摄影测量相机8相互之间的位姿关系。由于两台摄影测量相机8均安装在360度水平旋转束线机架的转动机构上，在转动过程中摄影测量相机8可能有振动，为保证每次数据采集时双相机摄影测量系统的测量精度，现采用控制场实时定向的方式进行定向。The orientation of the dual-camera photogrammetry system is to calibrate the positional relationship between the two photogrammetry cameras 8. Since the two photogrammetry cameras 8 are installed on the rotating mechanism of the 360-degree horizontal rotating beam rack, the photogrammetry cameras 8 may vibrate during the rotation process. In order to ensure the measurement accuracy of the dual-camera photogrammetry system during each data collection, the control field real-time orientation method is now used for orientation.
每次测量时，两台摄影测量相机8同时测量摄影测量自标定测量工装4上的摄影测量荧光反射编码点72，并以提前标定获得的摄影测量自标定测量工装4上摄影测量荧光反射编码点72的坐标数据作为控制场，进行摄影测量系统定向。由于之前摄影测量自标定测量工装4上的摄影测量荧光反射编码点72已标定至束线终端坐标系下，因此定向后的测量坐标系即为在激光跟踪仪建立的束线终端坐标系。During each measurement, the two photogrammetric cameras 8 simultaneously measure the photogrammetric fluorescent reflection coding points 72 on the photogrammetric self-calibration measuring fixture 4, and use the coordinate data of the photogrammetric fluorescent reflection coding points 72 on the photogrammetric self-calibration measuring fixture 4 obtained in advance as the control field to orient the photogrammetric system. Since the photogrammetric fluorescent reflection coding points 72 on the photogrammetric self-calibration measuring fixture 4 have been calibrated to the beamline terminal coordinate system before, the measurement coordinate system after orientation is the beamline terminal coordinate system established in the laser tracker.
S32、根据定向结果以及测量图像对测量点坐标进行解算，得到束线终端坐标系下当前状态摄影测量自标定测量工装4和治疗室束流孔洞的摄影测量荧光反射编码点71坐标。S32, calculating the coordinates of the measuring points according to the orientation result and the measuring image, and obtaining the coordinates of the photogrammetric fluorescence reflection coding points 71 of the current state photogrammetric self-calibration measuring tool 4 and the beam hole in the treatment room in the beamline terminal coordinate system.
摄影测量系统在获得定向结果后，根据定向结果以及本次测量时采集的两张图像，即可进行解算，获得摄影测量自标定测量工装4和治疗室束流孔洞的摄影测量荧光反射编码点71的坐标，由于此时测量坐标系为激光跟踪仪建立的旋转束线终端坐标系，因此，即可获得旋转束线终端坐标系下当前状态旋转束线终端摄影测量自标定测量工装4上的摄影测量荧光反射编码点72坐标。After obtaining the orientation result, the photogrammetry system can perform a solution based on the orientation result and the two images collected during this measurement to obtain the coordinates of the photogrammetry fluorescence reflection coding point 71 of the photogrammetry self-calibration measuring tool 4 and the beam hole in the treatment room. Since the measurement coordinate system at this time is the rotating beam line terminal coordinate system established by the laser tracker, the coordinates of the photogrammetry fluorescence reflection coding point 72 on the rotating beam line terminal photogrammetry self-calibration measuring tool 4 in the current state under the rotating beam line terminal coordinate system can be obtained.
S4、数据反馈及调节阶段：基于编码点坐标解算结果，利用转动控制系统将束线终端和工作治疗室等中心点之间的6自由度偏差调节至所能容许的范围内。S4, data feedback and adjustment stage: Based on the results of the encoding point coordinate solution, the rotation control system is used to adjust the 6-DOF deviation between the beamline terminal and the center point of the working treatment room to within the allowable range.
具体地，包括以下步骤：Specifically, the steps include:
S41、基于编码点坐标结算结果以及标定数据，得到束线终端的6自由度调节量。S41. Based on the encoding point coordinate settlement result and calibration data, the 6-DOF adjustment amount of the beam terminal is obtained.
