本发明涉及医疗设备领域，更具体地涉及一种用于放射治疗的患者位置调整系统。The present invention relates to the field of medical equipment, and more particularly to a patient position adjustment system for radiotherapy.
放射治疗(RT，以下简称放疗)是癌症治疗的主要手段，70％以上的癌症患者需要放射治疗，对癌症治愈的总体贡献高达30％。放疗过程的准确性和精准性对肿瘤局部控制和治疗相关副作用有着不可忽视的影响。与精确计划优化等方面(如强度调制、图像引导和弧形调强技术)的巨大进步相比，患者定位和复位技术的发展有限，与临床需求相悖。Radiotherapy (RT) is the main method of cancer treatment. More than 70% of cancer patients need radiotherapy, and the overall contribution to cancer cure is as high as 30%. The accuracy and precision of the radiotherapy process have a significant impact on local tumor control and treatment-related side effects. Compared with the great progress in precise planning optimization (such as intensity modulation, image guidance and arc intensity modulation technology), the development of patient positioning and repositioning technology is limited, which is contrary to clinical needs.
目前，皮肤标记结合三维激光系统和机载成像系统(例如，电子门脉成像设备、EPID(电子射野影像装置)和CBCT(锥形束电子计算机断层扫描)等)是最常用的位置校准流程。前者已经使用了几十年，其需要在患者体表做多个皮肤标记线或纹身来将患者体位与投影的等中心3D激光线对齐。后者提供了高度精确的透视影像和可观察到人体内部解剖位置，这被视为放疗中患者位置配准以及监控的黄金标准。Currently, skin marking combined with 3D laser systems and onboard imaging systems (e.g., electronic portal imaging devices, EPID (electronic portal imaging device) and CBCT (cone beam computed tomography)) is the most commonly used position calibration process. The former has been used for decades and requires multiple skin marking lines or tattoos on the patient's body surface to align the patient's position with the projected isocentric 3D laser line. The latter provides highly accurate perspective images and observable internal anatomical positions of the human body, which is regarded as the gold standard for patient position registration and monitoring in radiotherapy.
但是，在皮肤标记结合三维激光系统中，皮肤标记或纹身存在潜在的美容问题，且其准确性和可靠性取决于治疗师的主观判断和患者的依从性及皮肤表面条件；机载成像系统通过射线进行成像，使用过多会增加额外的辐射量，影响患者的健康。However, in skin marking combined with three-dimensional laser systems, skin marking or tattooing has potential cosmetic problems, and its accuracy and reliability depend on the therapist's subjective judgment and the patient's compliance and skin surface conditions; the onboard imaging system uses rays for imaging, and excessive use will increase the amount of additional radiation and affect the patient's health.
发明内容Summary of the invention
本发明的目的在于提供一种用于放射治疗的患者位置调整系统，既可以提高患者在放疗前的位置精度，又不会增加额外的辐射量。The object of the present invention is to provide a patient position adjustment system for radiotherapy, which can improve the position accuracy of the patient before radiotherapy without increasing the additional radiation dose.
基于上述目的，本发明提供一种用于放射治疗的患者位置调整系统，包括：Based on the above objectives, the present invention provides a patient position adjustment system for radiotherapy, comprising:
近红外光源，设置为向患者的体表的预设区域投照近红外光；a near-infrared light source configured to project near-infrared light onto a preset area of a patient's body surface;
近红外热成像传感器，设置为接收反射的近红外光并根据反射的近红外光获得患者预设区域的血管纹理图；a near-infrared thermal imaging sensor configured to receive the reflected near-infrared light and obtain a vascular texture map of a preset area of the patient based on the reflected near-infrared light;
至少一个激光测距仪，设置为测量患者的体表与所述激光测距仪之间的垂直距离；和at least one laser rangefinder configured to measure a vertical distance between a body surface of a patient and the laser rangefinder; and
分析处理装置，分别与所述近红外热成像传感器和激光测距仪相连，所述分析处理装置设置为接收所述近红外热成像传感器发送的血管纹理图和所述激测距仪发送的垂直距离并根据所述血管纹理图和所述垂直距离获取当前位置与理想位置之间的位置调整量。The analysis and processing device is connected to the near-infrared thermal imaging sensor and the laser rangefinder respectively, and is configured to receive the blood vessel texture map sent by the near-infrared thermal imaging sensor and the vertical distance sent by the laser rangefinder and obtain the position adjustment amount between the current position and the ideal position according to the blood vessel texture map and the vertical distance.
进一步地，患者位于治疗床上，所述位置调整量包括垂直方向调整量、水平纵向调整量、水平横向调整量和沿预设方向的角度调整量；所述分析处理装置包括：Furthermore, the patient is located on the treatment bed, and the position adjustment amount includes a vertical adjustment amount, a horizontal longitudinal adjustment amount, a horizontal lateral adjustment amount, and an angle adjustment amount along a preset direction; the analysis and processing device includes:
接收模块，设置为接收所述近红外成像传感器发送的血管纹理图和所述激光测距仪发送的垂直距离；A receiving module, configured to receive the blood vessel texture map sent by the near-infrared imaging sensor and the vertical distance sent by the laser rangefinder;
配准模块，设置为将所述垂直距离与标准垂直距离相比，得到垂直方向调整量；并将所述血管纹理图与所述标准血管纹理图相比，得到水平纵向调整量、水平横向调整量和沿预设方向的角度调整量。The registration module is configured to compare the vertical distance with the standard vertical distance to obtain a vertical adjustment amount; and compare the vascular texture map with the standard vascular texture map to obtain a horizontal longitudinal adjustment amount, a horizontal lateral adjustment amount and an angle adjustment amount along a preset direction.
进一步地，所述分析处理装置还包括：Furthermore, the analysis and processing device also includes:
发送模块，设置为将所述垂直方向调整量、所述水平纵向调整量、所述水平横向调整量和所述沿预设方向的角度调整量发送至所述治疗床，以使所述治疗床按照所述垂直方向调整量、所述水平纵向调整量、所述水平横向调整量和所述沿预设方向的角度调整量移动，以使患者回到理想位置。and a sending module, configured to send the vertical direction adjustment amount, the horizontal longitudinal adjustment amount, the horizontal lateral adjustment amount, and the angle adjustment amount along the preset direction to the treatment bed, so that the treatment bed moves according to the vertical direction adjustment amount, the horizontal longitudinal adjustment amount, the horizontal lateral adjustment amount, and the angle adjustment amount along the preset direction, so that the patient returns to an ideal position.
进一步地，所述配准模块包括：Furthermore, the registration module comprises:
第一获取单元，设置为获取患者位于理想位置时的血管纹理图作为标准血管纹理图，并获取患者位于理想位置时的垂直距离作为标准垂直距离；A first acquisition unit is configured to acquire a blood vessel texture map when the patient is located in an ideal position as a standard blood vessel texture map, and acquire a vertical distance when the patient is located in an ideal position as a standard vertical distance;
第二获取单元，设置为获取血管纹理图的像素与绝对距离之间的映射关系；A second acquisition unit is configured to acquire a mapping relationship between pixels of the blood vessel texture map and absolute distances;
比较单元，设置为将接收的垂直距离与所述标准垂直距离相比，得到垂直方向调整量；并将接收的血管纹理图与所述标准血管纹理图相比，得到图像的水平纵向平移误差、水平横向平移误差和旋转角度误差；和a comparison unit, configured to compare the received vertical distance with the standard vertical distance to obtain a vertical adjustment amount; and compare the received blood vessel texture map with the standard blood vessel texture map to obtain a horizontal longitudinal translation error, a horizontal lateral translation error and a rotation angle error of the image; and
转换单元，设置为根据所述血管纹理图的像素与绝对距离之间的映射关系将图像的水平纵向平移误差、水平横向平移误差和旋转角度误差分别转换为水平纵向调整量、水平横向调整量和角度调整量。The conversion unit is configured to convert the horizontal longitudinal translation error, horizontal lateral translation error and rotation angle error of the image into horizontal longitudinal adjustment amount, horizontal lateral adjustment amount and angle adjustment amount respectively according to the mapping relationship between the pixels of the blood vessel texture map and the absolute distance.
