Radiotherapy monitoring system and control method thereof

Abstract

The present application discloses a radiotherapy monitoring system and a control method thereof, which belong to the field of medical technology. The radiotherapy monitoring system includes: radiotherapy equipment and at least one stereo camera. The at least one stereo camera is used to obtain a first body surface three-dimensional image and / or a second body three-dimensional image of the patient, so as to monitor the patient's movement according to the first body surface three-dimensional image and / or the second body surface three-dimensional image, thereby enabling the patient's positioning and monitoring of the patient's position. Since the optical camera is not radioactive when working, the amount of radiation to which the patient is subjected is small, so that the radiotherapy monitoring system has a better treatment effect on the patient.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a radiotherapy monitoring system and a control method thereof. Background Art

[0002] Radiotherapy is an important means of treating cancer, and radiotherapy equipment is the key medical equipment for carrying out radiotherapy.

[0003] Currently, before using radiotherapy equipment to treat patients, an image-guided radiation therapy (IGRT) system can be used to position the patient; during the process of using radiotherapy equipment to treat patients, the IGRT system can also be used to monitor the patient's position in real time to ensure that the radiation beam emitted by the radiotherapy equipment does not irradiate the patient's normal tissue.

[0004] However, the IGRT system needs to acquire the patient's image in real time through imaging devices such as Computed Tomography (CT) equipment or Cone Beam CT (CBCT) equipment, and the imaging device needs to emit radiation during imaging, resulting in a high amount of radiation to the patient. Summary of the invention

[0005] The embodiment of the present application provides a radiotherapy monitoring system and a control method thereof, which can solve the problem that patients are currently exposed to high radiation doses during treatment with radiotherapy equipment. The technical solution is as follows:

[0006] In one aspect, a radiotherapy monitoring system is provided, comprising:

[0007] Radiotherapy equipment, comprising: a support device for carrying a patient, the radiotherapy equipment having at least one isocenter;

[0008] At least one stereo camera, the at least one stereo camera corresponds to the at least one isocenter one-to-one, the shooting range of each of the stereo cameras covers the corresponding isocenter, and the at least one stereo camera is configured to: obtain a first three-dimensional body surface image of the patient before the radiotherapy device treats the patient, and / or obtain a second three-dimensional body surface image of the patient during the treatment of the patient by the radiotherapy device, so as to monitor the movement of the patient according to the first three-dimensional body surface image and / or the second three-dimensional body surface image.

[0009] Optionally, the radiotherapy device further comprises: a non-open frame, the at least one isocenter comprises: an actual isocenter point located in the non-open frame, and a virtual isocenter point located outside the non-open frame and above the support surface of the support device, and there is a preset position relationship between the virtual isocenter point and the actual isocenter point;

[0010] The at least one stereo camera includes: a first stereo camera corresponding to the actual isocenter, and a second stereo camera corresponding to the virtual isocenter, wherein the shooting direction of the first stereo camera is toward the internal area of ​​the non-open frame, and the shooting range of the first stereo camera covers the actual isocenter; the shooting direction of the second stereo camera is toward the supporting surface of the supporting device, and the shooting range of the second stereo camera covers the virtual isocenter.

[0011] Optionally, the first stereo camera is closer to the non-open frame than the second stereo camera.

[0012] Optionally, the first stereo camera is a short-focus stereo camera, and the second stereo camera is a long-focus stereo camera.

[0013] Optionally, the first stereo camera extends from the front end surface or the rear end surface of the non-open frame into the interior of the non-open frame, or the shooting direction of the first stereo camera is toward the front end surface or the rear end surface of the non-open frame;

[0014] The second stereo camera is located above or at the rear of the supporting device.

[0015] Optionally, the first stereo camera is farther away from the non-open frame than the second stereo camera.

[0016] Optionally, both the first stereo camera and the second stereo camera are telephoto stereo cameras.

[0017] Optionally, the radiotherapy monitoring system further includes: a first connecting member connected to the first stereo camera, and a second connecting member connected to the second stereo camera;

[0018] The first connecting member is arranged at a first reference position in the treatment room where the radiotherapy equipment is located, and the second connecting member is arranged at a second reference position in the treatment room, and the first reference position and the second reference position are the same position or different positions.

[0019] Optionally, the first connecting member is a telescopic rod.

[0020] Optionally, the radiotherapy monitoring system also includes: a fixed rod arranged on a reference plane in the treatment room, the fixed rod including a first branch fixed rod and a second branch fixed rod, the first branch fixed rod facing one side of the non-open frame and connected to the first stereo camera, and the second branch fixed rod facing one side of the supporting device and connected to the second stereo camera.

[0021] Optionally, the radiotherapy device further comprises: an open frame, and the at least one isocenter comprises: an isocenter point;

[0022] The at least one stereo camera includes: a stereo camera corresponding to the isocenter, the shooting direction of the stereo camera is toward the treatment area of ​​the open frame, and the shooting range of the stereo camera covers the isocenter.

[0023] Optionally, the radiotherapy monitoring system further includes: a connecting rod having one end fixedly connected to the stereo camera, and the other end of the connecting rod is arranged on a reference plane in the treatment room where the radiotherapy equipment is located.

[0024] Optionally, the radiotherapy monitoring system further includes: a control device connected to the at least one stereo camera and the radiotherapy equipment.

[0025] On the other hand, a control method of a radiotherapy monitoring system is provided, wherein the method is applied to the above-mentioned radiotherapy monitoring system, and the method comprises:

[0026] Before the radiotherapy device in the radiotherapy monitoring system treats the patient, a first body surface reference image of the patient is acquired by the at least one stereo camera, and the movement of the patient is monitored according to the first body surface reference image;

[0027] During the process of the radiotherapy device treating the patient, a second body surface reference image of the patient is acquired by the at least one stereo camera, and the movement of the patient is monitored based on the second body surface reference image.