获得旋转束线终端摄影测量自标定测量工装4和治疗室束流孔洞的摄影测量荧光反射编码点的坐标后，根据摄影测量自标定测量工装4与束线终端之间的相对位姿关系、各治疗室等中心点与治疗室束流孔洞的摄影测量荧光反射编码点之间的相对位姿关系，通过公共点转换，即可得到束线终端坐标系下，束线终端与工作治疗室等中心点之间的相对位姿关系，即束线终端的6自由度调节量。After obtaining the coordinates of the photogrammetric self-calibration measuring fixture 4 of the rotating beamline terminal and the photogrammetric fluorescence reflection coding points of the beam hole in the treatment room, the relative posture relationship between the photogrammetric self-calibration measuring fixture 4 and the beamline terminal, and the relative posture relationship between the center points of each treatment room and the photogrammetric fluorescence reflection coding points of the beam hole in the treatment room can be obtained through common point conversion in the beamline terminal coordinate system. The relative posture relationship between the beamline terminal and the center points of the working treatment room, that is, the 6-degree-of-freedom adjustment amount of the beamline terminal, can be obtained.
S42、将束线终端的6自由度偏差量反馈给转动控制系统，由转动控制系统将束线终端和工作治疗室等中心点之间的6自由度偏差调节至所能容许的范围内。S42, feeding back the 6-DOF deviation of the beam line terminal to the rotation control system, and the rotation control system adjusts the 6-DOF deviation between the beam line terminal and the center point of the working treatment room to within an allowable range.
具体地，转动控制系统根据束线终端的6自由度偏差量，生成调节指令对360度旋转束线机架调节机构进行调节。调节后，双相机摄影测量系统将重新进行测量，反馈测量结果，直至旋转束线终端与工作治疗室等中心点对准精度达到允许的误差范围内。Specifically, the rotation control system generates adjustment instructions to adjust the 360-degree rotating beam rack adjustment mechanism according to the 6-DOF deviation of the beam terminal. After adjustment, the dual-camera photogrammetry system will re-measure and feedback the measurement results until the alignment accuracy of the rotating beam terminal and the center point of the working treatment room is within the allowable error range.
本实施例中，定位精度主要由摄影测量自标定测量工装标定精度、双相机摄影测量系统测量精度、激光跟踪仪布设控制场精度、跟踪仪靶球与摄影测量1.5英寸球形标志两者符合性精度构成。In this embodiment, the positioning accuracy is mainly composed of the calibration accuracy of the photogrammetry self-calibration measurement tooling, the measurement accuracy of the dual-camera photogrammetry system, the accuracy of the laser tracker deployment control field, and the consistency accuracy between the tracker target ball and the photogrammetry 1.5-inch spherical marker.
其中，旋转束线终端摄影测量自标定测量工装采用高精度的MPS/S工业摄影测量系统进行标定，该系统标定旋转束线终端测量工装的精度约为0.030mm。摄影测量系统测量精度为≤4m时，测量精度0.04mm，而本实施例中，相机距离测量点均小于3m，因此实施例测量中，摄影测量的测量精度约为0.04mm。激光跟踪仪布设控制场精度目前按照0.050mm预估。激光跟踪仪靶球和摄影测量1.5英寸球形标志两者分别使用时的精度按照0.03mm预估。Among them, the rotating beam terminal photogrammetry self-calibration measuring tool is calibrated by a high-precision MPS/S industrial photogrammetry system, and the accuracy of the system in calibrating the rotating beam terminal measuring tool is about 0.030mm. When the measurement accuracy of the photogrammetry system is ≤4m, the measurement accuracy is 0.04mm. In this embodiment, the camera distance to the measurement point is less than 3m. Therefore, in the measurement of the embodiment, the measurement accuracy of the photogrammetry is about 0.04mm. The accuracy of the control field of the laser tracker is currently estimated at 0.050mm. The accuracy of the laser tracker target ball and the photogrammetry 1.5-inch spherical marker when used separately is estimated to be 0.03mm.
因此，测量系统整体定位精度预估为：满足治疗装置的定位精度(0.10mm)要求。Therefore, the overall positioning accuracy of the measurement system is estimated to be: Meet the positioning accuracy (0.10mm) requirements of the treatment device.
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求保护范围之内。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.
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