进一步地，将接收的血管纹理图与所述标准血管纹理图相比，得到图像的水平纵向平移误差、水平横向平移误差和旋转角度误差，具体包括：Furthermore, the received blood vessel texture map is compared with the standard blood vessel texture map to obtain the horizontal longitudinal translation error, horizontal lateral translation error and rotation angle error of the image, specifically including:
从接收的血管纹理图的中心区域提取出预设大小的图像，作为配准区域图像；Extracting an image of a preset size from the central area of the received blood vessel texture image as a registration area image;
将所述配准区域图像沿水平纵向平移m个像素，并沿水平横向平移n个像素，得到平移后的配准区域图像；The registration area image is translated by m pixels in the longitudinal direction and n pixels in the transverse direction to obtain a translated registration area image;
将所述平移后的配准区域图像顺时针旋转θ角度，得到平移旋转后的配准区域图像；Rotate the translated registration region image clockwise by an angle of θ to obtain a translated and rotated registration region image;
从标准血管纹理图的中心区域提取出预设大小的图像，作为配准区域标准图像，计算平移旋转后的配准区域图像和配准区域标准图像之间的相似度；Extract an image of a preset size from the central area of the standard blood vessel texture image as the standard image of the registration area, and calculate the similarity between the registration area image after translation and rotation and the standard image of the registration area;
以最大化相似度为目标，对m、n和θ进行优化，得到m的最优解、n的最优解和θ的最优解，将m的最优解作为图像的水平纵向平移误差、n的最优解作为图像的水平横向平移误差、θ的最优解作为图像的旋转角度误差。With the goal of maximizing the similarity, m, n and θ are optimized to obtain the optimal solution of m, the optimal solution of n and the optimal solution of θ. The optimal solution of m is used as the horizontal longitudinal translation error of the image, the optimal solution of n is used as the horizontal lateral translation error of the image, and the optimal solution of θ is used as the rotation angle error of the image.
进一步地，所述平移旋转后的配准区域图像和所述配准区域标准图像之间的相似度为皮尔逊乘积矩相关系数。Furthermore, the similarity between the registration area image after translation and rotation and the registration area standard image is a Pearson product moment correlation coefficient.
进一步地，所述分析处理装置还包括显示屏，设置为显示接收的血管纹理图和/或位置调整量。Furthermore, the analysis and processing device also includes a display screen configured to display the received blood vessel texture map and/or position adjustment amount.
进一步地，所述显示屏为触摸屏。Furthermore, the display screen is a touch screen.
进一步地，至少一个激光测距仪包括四个激光测距仪，且四个激光测距仪环绕所述近红外光源设置。Furthermore, the at least one laser rangefinder includes four laser rangefinders, and the four laser rangefinders are arranged around the near-infrared light source.
进一步地，所述近红外光源发射的近红外光的波长为760nm、800nm、850nm、940nm中的一个或多个的组合。Furthermore, the wavelength of the near-infrared light emitted by the near-infrared light source is a combination of one or more of 760nm, 800nm, 850nm, and 940nm.
进一步地，所述近红外光源和所述近红外成像传感器均固定在支架上，并位于与所述患者相对的一侧，所述支架设置为可活动，以调整所述近红外光源的角度，使所述近红外光源发射的近红外光照射在所述预设区域。Furthermore, the near-infrared light source and the near-infrared imaging sensor are both fixed on a bracket and located on a side opposite to the patient. The bracket is configured to be movable to adjust the angle of the near-infrared light source so that the near-infrared light emitted by the near-infrared light source irradiates the preset area.
本发明的用于放射治疗的患者位置调整系统，分析处理装置根据近红外热成像传感器探测到的血管纹理图和激光测距仪测量到的垂直距离，可以获取当前位置与理想位置之间的位置调整量，以便于治疗床根据位置调整量自动将患者从当前位置调整至理想位置，最大限度减少治疗师和患者之间的直接接触，排除了主观因素，精度高，且无需皮肤标记或纹身，对过敏患者更加友好和人性化；通过近红外成像技术来识别患者的位置，无需通过射线成像，不会增加额外的辐射量；在位置调整时，通过激光测距仪测得的垂直距离来控制患者的垂直方向高度，然后通过二维的血管纹理图控制水平面内的位置，从而实现患者的三维位置调整，精度更高，调整速度更快；通过显示屏，可以直观的观察到血管纹理图，十分方便。The patient position adjustment system for radiotherapy of the present invention comprises an analysis and processing device according to near infrared The vascular texture map detected by the thermal imaging sensor and the vertical distance measured by the laser rangefinder can obtain the position adjustment amount between the current position and the ideal position, so that the treatment bed can automatically adjust the patient from the current position to the ideal position according to the position adjustment amount, minimizing direct contact between the therapist and the patient, eliminating subjective factors, with high accuracy, and without the need for skin markings or tattoos, which is more friendly and humane to allergy patients; the patient's position is identified by near-infrared imaging technology, without the need for X-ray imaging, and no additional radiation is added; when adjusting the position, the vertical distance measured by the laser rangefinder is used to control the patient's vertical height, and then the position in the horizontal plane is controlled by the two-dimensional vascular texture map, thereby realizing the patient's three-dimensional position adjustment with higher accuracy and faster adjustment speed; the vascular texture map can be intuitively observed through the display screen, which is very convenient.
图1为根据本发明实施例的用于放射治疗的患者位置调整系统的结构示意图；FIG1 is a schematic structural diagram of a patient position adjustment system for radiotherapy according to an embodiment of the present invention;
图2为根据本发明实施例的放射源、患者和激光测距仪之间的位置关系示意图；2 is a schematic diagram of the positional relationship between a radiation source, a patient and a laser rangefinder according to an embodiment of the present invention;
图3为根据本发明实施例的分析处理装置的结构框图；FIG3 is a structural block diagram of an analysis and processing device according to an embodiment of the present invention;
图4为根据本发明实施例的分析处理装置的配准模块的结构框图。FIG. 4 is a structural block diagram of a registration module of an analysis and processing device according to an embodiment of the present invention.
下面结合附图，给出本发明的较佳实施例，并予以详细描述。The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings and described in detail.