[0028] Optionally, the method also includes: when a user instruction for starting to monitor the patient's movement is received, controlling the stereoscopic camera to switch to a start shooting state; when a user instruction for stopping monitoring the patient's movement is received, controlling the stereoscopic camera to switch to a stop shooting state; when a user instruction for pausing monitoring the patient's movement is received, controlling the stereoscopic camera to switch to a pause shooting state.

[0029] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0030] Radiotherapy equipment and at least one stereo camera. Before treating a patient, a first body surface three-dimensional image of the patient is obtained by at least one stereo camera, so that in the process of controlling the movement of the patient by the support device of the radiotherapy equipment, the movement of the patient can be monitored according to the first body surface three-dimensional image to achieve the positioning of the patient. After the positioning of the patient is completed, in the process of treating the patient by the radiotherapy equipment, a second body surface three-dimensional image of the patient is obtained by at least one stereo camera, so as to monitor the movement of the patient according to the second body surface three-dimensional image, and ensure that the radiation beam emitted by the radiotherapy equipment will not irradiate the normal tissue of the patient. The positioning of the patient and the monitoring of the patient's position can be achieved without using an IGRT system including imaging equipment such as CT or CBCT equipment. Since the stereo camera is not radioactive when working, the radiation amount borne by the patient is small, so that the radiotherapy monitoring system has a better treatment effect on the patient. In addition, the number of stereo cameras in the radiotherapy monitoring system only needs to be ensured to be the same as the number of isocenters of the radiotherapy equipment. Therefore, the number of stereo cameras in the radiotherapy monitoring system is small, and the manufacturing cost of the radiotherapy monitoring system is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 is a structural schematic diagram of a radiotherapy monitoring system provided in an embodiment of the present application;

[0033] Figure 2 is a structural schematic diagram of a radiotherapy monitoring system provided by another embodiment of the present application;

[0034] Figure 3 is a structural schematic diagram of another radiotherapy monitoring system provided by another embodiment of the present application;

[0035] Figure 4 is a structural schematic diagram of another radiotherapy monitoring system provided by another embodiment of the present application;

[0036] Figure 5 yes Figure 4 The effect diagram of the first connecting member after contraction in the radiotherapy monitoring system is shown;

[0037] Figure 6 is a structural schematic diagram of a radiotherapy monitoring system provided by another embodiment of the present application;

[0038] Figure 7is a structural schematic diagram of another radiotherapy monitoring system provided by yet another embodiment of the present application;

[0039] Figure 8 This is a structural diagram of a radiotherapy monitoring system provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0041] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of a radiotherapy monitoring system provided in an embodiment of the present application. The radiotherapy monitoring system 000 may include: a radiotherapy device 100 and at least one stereo camera 200.

[0042] The radiotherapy device 100 may include: a support device 101 for supporting a patient. The radiotherapy device 100 has at least one isocenter O.

[0043] In the embodiment of the present application, the number of stereo cameras 200 in the radiotherapy monitoring system 000 may be the same as the number of at least one isocenter O of the radiotherapy device 100. Moreover, at least one stereo camera 200 may correspond one-to-one to at least one isocenter O of the radiotherapy device 100. Usually, the number of isocenters of the radiotherapy device 100 is one or two. Therefore, when the number of isocenters of the radiotherapy device 100 is one, the number of stereo cameras 200 in the radiotherapy monitoring system 000 is also one; when the number of isocenters of the radiotherapy device 100 is two, the number of stereo cameras 200 in the radiotherapy monitoring system 000 is also two. In this way, the number of stereo cameras 200 in the radiotherapy monitoring system 000 is at most two, and the number of stereo cameras 200 in the radiotherapy monitoring system 000 is small, so that the manufacturing cost of the radiotherapy monitoring system 000 is low.

[0044] The shooting range of each stereo camera 200 may cover the corresponding isocenter O. The at least one stereo camera is configured to: obtain a first body surface three-dimensional image of the patient before the radiotherapy device 100 treats the patient, and / or obtain a second body surface three-dimensional image of the patient during the treatment of the patient by the radiotherapy device 100, so as to monitor the movement of the patient according to the first body surface three-dimensional image and / or the second body surface three-dimensional image.

[0045] For example, each stereo camera 200 in the embodiment of the present application can be a structured light camera. After the patient is located on the support device 101, the stereo camera 200 can emit structured light to the patient on the support device 101, and receive the structured light reflected by the patient's body surface, so that the stereo camera 200 can obtain the first body surface three-dimensional image and / or the second body surface three-dimensional image of the patient.

[0046] Optionally, the radiotherapy monitoring system 000 may further include: a control device 300. The control device 300 may be a server, or a server cluster consisting of a plurality of servers, or a cloud computing service center, or a computer device such as a laptop or desktop computer. In the present application, the control device 300 may be connected to each stereo camera 200 in the at least one stereo camera 200 for communication, and the control device 300 may also be connected to the radiotherapy device 100 for communication.

[0047] Before the radiotherapy device 100 treats the patient, the control device 300 can obtain the first body surface three-dimensional image of the patient collected by it through at least one stereo camera 200. In this way, the control device 300 can control the support device 101 to move according to the relative position between the first body surface three-dimensional image of the patient and the three-dimensional body surface reference image, until the first deviation between the first body surface three-dimensional image after movement and the three-dimensional body surface reference image is within the preset threshold range, so that the patient's target point coincides with the isocenter O of the radiotherapy device 100. The positioning process of the patient can be completed, and the patient can be treated by the radiotherapy device 100 later. Among them, the three-dimensional body surface reference image is a three-dimensional contour image of the patient's body surface when the patient's target point coincides with the isocenter O of the radiotherapy device 100. In the above embodiment, the radiotherapy device 100 can be a gamma knife or a medical electron linear accelerator, etc., and the patient's target point can be the patient's target point.

