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Intelligent control method of visual monitoring and visual servo of tumor radiation therapy

A visual servo and visual monitoring technology, applied in the field of biomedical engineering, can solve the problems of low reliability and low efficiency, and achieve the effect of precise positioning

Inactive Publication Date: 2017-11-17
强深智能医疗科技(昆山)有限公司
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Problems solved by technology

[0005] The purpose of the present invention is to provide a visual monitoring and visual servo intelligent control method for tumor radiotherapy to solve the problems of low efficiency and low reliability of manual manipulation of the radiotherapy process in clinical practice, and to improve the efficiency and quality of radiotherapy

Method used

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  • Intelligent control method of visual monitoring and visual servo of tumor radiation therapy
  • Intelligent control method of visual monitoring and visual servo of tumor radiation therapy
  • Intelligent control method of visual monitoring and visual servo of tumor radiation therapy

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Embodiment approach

[0181] Further, the diagonal recursive neural network (DRNN) visual servo control algorithm is used to perform multi-level visual servo intelligent control on the radiotherapy couch, treatment equipment, etc., and an implementation scheme is as follows:

[0182] 9-1) Diagonal recurrent neural network structure

[0183] A Diagonal Recurrent Neural Network (DRNN) has three layers: an input layer, a hidden layer, and an output layer. Its structure diagram is as follows Image 6 shown. It is characterized in that there is a feedback connection between neurons in the hidden layer of the diagonal recursive neural network or between the output and input of the network, the feedback link also has the characteristic of time delay, and the network has short-term memory ability. One embodiment of the present invention is to use DRNN network to model, identify and control the complex radiotherapy process;

[0184] The expressions of DRNN network state equation and output equation are: ...

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Abstract

The invention relates to an intelligent control method of visual monitoring and visual servo of tumor radiation therapy. The method comprises: (1) according to multi-mode medical images and multi-vision optical images collected by a radiation-oncology-plan-stage simulation and positioning medical imaging system, a radiation-oncology-positioning-stage treatment room internal optical imaging system, and a radiation-oncology-plan-execution-stage onboard medical imaging system and the like, intelligent analysis processing is carried out to monitor, identify and localize a tumor radiotherapy target and an organ at risk, radiotherapy beds with patients, radiotherapy equipment, and the auxiliary treatment staff and objects in a treatment room during the whole radiotherapy process; and (2), on the basis of optical images and / or medical images collected at different stages of the tumor radiotherapy process as well as the quality guaranteeing requirement of the clinical radiotherapy process, a multi-stage multi-vision servo intelligent control system (algorithm) is used for carrying out intelligent, automatic, high-precision, high-robust visual servo control on the radiotherapy beds, radiotherapy equipment, the onboard medical image system, and the optical imaging system in the treatment room during the tumor radiotherapy process.

Description

technical field [0001] The present invention relates to technical fields such as computer vision, robot, intelligent control, artificial intelligence, medical imaging, image processing, image analysis, machine learning, pattern recognition and tumor radiation physics, radiation biology, radiation therapy, biomedical engineering; Dynamic visual monitoring images and intelligent analysis and processing methods of oncology medical images in the whole treatment process; intelligentization, An automated, high-precision, and highly robust visual servo intelligent control method; specifically, it demonstrates the visual monitoring and visual servo intelligent control methods for tumor radiotherapy. Background technique [0002] Tumor radiation therapy is one of the three major tumor treatment techniques at present. At present, the quality assurance of precise radiotherapy for malignant tumors in clinic mainly depends on the timely and effective control of clinical radiotherapy doc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/50G06T7/30G06N3/08A61N5/10
CPCA61N5/103A61N5/1048A61N2005/1092G06N3/084G06T7/0012G06T2207/10072G06T2207/30096G06T7/30G06T7/50
Inventor 刘国才詹琪顾冬冬周朗明江未来田娟秀刘劲光官文静
Owner 强深智能医疗科技(昆山)有限公司
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