如图1所示，本发明实施例提供一种用于放射治疗的患者位置调整系统，包括近红外光源100、近红外热成像传感器200、至少一个激光测距仪300和分析处理装置400，近红外光源100用于向患者500的体表的预设区域(即感兴趣区域)A发射近红外光，该近红外光被患者血液中的脱氧血红蛋白部分吸收后反射，近红外热成像传感器200用于接收反射的近红外光，并根据反射的近红外光获得患者感兴趣区域浅表血管的走形分布图(即血管纹理图)；激光测距仪300用于测量激光测距仪300与患者500的体表的垂直距离；分析处理装置400分别与近红外热成像传感器200和激光测距仪300相连(例如通信连接、电连接等)，以接收近红外热成像传感器200发送的血管纹理图和激光测距仪300发送的垂直距离，并根据血管纹理图和垂直距离获取当前位置与理想位置之间的位置调整量(即位置偏差量)。As shown in FIG1 , an embodiment of the present invention provides a patient position adjustment system for radiotherapy, comprising a near-infrared light source 100, a near-infrared thermal imaging sensor 200, at least one laser rangefinder 300 and an analysis and processing device 400. The near-infrared light source 100 is used to emit near-infrared light to a preset area (i.e., an area of interest) A on the body surface of a patient 500. The near-infrared light is partially absorbed by deoxyhemoglobin in the patient's blood and then reflected. The near-infrared thermal imaging sensor 200 is used to receive the reflected near-infrared light and obtain a shape distribution map of superficial blood vessels in the patient's area of interest (i.e., a blood vessel texture map) based on the reflected near-infrared light. The laser rangefinder 300 is used to measure the vertical distance between the laser rangefinder 300 and the body surface of the patient 500. The analysis and processing device 400 is respectively connected to the near-infrared thermal imaging sensor 200 and the laser rangefinder 300 (e.g., communication connection, electrical connection, etc.) to receive the blood vessel texture map and the laser rangefinder sent by the near-infrared thermal imaging sensor 200. 300, and obtain the position adjustment amount (ie, position deviation amount) between the current position and the ideal position according to the vascular texture map and the vertical distance.
在一些实施例中，感兴趣区域A是指患者肿瘤所在的区域，针对不同的肿瘤患者，感兴趣区域的范围也不同。在图1所示的患者500中，感兴趣区域A是患者500的腹部约40cm×40cm的区域。In some embodiments, the region of interest A refers to the region where the patient's tumor is located. For different tumor patients, the range of the region of interest is also different. In the patient 500 shown in FIG1 , the region of interest A is an area of about 40 cm×40 cm on the abdomen of the patient 500 .
近红外光源100可以是任何合适的用于发射近红外光的装置，近红外光源100发出的近红外光的波长范围可以在760nm-940nm之间。例如，近红外光的波长可以为760nm、800nm、850nm、940nm或者它们的组合。在一个较佳的实施例中，近红外光源100发射的近红外光为760nm和940nm的混合光。The near-infrared light source 100 may be any suitable device for emitting near-infrared light, and the wavelength of the near-infrared light emitted by the near-infrared light source 100 may be between 760nm and 940nm. For example, the wavelength of the near-infrared light may be 760nm, 800nm, 850nm, 940nm, or a combination thereof. In a preferred embodiment, the near-infrared light emitted by the near-infrared light source 100 is a mixed light of 760nm and 940nm.
近红外成像传感器200可以是任何合适的近红外成像装置，其光谱响应范围可以为700nm-950nm。在一个示例性的实施例中，近红外成像传感器200可以采用互补金属氧化物半导体(CMOS)来捕获近红外图像。The near infrared imaging sensor 200 may be any suitable near infrared imaging device, and its spectral response range may be 700nm-950nm. In an exemplary embodiment, the near infrared imaging sensor 200 may use a complementary metal oxide semiconductor (CMOS) to capture near infrared images.
在一些实施例中，近红外光源100和近红外成像传感器200均位于与患者500相对的一侧，例如，可位于距离感兴趣区域50cm的位置。具体地，近红外光源100和近红外成像传感器200均可固定在支架600上，支架600则固定在墙面上。支架600可设置为活动支架，即其位置可根据需要进行调整，从而通过调整支架600的位置来调整近红外光源100的角度，使其发射的近红外光照射在感兴趣区域A。In some embodiments, the near-infrared light source 100 and the near-infrared imaging sensor 200 are both located on the side opposite to the patient 500, for example, at a distance of 50 cm from the region of interest. Specifically, the near-infrared light source 100 and the near-infrared imaging sensor 200 can be fixed on a bracket 600, and the bracket 600 is fixed on a wall. The bracket 600 can be set as a movable bracket, that is, its position can be adjusted as needed, so that the angle of the near-infrared light source 100 can be adjusted by adjusting the position of the bracket 600, so that the near-infrared light emitted by it is irradiated on the region of interest A.
激光测距仪300可以采用任何合适的激光测距装置，其可放置在近红外光源100附近，且位于患者500的正上方。激光测距仪300可通过固定架等与墙面固定。激光测距仪300向患者500体表发射垂直方向的激光，并接收经过患者500体表反射后的激光，然后根据发射信号和反射信号，可得到激光测距仪300与患者500体表之间的垂直距离。激光测距仪300的数量可根据需要进行设置，例如为2个、3个或更多个。在一个示例性的实施例中，激光测距仪300有4个，并环绕近红外光源100设置，4个激光测距仪300分别测量患者500体表的4个位置的垂直距离。The laser rangefinder 300 can be any suitable laser rangefinder, which can be placed near the near-infrared light source 100 and directly above the patient 500. The laser rangefinder 300 can be fixed to the wall by a fixing frame or the like. The laser rangefinder 300 emits a vertical laser to the body surface of the patient 500, and receives the laser after being reflected by the body surface of the patient 500. Then, according to the emission signal and the reflection signal, the vertical distance between the laser rangefinder 300 and the body surface of the patient 500 can be obtained. The number of laser rangefinders 300 can be set as needed, for example, 2, 3 or more. In an exemplary embodiment, there are 4 laser rangefinders 300, which are arranged around the near-infrared light source 100, and the 4 laser rangefinders 300 respectively measure the vertical distances of 4 positions on the body surface of the patient 500.
在一些实施例中，患者500可位于(例如以平躺、侧躺或其他方式等)治疗床700上，治疗床700设置为可移动(例如通过电机等实现)，从而调整患者500的位置。分析处理装置400可与治疗床700相连，并将位置调整量发送至治疗床700，从而控制治疗床700移动，以将患者500从当前位置调整至理想位置。In some embodiments, the patient 500 may be located on a treatment couch 700 (e.g., lying flat, lying on the side, or in other ways), and the treatment couch 700 is configured to be movable (e.g., by a motor, etc.) so as to adjust the position of the patient 500. The analysis and processing device 400 may be connected to the treatment couch 700 and send the position adjustment amount to the treatment couch 700. To the treatment couch 700, thereby controlling the movement of the treatment couch 700 to adjust the patient 500 from the current position to the ideal position.