[0048] During the process of the radiotherapy device 100 treating the patient, the control device 300 can obtain the second body surface three-dimensional image of the patient collected by it through at least one stereo camera 200. In this way, the control device 300 can determine the second deviation between the second body surface three-dimensional image of the patient and the three-dimensional body surface reference image based on the relative position between the three-dimensional body surface reference image in the above embodiment. If the control device 300 determines that the second deviation is outside the preset threshold range, the control device 300 can control the support device 101 to move based on the second deviation until the second deviation after the movement is within the preset threshold range, so that the patient's target point coincides with the isocenter O of the radiotherapy device 100, so as to realize the monitoring of the patient's position and ensure that the radiation beam emitted by the radiotherapy device 100 will not irradiate the patient's normal tissue.

[0049] In summary, the radiotherapy monitoring system provided by the embodiment of the present application includes: radiotherapy equipment and at least one stereo camera. Before treating the patient, a first body surface three-dimensional image of the patient is obtained by at least one stereo camera, so that in the process of controlling the movement of the patient by the support device of the radiotherapy equipment, the movement of the patient can be monitored according to the first body surface three-dimensional image to achieve the positioning of the patient. After the positioning of the patient is completed, in the process of treating the patient by the radiotherapy equipment, a second body surface three-dimensional image of the patient is obtained by at least one stereo camera, so as to monitor the movement of the patient according to the second body surface three-dimensional image, and ensure that the radiation beam emitted by the radiotherapy equipment will not irradiate the normal tissue of the patient. The positioning of the patient and the monitoring of the patient's position can be achieved without using an IGRT system including imaging equipment such as CT or CBCT equipment. Since the stereo camera is not radioactive when working, the radiation amount borne by the patient is small, so that the radiotherapy monitoring system has a better treatment effect on the patient. In addition, the number of stereo cameras in the radiotherapy monitoring system only needs to be guaranteed to be the same as the number of isocenters of the radiotherapy equipment. Therefore, the number of stereo cameras in the radiotherapy monitoring system is small, and the manufacturing cost of the radiotherapy monitoring system is low.

[0050] In the embodiments of the present application, Figure 1 As shown, the radiotherapy device 100 in the radiotherapy monitoring system 000 may also include: a rotating rack 102 for mounting a treatment head. The rotating rack 102 may be a non-open rack or an open rack. Here, the non-open rack may include a closed rack surrounding the patient, such as a drum rack, and the open rack may include a non-closed rack partially surrounding the patient. The open rack may also be understood as other racks other than the non-open rack, such as a C-arm, a drum rack or a mechanical arm, etc.

[0051] The overall architecture of the radiotherapy monitoring system 000 is also different for different types of rotating racks 102. To this end, the present application embodiment will be schematically described using the following two optional implementation methods as examples:

[0052] In the first optional implementation, if Figure 2 As shown, Figure 2 1 is a structural diagram of a radiotherapy monitoring system provided by another embodiment of the present application. The rotating frame in the radiotherapy device 100 is: a non-open frame 102a. At least one isocenter of the radiotherapy device 100 may include: an actual isocenter O1 located in the non-open frame 102a, and a virtual isocenter O2 located outside the non-open frame 102a and above the support device 101. There is a preset position relationship between the virtual isocenter O2 and the actual isocenter O1.

[0053] In this case, there are two stereo cameras in the radiotherapy monitoring system 000, and the two stereo cameras can be respectively: a first stereo camera 201 and a second stereo camera 202. The first stereo camera 201 corresponds to the actual isocenter O1 of the radiotherapy device 100, the shooting direction of the first stereo camera 201 is toward the inner area of ​​the non-open frame 102a, and the shooting range of the first stereo camera 201 covers the actual isocenter O1; the second stereo camera 202 corresponds to the virtual isocenter O2 of the radiotherapy device 100, the shooting direction of the second stereo camera 202 is toward the support surface of the support device 101, and the shooting range of the second stereo camera 202 covers the virtual isocenter O2.

[0054] In an embodiment of the present application, during the patient positioning stage, that is, before the radiotherapy device 100 treats the patient, the second stereo camera 202 can be used to obtain a first body surface three-dimensional image of the patient. During the process of the support device 101 of the radiotherapy device 100 controlling the movement of the patient, the control device can monitor the movement of the patient based on the first body surface three-dimensional image until the target point of the patient after the movement coincides with the virtual isocenter O2 of the radiotherapy device 100, and the patient positioning process can be completed. After the patient positioning is completed, the support device 101 of the radiotherapy device 100 needs to move a preset distance based on the preset position relationship between the virtual isocenter O2 and the actual isocenter O1. In this way, the target point of the patient after the movement can coincide with the actual isocenter O1 of the radiotherapy device. Subsequently, the patient can be treated by the radiotherapy device 100.

[0055] During the treatment stage of the patient, that is, during the treatment of the patient by the radiotherapy device 100, a second body surface three-dimensional image of the patient can be acquired through the first stereo camera 201, and the control device can monitor the movement of the patient based on the second body surface three-dimensional image to ensure that the radiation beam emitted by the radiotherapy device 100 does not irradiate the patient's normal tissue.

[0056] In the embodiment of the present application, when the radiotherapy monitoring system 000 includes the first stereo camera 201 and the second stereo camera 202, the first stereo camera 201 can be close to the non-open frame 102a in the radiotherapy device 100 relative to the second stereo camera 202, or can be far away from the non-open frame 102a in the radiotherapy device 100. To this end, the embodiment of the present application will take the following two possible implementation methods as examples for schematic description:

[0057] The first possible way is to Figure 2As shown, when the first stereo camera 201 is closer to the non-open frame 102a in the radiotherapy equipment 100 relative to the second stereo camera 202, the distance between the first stereo camera 201 and the non-open frame 102a is usually small. Therefore, in order to ensure that the imaging quality of the second body surface reference image of the patient acquired by the first stereo camera 201 is better, it is necessary to ensure that the working distance of the first stereo camera 201 is small, that is, the first stereo camera 201 can be a short-focus camera.

[0058] Since the shooting direction of the second stereo camera 202 is toward the support surface of the support device 101, the probability of the patient colliding with the second stereo camera 202 is relatively high when the patient moves onto or out of the support device 101. In order to reduce the probability of the patient colliding with the second stereo camera 202, it is necessary to ensure that the distance between the second stereo camera 202 and the support surface of the support device 101 is relatively large. In this way, the working distance of the second stereo camera 202 needs to be relatively large, that is, the second stereo camera 202 is a telephoto camera, so as to ensure that the imaging quality of the first body surface reference image acquired by the second stereo camera 202 is relatively good.

[0059] It should be noted that, usually, it is necessary to select a short-focus camera or a long-focus camera based on factors such as the size of the non-open rack of the actual radiotherapy equipment and the size of the treatment room space. A long-focus camera refers to a stereo camera whose working distance is greater than a first preset threshold, and a short-focus camera refers to a stereo camera whose working distance is less than or equal to a second preset threshold. Here, the first preset threshold and the second preset threshold may not be equal, for example, the first preset threshold is 0.5 meters, and the second preset threshold is 1.5 meters. Of course, the first preset threshold and the second preset threshold may also be equal, for example, the first preset threshold and the second preset threshold are both 1 meter, that is, the working distance of the long-focus camera is greater than 1 meter, and the working distance of the short-focus camera is less than or equal to 1 meter.

[0060] Regarding the configuration of the first stereo camera 201. In one case, Figure 2 As shown, the first stereo camera 201 can extend into the non-open frame 102a from the front end or the rear end of the non-open frame 102a. Figure 3 As shown, Figure 3 2 is a schematic diagram of the structure of another radiotherapy monitoring system provided by another embodiment of the present application. The first stereo camera 201 may not extend into the non-open frame 102a, but needs to face the front end or rear end of the non-open frame 102a. Both of these situations can ensure that the shooting range of the first stereo camera 201 covers the actual isocenter O1 of the radiotherapy device 100.

[0061] The front end face of the non-open rack 102a generally refers to the end face of the non-open rack 102a close to the supporting device 101, and the rear end face of the non-open rack 102a generally refers to the end face of the non-open rack 102a away from the supporting device 101. It should be noted that, Figure 2 and Figure 3 The schematic description is given by taking the example of the first stereo camera 201 shooting from the front end surface to the rear end surface of the non-open frame 102a, and the shooting of the first stereo camera 201 from the rear end surface to the front end surface of the non-open frame 102a is no longer described by the drawings.

[0062] In some possible implementations, the non-open frame 102a in the radiotherapy device 100 is close to the wall of the treatment room where the radiotherapy device 100 is located. In this case, in order to ensure that the shooting range of the first stereo camera 201 can cover the actual isocenter O1 of the radiotherapy device 100, it is necessary to ensure that the first stereo camera 201 shoots from the front end to the rear end of the non-open frame 102a.

[0063] In the embodiment of the present application, when the first stereo camera 201 shoots from the front end surface to the rear end surface of the non-open frame 102a, in order to reduce the probability of the patient colliding with the second stereo camera 202 during the process of the patient moving onto or moving out of the supporting device 101, it is necessary to ensure that when the supporting device 101 is located outside the non-open frame 102a, the first stereo camera 201 is located between the non-open frame 102a and the supporting device 101 in the axial direction of the non-open frame 102a. In this case, since the process of the patient moving onto and moving out of the supporting device 101 is performed when the supporting device 101 is located outside the non-open frame 102a, when the supporting device 101 is located outside the non-open frame 102a, the first stereo camera 201 is located between the non-open frame 102a and the supporting device 101 in the axial direction of the non-open frame 102a. Therefore, when the patient moves onto or out of the supporting device 101 , the probability of the patient colliding with the first stereo camera 201 is low.

[0064] Regarding the configuration of the second stereo camera 202. In one case, Figure 2 As shown, the second stereo camera 202 can be located above the supporting device 101 in the radiotherapy device 100. In this case, after the shooting direction of the second stereo camera 202 is toward the supporting surface of the supporting device 101, it can be ensured that the shooting range of the second stereo camera 202 can cover the virtual isocenter O2 of the radiotherapy device 100.

[0065] In another case, if Figure 3 As shown, the second stereo camera 202 can also be at the tail of the support device 101 in the radiotherapy device 100, wherein the tail of the support device 101 is the end of the support device 101 away from the non-open frame 102a. In this case, after the second stereo camera 202 is directed to one side of the support device 101, it can be ensured that the shooting range of the second stereo camera 202 can cover the virtual isocenter O2 of the radiotherapy device 100.

[0066] The second possible implementation method is Figure 4 As shown, Figure 4 It is a structural diagram of another radiotherapy monitoring system provided by another embodiment of the present application. When the first stereo camera 201 is far away from the non-open frame 102a in the radiotherapy device 100 relative to the second stereo camera 202, the distance between the first stereo camera 201 and the non-open frame 102a is large. Therefore, in order to ensure that the imaging quality of the second body surface reference image of the patient obtained by the first stereo camera 201 is good, it is necessary to ensure that the working distance of the first stereo camera 201 is large, that is, the first stereo camera 201 can be a telephoto camera. The structure and setting method of the second stereo camera 202 can refer to the first implementable method mentioned above, and the embodiment of the present application will not be repeated. Therefore, the second stereo camera 202 can also be a telephoto camera.

[0067] In the first and second implementations described above, the first stereo camera 201 and the second stereo camera 202 need to be fixed by a connector. Figures 2 to 4 As shown, the radiotherapy monitoring system 000 may further include: a first connecting member 400 connected to the first stereo camera 201 , and a second connecting member 500 connected to the second stereo camera 202 .