在一些实施例中，当前位置是指接收的血管纹理图所对应的患者位置，其可以为放疗过程中的任意位置，例如患者500的实时位置，或者指定时刻的位置。患者500在理想位置时，放射源的照射靶区对准患者体内的肿瘤位置。理想位置通常为初始位置，即在放疗前，会先将患者500移动至理想位置，然后再进行放疗，放疗过程中，由于患者不自主的运动等原因，患者500的位置可能偏离理想位置(即当前位置会偏离理想位置)，这将导致照射靶区偏离肿瘤位置，降低放疗效果，因此在放疗过程中，分析处理装置400可通过激光测距仪300测得的垂直距离和近红外成像传感器200测得的血管纹理图实时监控患者500的位置是否变化，并获取当前位置与理想位置之间的位置调整量，然后通过控制治疗床700的移动将患者500调回至理想位置。In some embodiments, the current position refers to the patient position corresponding to the received vascular texture map, which can be any position during the radiotherapy process, such as the real-time position of the patient 500, or the position at a specified time. When the patient 500 is in the ideal position, the irradiation target area of the radiation source is aligned with the tumor position in the patient's body. The ideal position is usually the initial position, that is, before radiotherapy, the patient 500 will be moved to the ideal position first, and then radiotherapy will be performed. During radiotherapy, due to reasons such as the patient's involuntary movement, the position of the patient 500 may deviate from the ideal position (that is, the current position will deviate from the ideal position), which will cause the irradiation target area to deviate from the tumor position and reduce the radiotherapy effect. Therefore, during radiotherapy, the analysis and processing device 400 can monitor whether the position of the patient 500 changes in real time through the vertical distance measured by the laser rangefinder 300 and the vascular texture map measured by the near-infrared imaging sensor 200, and obtain the position adjustment amount between the current position and the ideal position, and then adjust the patient 500 back to the ideal position by controlling the movement of the treatment bed 700.
如图2所示，在一些实施例中，可通过放射源(例如CBCT源)800确定患者500的理想位置，即通过放射源800照射患者500的肿瘤区，获得高度精确的透视影像，然后移动治疗床700，使放射源800的照射靶区对准肿瘤位置，此时的位置即为理想位置。分析处理装置400将患者500位于理想位置时近红外成像传感器200探测到的血管纹理图和激光测距仪300测得的垂直距离分别作为标准血管纹理图和标准垂直距离，并存储；然后在放疗过程中，分析处理装置400将实时接收到的血管纹理图与标准血管纹理图进行比较，并将实时接收到的垂直距离与标准垂直距离进行比较，从而得到患者500的位置调整量(即当前位置与理想位置之间的偏移量)，然后将位置调节量发送至治疗床700，治疗床700将按位置调节量进行移动，以对位置偏移量进行补偿，使患者500回到理想位置。As shown in FIG2 , in some embodiments, the ideal position of the patient 500 can be determined by a radiation source (such as a CBCT source) 800, that is, the tumor area of the patient 500 is irradiated by the radiation source 800 to obtain a highly accurate perspective image, and then the treatment bed 700 is moved so that the irradiation target area of the radiation source 800 is aligned with the tumor position, and the position at this time is the ideal position. The analysis and processing device 400 uses the vascular texture map detected by the near-infrared imaging sensor 200 and the vertical distance measured by the laser rangefinder 300 when the patient 500 is in the ideal position as the standard vascular texture map and the standard vertical distance, and stores them; then during the radiotherapy process, the analysis and processing device 400 compares the vascular texture map received in real time with the standard vascular texture map, and compares the vertical distance received in real time with the standard vertical distance, thereby obtaining the position adjustment amount of the patient 500 (that is, the offset between the current position and the ideal position), and then sends the position adjustment amount to the treatment bed 700, and the treatment bed 700 will move according to the position adjustment amount to compensate for the position offset so that the patient 500 returns to the ideal position.
为了防止放疗过程中潜在的设备碰撞问题，激光测距仪300可设置在远离放射源800处，即激光测距仪300与放射源800之间具有预设间隔，例如，激光测距仪300的坐标系等中心与放射源800的坐标系等中心的X方向距离为L(例如，80cm)。In order to prevent potential equipment collision problems during radiotherapy, the laser rangefinder 300 can be set away from the radiation source 800, that is, there is a preset interval between the laser rangefinder 300 and the radiation source 800. For example, the X-direction distance between the coordinate system isocenter of the laser rangefinder 300 and the coordinate system isocenter of the radiation source 800 is L (for example, 80 cm).
如图3所示，分析处理装置400可包括接收模块410和配准模块420其中：As shown in FIG3 , the analysis and processing device 400 may include a receiving module 410 and a registration module 420 , wherein:
接收模块410用于接收近红外成像传感器200发送的血管纹理图和激光测距仪300发送的垂直距离(即Z向距离)。The receiving module 410 is used to receive the blood vessel texture map sent by the near-infrared imaging sensor 200 and the vertical distance (ie, the Z-direction distance) sent by the laser rangefinder 300 .
配准模块420用于将接收的垂直距离与标准垂直距离相比，得到垂直方向(即Z向)调整量；并将接收的血管纹理图与标准血管纹理图相比，得到水平纵向(即Y向，垂直于XZ平面的方向)调整量、水平横向(即X向)调整量和在水平面(即XY平面)内沿预设方向(例如顺时针或逆时针)的角度调整量。The registration module 420 is used to compare the received vertical distance with the standard vertical distance to obtain the vertical direction (i.e., Z direction) adjustment amount; and compare the received vascular texture image with the standard vascular texture image to obtain the horizontal longitudinal direction (i.e., Y direction, the direction perpendicular to the XZ plane) adjustment amount, the horizontal transverse direction (i.e., X direction) adjustment amount and the angle adjustment amount along a preset direction (e.g., clockwise or counterclockwise) in the horizontal plane (i.e., XY plane).
在一些实施例中，分析处理装置400还可包括发送模块430，发送模块430用于将Z向调整量、Y向调整量、X向调整量和沿预设方向的角度调整量发送至治疗床700，以使治疗床700按照上述调整量进行移动，从而使患者500从当前位置回到理想位置；即，治疗床700沿Z向移动Z向调整量，沿Y向移动Y向调整量，沿X向移动X向调整量，在水平面内沿预设方向旋转角度调整量，以对当前位置与理想位置之间的位置偏移量进行补偿，从而使患者500回到理想位置。在一些实施例中，治疗床700上设置有各方向的电机，以通过各方向的电机来驱动治疗床700移动，发送模块430将Z向调整量、Y向调整量、X向调整量和沿预设方向的角度调整量发送至治疗床700是指，向各方向的电机发送控制信号，控制信号中包含了该方向的调整量，从而控制各方向的电机按照各方向的调整量使治疗床700移动。In some embodiments, the analysis and processing device 400 may further include a sending module 430, and the sending module 430 is used to send the Z-direction adjustment amount, the Y-direction adjustment amount, the X-direction adjustment amount, and the angle adjustment amount along the preset direction to the treatment bed 700, so that the treatment bed 700 moves according to the above adjustment amounts, thereby returning the patient 500 from the current position to the ideal position; that is, the treatment bed 700 moves the Z-direction adjustment amount along the Z direction, moves the Y-direction adjustment amount along the Y direction, moves the X-direction adjustment amount along the X direction, and rotates the angle adjustment amount along the preset direction in the horizontal plane to compensate for the position offset between the current position and the ideal position, thereby returning the patient 500 to the ideal position. In some embodiments, the treatment bed 700 is provided with motors in various directions to drive the treatment bed 700 to move. The sending module 430 sends the Z-direction adjustment amount, the Y-direction adjustment amount, the X-direction adjustment amount, and the angle adjustment amount along the preset direction to the treatment bed 700, which means that a control signal is sent to the motor in each direction, and the control signal includes the adjustment amount in the direction, so as to control the motor in each direction to move the treatment bed 700 according to the adjustment amount in each direction.
如图4所示，在一些实施例中，配准模块420进一步包括第一获取单元421、第二获取单元422、比较单元423和转换单元424，其中：As shown in FIG. 4 , in some embodiments, the registration module 420 further includes a first acquisition unit 421, a second acquisition unit 422, a comparison unit 423 and a conversion unit 424, wherein:
第一获取单元421用于获取患者500位于理想位置时的血管纹理图作为标准血管纹理图，并获取患者500位于理想位置时的垂直距离作为标准垂直距离。The first acquisition unit 421 is used to acquire a blood vessel texture map when the patient 500 is located in an ideal position as a standard blood vessel texture map, and acquire a vertical distance when the patient 500 is located in an ideal position as a standard vertical distance.
在放疗前，可将患者500移动至理想位置，然后打开近红外光源100、近红外成像传感器200和激光测距仪300，通过近红外成像传感器200采集此时的血管纹理图，通过激光测距仪300采集此时的垂直距离，然后将它们发送至分析处理装置400，第一获取单元421则将此时的血管纹理图作为标准血管纹理图进行保存，并将此时的垂直距离作为标准垂直距离进行保存，以便于在后续放疗过程中，将它们作为比较基准，从而调整患者500的位置。Before radiotherapy, the patient 500 can be moved to an ideal position, and then the near-infrared light source 100, the near-infrared imaging sensor 200 and the laser rangefinder 300 are turned on. The near-infrared imaging sensor 200 collects the vascular texture map at this time, and the laser rangefinder 300 collects the vertical distance at this time, and then sends them to the analysis and processing device 400. The first acquisition unit 421 saves the vascular texture map at this time as a standard vascular texture map, and saves the vertical distance at this time as a standard vertical distance, so that they can be used as a comparison benchmark in the subsequent radiotherapy process to adjust the position of the patient 500.
第二获取单元422用于获取血管纹理图的像素与绝对距离之间的映射关系。The second acquisition unit 422 is used to acquire the mapping relationship between the pixels of the blood vessel texture image and the absolute distance.
为了确保结果的准确性，需确定绝对距离(即实际距离)与血管纹理图的像素之间的映射关系，以便于后续将图像的移动量转换为绝对距离的调整量。例如，可通过标定1cm的绝对距离来测量和匹配绝对距离与像素之间的映射关系，具体地，可通过将1cm的绝对距离与血管纹理图放在一起，然后判断1cm的绝对距离跨越(包括)的像素数量，即可得到绝对距离与像素之间的映射关系。In order to ensure the accuracy of the results, it is necessary to determine the mapping relationship between the absolute distance (i.e., the actual distance) and the pixels of the vascular texture map, so as to convert the image movement amount into the absolute distance adjustment amount. For example, the mapping relationship between the absolute distance and the pixels can be measured and matched by calibrating the absolute distance of 1 cm. Specifically, the absolute distance of 1 cm can be put together with the vascular texture map, and then the number of pixels spanned (included) by the absolute distance of 1 cm can be determined to obtain the mapping relationship between the absolute distance and the pixels.
比较单元423，用于将接收的垂直距离与标准垂直距离相比，得到Z向调整量；并将接收的血管纹理图与标准血管纹理图相比，得到图像的Y向平移误差、X向平移误差和旋转角度误差。The comparison unit 423 is used to compare the received vertical distance with the standard vertical distance to obtain the Z-direction adjustment amount; and compare the received blood vessel texture map with the standard blood vessel texture map to obtain the Y-direction translation error, X-direction translation error and rotation angle error of the image.
在一些实施例中，将接收的血管纹理图与标准血管纹理图相比，得到图像的Y向平移误差、X向平移误差和旋转角度误差，具体包括：In some embodiments, the received blood vessel texture map is compared with the standard blood vessel texture map to obtain the Y-direction translation error, X-direction translation error and rotation angle error of the image, specifically including:
S11：从接收的血管纹理图的中心区域提取出预设大小的图像，作为配准区域图像；S11: extracting an image of a preset size from the central area of the received blood vessel texture image as a registration area image;
图像通常由多个像素组成，接收的血管纹理图可表示为包括D×D个像素的矩阵为了减少计算量，可从血管纹理图中选取部分图像，作为配准区域图像，进行后续对比优化，例如，可选取包含特征最多的部分的区域，通常为血管纹理图的中心区域，假设预设大小为d×d，即配准区域图像包含的像素个数为d×d。An image is usually composed of multiple pixels. The received blood vessel texture map can be represented as a matrix including D×D pixels. In order to reduce the amount of calculation, part of the image can be selected from the vascular texture map as the registration area image for subsequent comparison and optimization. For example, the area containing the most features can be selected, usually the central area of the vascular texture map. Assuming the preset size is d×d, the number of pixels contained in the registration area image is d×d.
S12：将配准区域图像沿Y向平移m个像素，并沿X向平移n个像素，得到平移后的配准区域图像；S12: translating the registration area image by m pixels along the Y direction and by n pixels along the X direction to obtain a translated registration area image;
平移后的配准区域图像可表示为
The image of the registration area after translation can be expressed as
其中，为配准区域图像的第k-m行第l-n列的像素值，(k-m,l-n)为配准区域图像的像素坐标，XT(k,l)为配准区域图像的第k行第l列的像素值，(k,l)为配准区域图像的像素坐标，m和n均为整数，且分别表示为沿Y向平移的像素的个数和沿X向平移的像素的个数。in, is the pixel value of the km-th row and ln-th column of the registration region image, (km,ln) is the pixel coordinate of the registration region image,XT (k,l) is the pixel value of the k-th row and l-th column of the registration region image, (k,l) is the pixel coordinate of the registration region image, m and n are both integers, and represent the number of pixels translated along the Y direction and the number of pixels translated along the X direction, respectively.
S13：将平移后的配准区域图像顺时针旋转θ角度，得到平移旋转后的配准区域图像；S13: Rotate the translated registration area image clockwise by an angle of θ to obtain the translated and rotated image. Registering regional images;
平移旋转后的配准区域图像可表示为
The image of the registration area after translation and rotation can be expressed as
其中，为平移旋转后的配准区域图像的像素坐标，为平移旋转后的配准区域图像的第行第列的像素值，(i,j)为平移后的配准区域图像的像素坐标，为平移后的配准区域图像的第i行第j列的像素值。in, is the pixel coordinate of the registration area image after translation and rotation, is the first image of the registration area after translation and rotation Line The pixel value of the column, (i, j) is the pixel coordinate of the registration area image after translation, is the pixel value of the i-th row and j-th column of the registration area image after translation.
S14：从标准血管纹理图的中心区域提取出预设大小的图像，作为配准区域标准图像，计算平移旋转后的配准区域图像和配准区域标准图像之间的相似度；S14: extracting an image of a preset size from the central area of the standard blood vessel texture image as a registration area standard image, and calculating the similarity between the registration area image after translation and rotation and the registration area standard image;
标准血管纹理图可表示为配准区域标准图像可表示为平移旋转后的配准区域图像和配准区域标准图像之间的相似度可用皮尔逊乘积矩相关系数μPPMCC来表示：
The standard vascular texture map can be expressed as The standard image of the registration area can be expressed as The similarity between the registered region image after translation and rotation and the registered region standard image can be expressed by the Pearson product moment correlation coefficient μPPMCC :
其中，为的第q个像素值，为的所有像素值的平均值(即d2个像素值之和除以d2)，为的第q个像素值，为的所有像素值的平均值。in, for The qth pixel value of for The average value of all pixel values (i.e., the sum of d2 pixel values divided by d2 ), for The qth pixel value of for The average value of all pixel values.