[0068] The first connector 400 may be disposed at a first reference position D1 in the treatment room where the radiotherapy device 100 is located, and the second connector 500 may be disposed at a second reference position D2 in the treatment room where the radiotherapy device 100 is located. In the embodiment of the present application, the first reference position D1 and the second reference position D2 in the treatment room may be the same position or different positions. In this way, the first stereo camera 201 may be fixed in the treatment room by the first connector 400, and the second stereo camera 202 may be fixed in the treatment room by the second connector 500.

[0069] It should be noted that the drawings in this application are all illustrated by taking the first reference position D1 and the second reference position D2 in the treatment room as different positions. Figure 2 and Figure 4 In the embodiment, the first reference position D1 and the second reference position D2 are both located in the reference plane S in the treatment room; Figure 3In the embodiment, the first reference position D1 is located in the reference plane S in the treatment room, and the second reference position D2 is located on the tail of the support device 101. Here, the reference plane S may be the surface where the ceiling of the treatment room is located, or may be a support surface for fixing other devices.

[0070] Optional, for Figure 2 and Figure 3 In the first connecting member 400, since the first stereo camera 201 connected to the first connecting member 400 is located between the non-open frame 102a and the supporting device 101 in the axial direction of the non-open frame 102a, the probability of the patient colliding with the first stereo camera 201 is low during the process of the patient moving onto the supporting device 101 or moving out of the supporting device 101. In this way, the first connecting member 400 can be a connecting rod with a fixed length. Of course, the first connecting member 400 can also be a telescopic rod with a non-fixed length.

[0071] for Figure 4 The first connecting member 400 in the radiotherapy device 100, since the inner diameter of the non-open frame 102a is usually 1 meter, in order to allow the shooting direction of the first stereo camera 201 connected to the first connecting member 400 to be toward the inner area of ​​the non-open frame 102a, the distance between the first stereo camera 201 and the supporting surface of the supporting device 101 needs to be less than 1 meter. For example, the distance between the first stereo camera 201 and the supporting surface of the supporting device 101 is about 0.5 meters. In this way, when the patient moves to the supporting device 101 or moves out of the supporting device 101, the patient is very likely to collide with the first stereo camera 201. In order to reduce the probability of the patient colliding with the first stereo camera 201, the first connecting member 400 connected to the first stereo camera 201 can be a telescopic rod that can be extended and retracted along the length direction of the first connecting member 400.

[0072] So, like Figure 5 As shown, Figure 5 yes Figure 4 The effect diagram of the first connecting member in the radiotherapy monitoring system after contraction is shown. Before the patient moves to the supporting device 101, or before the patient moves out of the supporting device 101, the first connecting member 400 can be contracted in the length direction of the first connecting member 400 to reduce the length of the first connecting member 400, so that the distance between the first stereo camera 201 and the supporting surface of the supporting device 101 is larger. In this way, the probability of the patient colliding with the first stereo camera 201 is small during the process of the patient moving to the supporting device 101 or moving out of the supporting device 101.

[0073] After the patient is positioned on the support surface of the support device 101, Figure 4As shown, the first connecting member 400 can be extended in the length direction of the first connecting member 400 to increase the length of the first connecting member 400, so that the distance between the first stereo camera 201 and the supporting surface of the supporting device 101 is smaller. In this way, the shooting direction of the first stereo camera 201 is toward the inner area of ​​the non-open frame 102a, so that the shooting range of the first stereo camera 201 can cover the actual isocenter O1 of the radiotherapy device 100.

[0074] for Figures 2 to 4 In the second connecting member 500, since the distance between the second stereo camera 202 connected by the second connecting member 500 and the virtual isocenter O2 of the radiotherapy device 000 is relatively large, the probability of the patient colliding with the first stereo camera 201 is relatively low during the process of the patient moving onto or off the supporting device 101. In this way, the second connecting member 500 may also be a connecting rod with a fixed length.

[0075] Optionally, when the first stereo camera 201 is close to the non-open frame 102a relative to the second stereo camera 202, in addition to using the first connecting member 400 and the second connecting member 500 to respectively install the first stereo camera 201 and the second stereo camera 202 in the treatment room, the embodiment of the present application can also use the following method to achieve the installation of the first stereo camera 201 and the second stereo camera 202 in the treatment room.

[0076] like Figure 6 As shown, Figure 6 It is a structural schematic diagram of a radiotherapy monitoring system provided by another embodiment of the present application. The radiotherapy monitoring system 000 may also include: a fixed rod 600 arranged in the treatment room where the radiotherapy equipment 100 is located. The fixed rod 600 may include: a first branch fixed rod 601 and a second branch fixed rod 602. Among them, the first branch fixed rod 601 can face one side of the non-open frame 102a and be connected to the first stereo camera 201, so that the shooting direction of the first stereo camera 201 can be toward the internal area of ​​the non-open frame 102a; the second branch fixed rod 602 can face one side of the supporting device 101, and be connected to the second stereo camera 201, so that the shooting direction of the second stereo camera 202 can be toward the supporting surface of the supporting device 101.

[0077] Here, the fixing rod 600 may be a fixing rod with a fixed length, or may be a telescopic rod with a variable length.

[0078] In the embodiment of the present application, the fixing rod 600 may further include: a connecting fixing rod 603. One end of the connecting fixing rod 603 may be arranged in the reference plane S of the treatment room, one end of the first branch fixing rod 601 away from the first stereo camera 201 may be fixedly connected to the connecting fixing rod 603, and one end of the second branch fixing rod 602 away from the second stereo camera 202 may also be fixedly connected to the connecting fixing rod 603.