S15：以最大化相似度为目标，对m、n和θ进行优化，得到m的最优解、n的最优解和θ的最优解，将m的最优解作为图像的Y向平移误差、n的最优解作为图像的X向平移误差、θ的最优解作为图像的旋转角度误差。S15: With the goal of maximizing the similarity, m, n and θ are optimized to obtain the optimal solution of m, the optimal solution of n and the optimal solution of θ. The optimal solution of m is used as the Y-direction translation error of the image, the optimal solution of n is used as the X-direction translation error of the image, and the optimal solution of θ is used as the rotation angle error of the image.
μPPMCC越大，说明平移旋转后的配准区域图像和配准区域标准图像之间的相似度越大，即两个图像越相似，因此，可以以最大化μPPMCC为目标进行优化，从而得到m的最优解m*、n的最优解n*和θ的最优解θ*，其可由下式表示：
The larger the μPPMCC is, the greater the similarity between the registration area image after translation and rotation and the registration area standard image is, that is, the more similar the two images are. Therefore, optimization can be performed with the goal of maximizing μPPMCC to obtain the optimal solution m* of m, the optimal solution n* of n, and the optimal solution θ* of θ, which can be expressed by the following formula:
转换单元424用于根据血管纹理图的像素与绝对距离之间的映射关系将图像的Y向平移误差和X向平移误差分别转换为Y向调整量和X向调整量，并将旋转角度误差作为角度调整量。The conversion unit 424 is used to convert the Y-direction translation error and the X-direction translation error of the image into the Y-direction adjustment amount and the X-direction adjustment amount respectively according to the mapping relationship between the pixels of the blood vessel texture image and the absolute distance. The rotation angle error is used as the angle adjustment amount.
由于Y向平移误差、X向平移误差和旋转角度误差均为当前位置的血管纹理图和理想位置的血管纹理图之间的位置偏差，因此还需要将它们转化为实际的患者500的位置调整量。Y向平移误差、X向平移误差可通过像素与绝对距离之间的映射关系进行转换，例如，若映射关系为1个像素＝10cm，若Y向平移误差为沿Y正向1个像素，X向平移误差为沿X负向2个像素，那么转换的Y向调整量为沿Y正向10cm，X向调整量为沿X负向20cm。图像的旋转角度与患者500的实际旋转角度的映射关系为1:1，即，若旋转角度误差为沿顺时针方向旋转1°，那么角度调整量也为沿顺时针方向旋转1°。Since the Y-direction translation error, X-direction translation error, and rotation angle error are all positional deviations between the vascular texture map at the current position and the vascular texture map at the ideal position, they also need to be converted into the actual position adjustment of the patient 500. The Y-direction translation error and the X-direction translation error can be converted through the mapping relationship between pixels and absolute distances. For example, if the mapping relationship is 1 pixel = 10 cm, if the Y-direction translation error is 1 pixel along the positive Y direction and the X-direction translation error is 2 pixels along the negative X direction, then the converted Y-direction adjustment amount is 10 cm along the positive Y direction and the X-direction adjustment amount is 20 cm along the negative X direction. The mapping relationship between the rotation angle of the image and the actual rotation angle of the patient 500 is 1:1, that is, if the rotation angle error is 1° in the clockwise direction, then the angle adjustment amount is also 1° in the clockwise direction.
可以理解的是，m的最优解m*、n的最优解n*和θ的最优解θ*是通过优化得到的，因此平移旋转后的配准区域图像与配准区域标准图像可能并不完全相同，也就是说，在根据Y向调整量、X向调整量和角度调整量对患者500的位置进行调整后，患者500的位置可能并不是理想位置，而是与理想位置差距很小的位置，其影响可忽略不计，因此可认为患者500此时已回到理想位置。It can be understood that the optimal solution m* for m, the optimal solution n* for n, and the optimal solution θ* for θ are obtained through optimization, and therefore the image of the registration area after translation and rotation may not be exactly the same as the standard image of the registration area. That is to say, after the position of the patient 500 is adjusted according to the Y-axis adjustment amount, the X-axis adjustment amount, and the angle adjustment amount, the position of the patient 500 may not be the ideal position, but a position very close to the ideal position, and its influence can be ignored. Therefore, it can be considered that the patient 500 has returned to the ideal position at this time.
在一些实施例中，分析处理装置400还包括显示屏440(如图1所示)，用于显示接收的血管纹理图。标准血管纹理图也可以同时显示在显示屏440上，以便于进行比较。在一些实施例中，用户(例如治疗师)可以在显示屏440直接对实时接收的血管纹理图进行各种操作(例如放大、缩小、移动等)，以将实时接收的血管纹理图与标准血管纹理图对齐(中心区域对齐即可)，在对齐后，分析处理装置400即可得到Y向调整量、X向调整量和角度调整量。在一些实施例中，显示屏440可以为触摸屏，这样，用户可以直接用手在触摸屏上对实时接收的血管纹理图进行操作，更加方便。在一些实施例中，Y向调整量、X向调整量和角度调整量等也可以显示在显示屏440上，以便于治疗师观看。In some embodiments, the analysis and processing device 400 further includes a display screen 440 (as shown in FIG. 1 ) for displaying the received vascular texture map. The standard vascular texture map can also be simultaneously displayed on the display screen 440 for comparison. In some embodiments, the user (e.g., a therapist) can directly perform various operations (e.g., zoom in, zoom out, move, etc.) on the vascular texture map received in real time on the display screen 440 to align the vascular texture map received in real time with the standard vascular texture map (center area alignment is sufficient). After alignment, the analysis and processing device 400 can obtain the Y-axis adjustment amount, the X-axis adjustment amount, and the angle adjustment amount. In some embodiments, the display screen 440 can be a touch screen, so that the user can directly operate the vascular texture map received in real time on the touch screen with his hands, which is more convenient. In some embodiments, the Y-axis adjustment amount, the X-axis adjustment amount, the angle adjustment amount, etc. can also be displayed on the display screen 440 for the therapist to watch.
在一些实施例中，分析处理装置400可以为计算机、智能手机、平板或其他任何合适的电子设备。In some embodiments, the analysis and processing device 400 may be a computer, a smart phone, a tablet, or any other suitable electronic device.
在一些实施例中，分析处理装置400可以实时接收近红外成像传感器200传输的血管纹理图和激光测距仪300传输的垂直距离，并对其进行处理，得到实时的Y向调整量、X向调整量、角度调整量和Z向调整量，然后将其显示在显示屏中，从而便于治疗师监测患者500的实时位置。分析处理装置400可以设置为向治疗床700发送实时的位置调整量，以实时调整患者500的位置；或者，分析处理装置400可以设置为将Y向调整量、X向调整量、角度调整量和Z向调整量分别与Y向阈值、X向阈值、角度阈值和Z向阈值相比较，当其中一个或者多个超过阈值时，再将该时刻的位置调整量发送至治疗床700，从而控制治疗床700将患者移回至理想位置，这样，可以在位置偏差较大时，才进行移位，既可以保证位置精度，又可以减少移位的操作量；又或者，分析处理装置400还可以设置为响应于用户(例如治疗师)的操作，而向治疗床700发送位置调整量，以控制治疗床700移动。In some embodiments, the analysis and processing device 400 can receive the blood vessel texture map transmitted by the near-infrared imaging sensor 200 and the vertical distance transmitted by the laser rangefinder 300 in real time, and process them to obtain the real-time Y-axis adjustment amount, X-axis adjustment amount, angle adjustment amount and Z-axis adjustment amount, and then display them on the display screen, so as to facilitate the therapist to monitor the real-time position of the patient 500. The analysis and processing device 400 can The processing device 400 may be configured to send a real-time position adjustment amount to the treatment couch 700 to adjust the position of the patient 500 in real time; or, the processing device 400 may be configured to compare the Y-direction adjustment amount, the X-direction adjustment amount, the angle adjustment amount and the Z-direction adjustment amount with the Y-direction threshold, the X-direction threshold, the angle threshold and the Z-direction threshold respectively, and when one or more of them exceeds the threshold, the position adjustment amount at that moment is sent to the treatment couch 700, so as to control the treatment couch 700 to move the patient back to the ideal position. In this way, the position can be shifted only when the position deviation is large, which can ensure the position accuracy and reduce the amount of shifting operation; or, the processing device 400 may be configured to send the position adjustment amount to the treatment couch 700 in response to the operation of the user (such as a therapist) to control the movement of the treatment couch 700.