[0079] Optionally, in the axial direction of the non-open frame 102a, the connecting and fixing rod 603 is located between the non-open frame 102a and the supporting device 101. In this case, since the process of the patient moving onto the supporting device 101 and moving out from the supporting device 101 is performed when the supporting device 101 is located outside the non-open frame 102a, when the supporting device 101 is located outside the non-open frame 102a, in the axial direction of the non-open frame 102a, the connecting and fixing rod 603 is located between the non-open frame 102a and the supporting device 101. Therefore, in the process of the patient moving onto the supporting device 101 or moving out from the supporting device 101, the probability of the patient colliding with the first stereo camera 201 and the second stereo camera 202 on the connecting and fixing rod 603 is low. In this way, the connecting and fixing rod 603 can be a connecting rod with a fixed length.

[0080] Regarding the installation position of the first branch fixing rod 601 on the connecting fixing rod 603. In order to ensure that the first stereo camera 201 connected to the first branch fixing rod 601 can normally face the internal area of ​​the non-open frame 102a, the connection position of the first branch fixing rod 601 on the connecting fixing rod 603 needs to be closer to the end of the connecting fixing rod 603 away from the reference surface S. In this case, the distance between the first stereo camera 201 and the non-open frame 102a is small, and the working distance of the first stereo camera 201 is less than or equal to the preset distance. That is, the first stereo camera 201 is a short-focus camera. In this way, the imaging quality of the second body surface three-dimensional image captured by the first stereo camera 201 can be guaranteed to be good.

[0081] There are many situations for the installation position of the second branch fixing rod 602 on the connecting fixing rod 603. The present application embodiment will take the following two situations as examples for exemplary description:

[0082] The first case, such as Figure 6As shown, the installation position of the second branch fixing rod 602 on the connecting fixing rod 603 is closer to the end of the connecting fixing rod 603 away from the reference surface S. In this case, the distance between the second stereo camera 202 and the virtual isocenter O2 above the supporting surface of the supporting device 101 is small, and the working distance of the second stereo camera 202 is less than or equal to the preset distance. That is, the second stereo camera 202 is a short-focus camera. In this way, the imaging quality of the first body surface three-dimensional image collected by the second stereo camera 202 can be guaranteed to be good.

[0083] The second case, such as Figure 7 As shown, Figure 7 It is a structural schematic diagram of another radiotherapy monitoring system provided by another embodiment of the present application. The installation position of the second branch fixing rod 602 on the connecting fixing rod 603 is closer to the end of the connecting fixing rod 603 facing the reference surface S. In this case, the distance between the second stereo camera 202 and the virtual isocenter O2 above the supporting surface of the supporting device 101 is large, and the working distance of the second stereo camera 202 is greater than the preset distance. That is, the second stereo camera 202 is a telephoto camera. In this way, the imaging quality of the first body surface three-dimensional image captured by the second stereo camera 202 can be guaranteed to be good.

[0084] In the second alternative implementation, Figure 8 As shown, Figure 8 1 is a structural diagram of a radiotherapy monitoring system provided by another embodiment of the present application. The rotating frame in the radiotherapy device 100 is: an open frame 102b. The at least one isocenter point in the radiotherapy device 100 includes: an isocenter point O, and the isocenter point O is usually located in the treatment area of ​​the open frame 102b.

[0085] In this case, the number of the stereo camera 200 in the radiotherapy monitoring system 000 is one, the shooting direction of the stereo camera 200 is toward the treatment area of ​​the open frame 102 b, and the shooting range of the stereo camera 200 covers the isocenter O.

[0086] In the embodiment of the present application, during the patient positioning stage, that is, before the radiotherapy device 100 treats the patient, the first body surface three-dimensional image of the patient can be obtained through the stereo camera 200. During the process of the support device 101 of the radiotherapy device 100 controlling the movement of the patient, the control device can monitor the movement of the patient based on the first body surface three-dimensional image until the target point of the patient after the movement coincides with the isocenter O of the radiotherapy device 100, and the patient positioning process is completed. During the patient treatment stage, that is, during the treatment of the patient by the radiotherapy device 100, the second body surface three-dimensional image of the patient can be obtained again through the stereo camera 200. The control device can monitor the movement of the patient based on the second body surface three-dimensional image to ensure that the radiation beam emitted by the radiotherapy device 100 does not irradiate the patient's normal tissue.

[0087] Optionally, the radiotherapy monitoring system 000 may further include: a connecting rod 700. One end of the connecting rod 700 may be fixedly connected to the stereo camera 200, and the other end may be fixedly connected to a reference surface S in the treatment room where the radiotherapy device 100 is located. The stereo camera 200 may be installed in the treatment room where the radiotherapy device 100 is located through the connecting rod 700. For example, the reference surface S in the treatment room may be the surface where the ceiling in the treatment room is located, or may be a support surface for fixing other devices.

[0088] Since the treatment area of ​​the open frame 102b is usually large, even if the distance between the stereo camera 200 and the support surface of the support device 101 is large, it can be ensured that the shooting range of the stereo camera 200 can cover the isocenter O of the radiotherapy equipment 100. In this way, when the patient moves onto the support device 101 or moves out of the support device 101, the probability of the patient colliding with the stereo camera 200 is small. In addition, when the treatment area of ​​the open frame 102b is large, the distance between the stereo camera 200 and the isocenter O of the radiotherapy equipment is also large, so the working distance of the stereo camera 200 is large, for example, the working distance of the stereo camera 200 is greater than the preset distance, that is, the stereo camera 200 is a telephoto camera. In this way, it can be ensured that the imaging quality of the first body surface three-dimensional image and the second body surface three-dimensional image captured by the stereo camera 200 is good.

[0089] In the embodiment of the present application, the connecting rod 700 may be a connecting rod with a fixed length, or may be a telescopic rod that is telescopic along the length direction of the connecting rod 700. The embodiment of the present application does not limit this.