在一些实施例中，分析处理装置400得到位置调整量后，还可以通过手动方式移动治疗床700，以使患者500回到理想位置。In some embodiments, after obtaining the position adjustment amount, the analysis and processing device 400 can also manually move the treatment bed 700 to return the patient 500 to the ideal position.
本发明实施例的用于放射治疗的患者位置调整系统，分析处理装置根据近红外热成像传感器探测到的血管纹理图和激光测距仪测量到的垂直距离，可以获取当前位置与理想位置之间的位置调整量，以便于治疗床根据位置调整量自动将患者从当前位置调整至理想位置，最大限度减少治疗师和患者之间的直接接触，排除了主观因素，精度高，且无需皮肤标记或纹身，对过敏患者更加友好和人性化；通过近红外成像技术来识别患者的位置，无需通过射线成像，不会增加额外的辐射量；在位置调整时，通过激光测距仪300测得的垂直距离来控制患者500的垂直方向高度，然后通过二维的血管纹理图控制水平面内的位置，从而实现患者500的三维位置调整，精度更高，调整速度更快；通过显示屏440，可以直观的观察到血管纹理图，十分方便。In the patient position adjustment system for radiotherapy of the embodiment of the present invention, the analysis and processing device can obtain the position adjustment amount between the current position and the ideal position according to the blood vessel texture map detected by the near-infrared thermal imaging sensor and the vertical distance measured by the laser rangefinder, so that the treatment bed can automatically adjust the patient from the current position to the ideal position according to the position adjustment amount, thereby minimizing direct contact between the therapist and the patient, eliminating subjective factors, having high accuracy, and without the need for skin markings or tattoos, which is more friendly and humane to allergy patients; the patient's position is identified by near-infrared imaging technology, without the need for X-ray imaging, and no additional radiation is added; when adjusting the position, the vertical height of the patient 500 is controlled by the vertical distance measured by the laser rangefinder 300, and then the position in the horizontal plane is controlled by the two-dimensional blood vessel texture map, thereby realizing three-dimensional position adjustment of the patient 500, with higher accuracy and faster adjustment speed; the blood vessel texture map can be intuitively observed through the display screen 440, which is very convenient.
为了验证系统的可行性和可靠性，本发明还对该系统进行了仿真体模研究和临床试验研究。在仿真体模研究中，使用QUASARTM，Modus Medical Devices股份有限公司的胸部四维仿真模型来评估该系统的性能。具体地，将直径为1mm、2mm和3mm的自制仿真血管模拟真实血管分布固定在体模上，并用不同厚度(3、5、8和10mm)的仿真皮肤覆盖，就体模放置在直线加速器治疗床上，并同时在左右(LR-X)、前后(AP-Z)和上下(SI-Y)方向上进行等中心偏移移动(由治疗机床自动移动完成)，偏移距离分别为3、5、10、20和50mm。对于性能评估，除了求取系统和随机误差外，还分别统计了本发明的系统与CBCT系统与绝对位移距离相关的位移误差。对于本发明的系统而言，在每个移位位置均获取一张血管纹理图，然后生成各方向上的调整量，对于CBCT系统而言，进行CBCT扫描，重建横截面图像，并将图像配准到设计目标，以生成基于CBCT系统的各方向调整量。通过对比发现，本发明的系统也可在位置调整和控制方面达到亚毫米精度级别，不同仿真组织厚度(3-10mm)和血管尺寸(1-3mm)的大多数位移检测(从绝对位移3-50mm的评估结果下)两个系统均可达到令临床满意地校正结果；且整个调整量的计算过程可以在10秒内完成。In order to verify the feasibility and reliability of the system, the present invention also conducted simulation phantom research and clinical trial research on the system. In the simulation phantom study, QUASARTM, a four-dimensional chest simulation model of Modus Medical Devices Co., Ltd., was used to evaluate the performance of the system. Specifically, homemade simulated blood vessels with diameters of 1mm, 2mm and 3mm were fixed on the phantom to simulate the real blood vessel distribution, and covered with simulated skin of different thicknesses (3, 5, 8 and 10mm). The phantom was placed on the linear accelerator treatment bed and simultaneously performed isocenter offset movement in the left and right (LR-X), front and back (AP-Z) and up and down (SI-Y) directions (completed by automatic movement of the treatment machine bed), with offset distances of 3, 5, 10, 20 and 50mm, respectively. For performance evaluation, in addition to obtaining systematic and random errors, the displacement errors of the system of the present invention and the CBCT system related to the absolute displacement distance were also statistically analyzed. For the system of the present invention, A blood vessel texture map is obtained at each displacement position, and then the adjustment amount in each direction is generated. For the CBCT system, a CBCT scan is performed, a cross-sectional image is reconstructed, and the image is registered to the design target to generate the adjustment amount in each direction based on the CBCT system. By comparison, it is found that the system of the present invention can also achieve sub-millimeter accuracy in position adjustment and control. Most displacement detections (from the evaluation results of absolute displacement 3-50mm) of different simulated tissue thicknesses (3-10mm) and blood vessel sizes (1-3mm) can achieve clinically satisfactory correction results for both systems; and the entire adjustment amount calculation process can be completed within 10 seconds.
临床试验研究是在获得机构伦理批准的临床试验环境中进行的(注册号：ChiCTR-IP-202220092)，主要目的是验证本发明的系统的使用体表浅表血管定位的原理、可行性和效率等问题。在临床试验研究中，选取了30名患者，各患者的BMI≤26，所有患者均完成常规放射治疗流程：首先在在Siemens Somatom Definition AS CT扫描仪上进行了CT模拟图像采集，扫描仪间距为1.5，切片厚度为1mm，接着，制定精确的三维治疗计划(Eclipse 15.5；Varian，Palo Alto，CA，USA)。在治疗实施前，每位患者在3D激光引导下根据体表标记线摆位，同时直接接受本发明的系统的摆位，两种方式摆位后分别接受直线加速器机载CBCT扫描，两个系统在CBCT图像校准后的调整量(均以CBCT图像为金标)进行记录，完成激光系统和本发明的系统的调整量比较。在整个放射治疗方案中，每周进行图像引导，位置调整量纠正以及调整量记录。临床试验结果表明，在SI、LR和AP方向上，VIPS比激光系统分别提高了59.2％、58.7％和74.0％，本发明的系统结合激光测距仪检测和纠正包括旋转在内的三维位移，且可文档化，具有可追溯性，与三点激光系统相比具有明显的优势。The clinical trial study was conducted in a clinical trial environment approved by the institution (registration number: ChiCTR-IP-202220092). The main purpose was to verify the principle, feasibility and efficiency of the use of the system of the present invention for locating superficial blood vessels on the body surface. In the clinical trial study, 30 patients were selected, each with a BMI of ≤26, and all patients completed the conventional radiotherapy process: first, CT simulation image acquisition was performed on a Siemens Somatom Definition AS CT scanner, with a scanner spacing of 1.5 and a slice thickness of 1mm. Then, an accurate three-dimensional treatment plan was formulated (Eclipse 15.5; Varian, Palo Alto, CA, USA). Before the treatment was implemented, each patient was positioned according to the surface marking lines under the guidance of a 3D laser, and directly accepted the positioning of the system of the present invention. After the two methods were positioned, they were respectively subjected to linear accelerator airborne CBCT scanning. The adjustment amounts of the two systems after CBCT image calibration (both with CBCT images as gold standards) were recorded to complete the adjustment amount comparison between the laser system and the system of the present invention. Image guidance, position adjustment correction and adjustment recording are performed weekly throughout the radiotherapy program. Clinical trial results show that VIPS is 59.2%, 58.7% and 74.0% higher than the laser system in SI, LR and AP directions, respectively. The system of the present invention combines a laser rangefinder to detect and correct three-dimensional displacement including rotation, and can be documented and traceable, which has obvious advantages over the three-point laser system.
以上所述的，仅为本发明的较佳实施例，并非用以限定本发明的范围，本发明的上述实施例还可以做出各种变化。即凡是依据本发明申请的权利要求书及说明书内容所作的简单、等效变化与修饰，皆落入本发明专利的权利要求保护范围。本发明未详尽描述的均为常规技术内容。The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. The above embodiment of the present invention can also be modified in various ways. That is, all simple, equivalent changes and modifications made according to the claims and the description of the present invention fall within the scope of protection of the claims of the present invention. The contents not described in detail in the present invention are all conventional technical contents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2023/117528WO2025050358A1 (en) | 2023-09-07 | 2023-09-07 | Patient position adjustment system for radiotherapy |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2023/117528WO2025050358A1 (en) | 2023-09-07 | 2023-09-07 | Patient position adjustment system for radiotherapy |
| Publication Number | Publication Date |
|---|---|
| WO2025050358A1true WO2025050358A1 (en) | 2025-03-13 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2023/117528PendingWO2025050358A1 (en) | 2023-09-07 | 2023-09-07 | Patient position adjustment system for radiotherapy |
| Country | Link |
|---|---|
| WO (1) | WO2025050358A1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983183A (en)* | 2015-02-27 | 2016-10-05 | 苏州雷泰医疗科技有限公司 | Radiation therapy device |
| CN108619621A (en)* | 2018-05-23 | 2018-10-09 | 郑向鹏 | A kind of system and method for being used for tumor patient radiotherapy precise positioning and putting position |
| CN109260612A (en)* | 2018-11-28 | 2019-01-25 | 上海联影医疗科技有限公司 | The location parameter detection method of hospital bed, method for correcting position, apparatus and system |
| CN109692405A (en)* | 2019-01-25 | 2019-04-30 | 上海联影医疗科技有限公司 | Image guided therapy system and to the corrected method and apparatus in the position of its therapeutic bed |
| CN111821582A (en)* | 2019-04-18 | 2020-10-27 | 西安大医集团股份有限公司 | Patient positioning method and device |
| CN111991710A (en)* | 2020-08-24 | 2020-11-27 | 西安交通大学医学院第一附属医院 | Radiotherapy position and dose real-time monitoring and positioning device, tumor radiotherapy system |
| CN112138288A (en)* | 2020-09-25 | 2020-12-29 | 太和县人民医院 | Blood vessel fingerprint acquisition system and method for radiotherapy |
| WO2023157616A1 (en)* | 2022-02-18 | 2023-08-24 | 株式会社日立製作所 | Positioning device, radiation therapy device, and positioning method |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983183A (en)* | 2015-02-27 | 2016-10-05 | 苏州雷泰医疗科技有限公司 | Radiation therapy device |
| CN108619621A (en)* | 2018-05-23 | 2018-10-09 | 郑向鹏 | A kind of system and method for being used for tumor patient radiotherapy precise positioning and putting position |
| CN109260612A (en)* | 2018-11-28 | 2019-01-25 | 上海联影医疗科技有限公司 | The location parameter detection method of hospital bed, method for correcting position, apparatus and system |
| CN109692405A (en)* | 2019-01-25 | 2019-04-30 | 上海联影医疗科技有限公司 | Image guided therapy system and to the corrected method and apparatus in the position of its therapeutic bed |
| CN111821582A (en)* | 2019-04-18 | 2020-10-27 | 西安大医集团股份有限公司 | Patient positioning method and device |
| CN111991710A (en)* | 2020-08-24 | 2020-11-27 | 西安交通大学医学院第一附属医院 | Radiotherapy position and dose real-time monitoring and positioning device, tumor radiotherapy system |
| CN112138288A (en)* | 2020-09-25 | 2020-12-29 | 太和县人民医院 | Blood vessel fingerprint acquisition system and method for radiotherapy |
| WO2023157616A1 (en)* | 2022-02-18 | 2023-08-24 | 株式会社日立製作所 | Positioning device, radiation therapy device, and positioning method |
| Publication | Publication Date | Title |
|---|---|---|
| EP1531728B1 (en) | Patient representation in medical machines | |
| EP2285279B1 (en) | Automatic patient positioning system | |
| US8130384B2 (en) | Apparatus and method for the representation of an area on the surface of a patient's body | |
| US20200121282A1 (en) | Adaptive radiotherapy treatment using ultrasound | |
| US7697147B2 (en) | Apparatus and method for the representation of an area on the surface of a patient's body | |
| CN1672651B (en) | System and method for patient positioning for radiotherapy in the presence of respiratory motion | |
| JP5338000B1 (en) | Real-time 3D radiotherapy device | |
| US9451928B2 (en) | Incorporating internal anatomy in clinical radiotherapy setups | |
| US7453984B2 (en) | Real-time target confirmation for radiation therapy | |
| US20070211857A1 (en) | Radiotherapy device control apparatus and radiation irradiation method | |
| CN108744310B (en) | Multi-mode guide self-adaptive radiotherapy system | |
| CN108853753B (en) | Tumor real-time monitoring device and radiotherapy system | |
| CN102824693A (en) | System and method for verifying radiotherapy plan before online therapy | |
| CN119656490B (en) | Real-time image guiding radiotherapy device | |
| JP4159227B2 (en) | Patient position deviation measuring device, patient positioning device using the same, and radiotherapy device | |
| WO2002061680A2 (en) | Surface imaging | |
| WO2025050358A1 (en) | Patient position adjustment system for radiotherapy | |
| US11839777B2 (en) | Medical systems including a positioning lamp and a projection device and control methods of the medical systems | |
| Hoisak et al. | A history of surface guidance methods in radiation therapy | |
| JP7451285B2 (en) | radiation therapy equipment | |
| JP2985006B2 (en) | Radiation therapy system | |
| Hamid | A comparison of surface based and laser based setup for rectal cancer patients in radiotherapy | |
| WO2025046568A1 (en) | Patient setup positioning for irradiation treatments absent fiducial markings | |
| Willoughby et al. | Sanford L. Meeks |
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application | Ref document number:23951181 Country of ref document:EP Kind code of ref document:A1 |