[0090] It should be noted that, for the telescopic rod in the above embodiment, the telescopic rod may include: a rod-shaped valve body and a rod-shaped valve core, one end of the valve core may be located inside the valve body, and the other end may be located outside the valve body, and the valve core can be telescopic in the valve body, so that the length of the telescopic rod can be changed. Here, the valve body can be a cylinder or a hydraulic cylinder, etc. It should be noted that in other possible implementations, the telescopic rod can also be other types of telescopic rods, for example, the telescopic rod can be formed by a plurality of sub-connecting rods that are mutually sleeved and can slide. Therefore, the embodiments of the present application do not limit the specific structure of the telescopic rod.

[0091] In summary, the radiotherapy monitoring system provided by the embodiment of the present application includes: radiotherapy equipment and at least one stereo camera. Before treating the patient, a first body surface three-dimensional image of the patient is obtained by at least one stereo camera, so that in the process of controlling the movement of the patient by the support device of the radiotherapy equipment, the movement of the patient can be monitored according to the first body surface three-dimensional image to achieve the positioning of the patient. After the positioning of the patient is completed, in the process of treating the patient by the radiotherapy equipment, a second body surface three-dimensional image of the patient is obtained by at least one stereo camera, so as to monitor the movement of the patient according to the second body surface three-dimensional image, and ensure that the radiation beam emitted by the radiotherapy equipment will not irradiate the normal tissue of the patient. The positioning of the patient and the monitoring of the patient's position can be achieved without using an IGRT system including imaging equipment such as CT or CBCT equipment. Since the stereo camera is not radioactive when working, the radiation amount borne by the patient is small, so that the radiotherapy monitoring system has a better treatment effect on the patient. In addition, the number of stereo cameras in the radiotherapy monitoring system only needs to be guaranteed to be the same as the number of isocenters of the radiotherapy equipment. Therefore, the number of stereo cameras in the radiotherapy monitoring system is small, and the manufacturing cost of the radiotherapy monitoring system is low.

[0092] The present application also provides a control method for a radiotherapy monitoring system. The control method can be applied to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 7 or Figure 8 The radiotherapy monitoring system shown. The control method may include:

[0093] Step S1: Before the radiotherapy device in the radiotherapy monitoring system treats the patient, a first body surface reference image of the patient is acquired by at least one stereo camera, and the movement of the patient is monitored based on the first body surface reference image.

[0094] For example, before the radiotherapy equipment in the radiotherapy monitoring system treats the patient, the control device in the radiotherapy monitoring system can obtain a first body surface reference image of the patient through at least one stereo camera and monitor the movement of the patient based on the first body surface reference image.

[0095] Step S2: During the process of the radiotherapy equipment in the radiotherapy monitoring system treating the patient, a second body surface reference image of the patient is acquired by at least one stereo camera, and the movement of the patient is monitored based on the second body surface reference image.

[0096] For example, during the process of the radiotherapy equipment in the radiotherapy monitoring system treating the patient, the control device in the radiotherapy monitoring system can obtain a second body surface reference image of the patient through at least one stereo camera, and monitor the movement of the patient based on the second body surface reference image.

[0097] Optionally, the control method of the radiotherapy monitoring system may also include: when a user instruction for starting to monitor the patient's movement is received, controlling the stereoscopic camera to switch to a start shooting state; when a user instruction for stopping monitoring the patient's movement is received, controlling the stereoscopic camera to switch to a stop shooting state; when a user instruction for pausing monitoring the patient's movement is received, controlling the stereoscopic camera to switch to a pause shooting state.

[0098] For example, the control device in the radiotherapy monitoring system can receive different user instructions, so that the control device can control the stereo camera to switch to different states according to different user instructions. For example, the control device can have different control buttons corresponding to different user instructions, and after the operator presses the control button, the control device can receive the corresponding control instruction.

[0099] For example, when the control device receives a user instruction for starting to monitor the patient's movement, the control device can control the stereo camera to switch to the start shooting state, so that the stereo camera can obtain the patient's first body surface three-dimensional image or the second body surface three-dimensional image; when the control device receives a user instruction for stopping monitoring the patient's movement, the control device can control the stereo camera to switch to the stop shooting state, so that the stereo camera can stop obtaining the patient's first body surface three-dimensional image or the second body surface three-dimensional image; when the control device receives a user instruction for pausing monitoring the patient's movement, the control device can control the stereo camera to switch to the pause shooting state, so that the stereo camera can pause obtaining the patient's first body surface three-dimensional image or the second body surface three-dimensional image. In this way, when treating a patient with a radiotherapy device, the operator can trigger different user treatments so that the control device can control the stereo camera to be in different states, thereby assisting in completing the patient's treatment process.

[0100] For different types of radiotherapy monitoring systems, the implementation methods of the above step S1 are also different. Therefore, the embodiment of the present application will be described in the following two cases:

[0101] In the first case, when the radiotherapy monitoring system is Figure 2 , Figure 3 , Figure 4 , Figure 6 or Figure 7 In the radiotherapy monitoring system shown, the above step S1 may include: before the radiotherapy device treats the patient, if a user instruction is received to start detecting the patient's movement, a first surface reference image of the patient is acquired through a second stereo camera to monitor the patient's movement based on the first surface reference image.

[0102] In the second case, when the radiotherapy monitoring system is Figure 8 In the radiotherapy monitoring system shown, the above step S1 may include: before the radiotherapy device treats the patient, if a user instruction is received to start detecting the patient's movement, a first surface reference image of the patient is acquired through a stereo camera to monitor the patient's movement based on the first surface reference image.

[0103] For different types of radiotherapy monitoring systems, the implementation methods of the above step S2 are also different. Therefore, the embodiments of the present application will be described in the following three cases:

[0104] In the first case, when the radiotherapy monitoring system is Figure 2 , Figure 3 , Figure 6 or Figure 7 In the radiotherapy monitoring system shown, the above step S2 may include: during the process of radiotherapy equipment treating a patient, if a user instruction is received to start detecting the movement of the patient, a second body surface reference image of the patient is acquired through the first stereo camera to monitor the movement of the patient based on the second body surface reference image.

[0105] In the second case, when the radiotherapy monitoring system is Figure 4 In the case of the radiotherapy monitoring system shown, the above step S2 may include: during the process of the radiotherapy device treating the patient, if a user instruction for starting to detect the movement of the patient is received, the first connecting member is controlled to extend in the length direction thereof so that the first stereo camera can face the inner area of ​​the non-open frame. After the first connecting member is extended, a second body surface reference image of the patient is acquired by the first stereo camera to monitor the movement of the patient according to the second body surface reference image.

[0106] Afterwards, if a user instruction to stop detecting the patient's movement is received, the first stereo camera is controlled to stop acquiring the second body surface reference image, and the first connecting member is controlled to shrink in its length direction so that the distance between the first stereo camera and the supporting surface of the supporting device is larger.

[0107] In the third case, when the radiotherapy monitoring system is Figure 8 In the radiotherapy monitoring system shown, the above step S2 may include: during the process of radiotherapy equipment treating a patient, if a user instruction is received to start detecting the patient's movement, a second surface reference image of the patient is acquired through a stereo camera to monitor the patient's movement based on the second surface reference image.

[0108] It should be noted that the specific process and principle of the control method of the radiotherapy monitoring system provided in the above embodiment can refer to the aforementioned embodiment describing the structure of the radiotherapy monitoring system, and the embodiment of the present application will not elaborate on this.

[0109] In the present application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless otherwise clearly defined.

[0110] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A radiotherapy monitoring system, characterized in that: include: Radiotherapy equipment, comprising: a support device for carrying a patient, the radiotherapy equipment having at least one isocenter; at least one stereo camera, the at least one stereo camera corresponding to the at least one isocenter one-to-one, the shooting range of each stereo camera covering the corresponding isocenter, the at least one stereo camera being configured to: obtain a first body surface three-dimensional image of the patient before the radiotherapy device treats the patient, and / or obtain a second body surface three-dimensional image of the patient during the process of the radiotherapy device treating the patient, so as to monitor the movement of the patient according to the first body surface three-dimensional image and / or the second body surface three-dimensional image; A non-open frame, wherein the at least one isocenter comprises: an actual isocenter point located in the non-open frame, and a virtual isocenter point located outside the non-open frame and above a support surface of the support device, wherein a preset positional relationship exists between the virtual isocenter point and the actual isocenter point; The at least one stereo camera comprises: a first stereo camera corresponding to the actual isocenter, and a second stereo camera corresponding to the virtual isocenter, wherein the shooting direction of the first stereo camera is toward the inner area of ​​the non-open frame, and the shooting range of the first stereo camera covers the actual isocenter; the shooting direction of the second stereo camera is toward the supporting surface of the supporting device, and the shooting range of the second stereo camera covers the virtual isocenter; Among them, each of the stereo cameras is a structured light camera, which is used to emit structured light to the patient on the supporting device and receive the structured light reflected back by the patient's body surface, so that the stereo camera can obtain a first body surface three-dimensional image and / or a second body surface three-dimensional image of the patient.

2. The radiotherapy monitoring system according to claim 1, characterized in that: The first stereo camera is closer to the non-open frame than the second stereo camera.

3. The radiotherapy monitoring system according to claim 2, characterized in that: The first stereo camera is a short-focus stereo camera, and the second stereo camera is a long-focus stereo camera.

4. The radiotherapy monitoring system according to claim 3, characterized in that: The first stereo camera extends from the front end surface or the rear end surface of the non-open frame into the interior of the non-open frame, or the shooting direction of the first stereo camera is toward the front end surface or the rear end surface of the non-open frame; The second stereo camera is located above or at the rear of the supporting device.

5. The radiotherapy monitoring system according to claim 1, characterized in that: The first stereo camera is away from the non-open frame relative to the second stereo camera.

6. The radiotherapy monitoring system according to claim 5, characterized in that: The first stereo camera and the second stereo camera are both telephoto stereo cameras.

7. The radiotherapy monitoring system according to claim 1, characterized in that: The radiotherapy monitoring system further includes: a first connecting member connected to the first stereo camera, and a second connecting member connected to the second stereo camera; The first connecting member is arranged at a first reference position in the treatment room where the radiotherapy equipment is located, and the second connecting member is arranged at a second reference position in the treatment room, and the first reference position and the second reference position are the same position or different positions.

8. The radiotherapy monitoring system according to claim 7, characterized in that: The first connecting member is a telescopic rod.

9. The radiotherapy monitoring system according to claim 1, characterized in that: The radiotherapy monitoring system also includes: a fixed rod arranged on a reference surface in the treatment room, the fixed rod including a first branch fixed rod and a second branch fixed rod, the first branch fixed rod faces one side of the non-open frame and is connected to the first stereo camera, and the second branch fixed rod faces one side of the supporting device and is connected to the second stereo camera.

10. The radiotherapy monitoring system according to claim 1, characterized in that: The radiotherapy monitoring system further includes: a control device connected to the at least one stereo camera and the radiotherapy equipment.

11. A control method for a radiotherapy monitoring system, characterized in that: The method is applied to the radiotherapy monitoring system according to any one of claims 1 to 10, and the method comprises: Before the radiotherapy device in the radiotherapy monitoring system treats the patient, a first body surface reference image of the patient is acquired by the at least one stereo camera, and the movement of the patient is monitored according to the first body surface reference image; During the process of the radiotherapy device treating the patient, a second body surface reference image of the patient is acquired by the at least one stereo camera, and the movement of the patient is monitored based on the second body surface reference image.

12. The method according to claim 11, characterized in that The method further comprises: When receiving a user instruction for starting to monitor the movement of the patient, controlling the stereo camera to switch to a shooting start state; When receiving a user instruction for stopping monitoring the movement of the patient, controlling the stereo camera to switch to a stop shooting state; When a user instruction for pausing monitoring of the patient's movement is received, the stereo camera is controlled to switch to a pause shooting state.

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