A positioning system and method for tracking tumor position changes during radiotherapy

Abstract

The present invention relates to the field of radiotherapy technology, and discloses a positioning method for tracking changes in tumor position during radiotherapy. The method includes: identifying the breathing pattern of a tumor patient during radiotherapy, monitoring the real-time breathing status of the tumor patient during radiotherapy; identifying changes in the body position of the tumor patient in the real-time breathing state, analyzing the degree of influence of the body position change on the breathing rhythm, and identifying the movement pattern of the tumor position; setting a radiation beam at the tumor position according to the position balance point of the tumor position under the breathing pattern; tracking the dynamic coordinates of the tumor position in real time, analyzing the motion trajectory of the tumor position, and setting a multi-angle tracking mechanism for the tumor position according to the correlation pattern between the radiation angle of the radiation beam and the motion trajectory; based on the multi-angle tracking mechanism, tracking the changes in the tumor position during radiotherapy to obtain tracking results. The present invention can accurately track the position changes of the tumor during radiotherapy, thereby improving the overall efficiency and effect of radiotherapy.

Description

Technical Field

[0001] The present invention relates to the field of radiotherapy technology, and in particular to a positioning system and method for tracking changes in tumor position during radiotherapy. Background Art

[0002] Tracking changes in tumor position during radiotherapy refers to the use of specific technologies to monitor and track the position of the tumor during radiotherapy. By monitoring the tumor position in real time and adjusting the irradiation beam accordingly, it can ensure that the tumor receives an accurate radiation dose, reduce dose uncertainty caused by tumor movement, and improve treatment efficacy. With the continuous advancement of medical technology, radiotherapy has become an important means of treating malignant tumors. However, during radiotherapy, due to the complexity and dynamics of the human body's internal environment, the position of the tumor often changes to a certain extent. In order to improve the accuracy and safety of radiotherapy, tumor position tracking technology came into being.

[0003] Traditional technology mainly uses external markers and fixed patient positions to track changes in tumor position during radiotherapy. This method indirectly infers the location of the tumor by setting obvious markers on the patient's body surface, such as metal markers, and restricting the patient to a fixed position during radiotherapy. However, this method may not accurately reflect the actual position changes inside the tumor by relying solely on surface markers, resulting in the failure of radiation to accurately cover the tumor area, affecting the overall efficiency and effectiveness of radiotherapy. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a positioning system and method for tracking the position changes of tumors during radiotherapy, which can accurately track the position changes of tumors during radiotherapy and improve the overall efficiency and effect of radiotherapy.

[0005] In a first aspect, the present invention provides a positioning method for tracking changes in tumor position during radiotherapy, comprising:

[0006] Acquiring a tumor patient to be tracked and the corresponding tumor location, identifying the tumor patient's breathing pattern during radiotherapy, analyzing a position change trend of the tumor location under the breathing pattern, calculating a correlation coefficient between the breathing pattern and the tumor location, and monitoring the real-time breathing status of the tumor patient based on the correlation coefficient and the position change trend;

[0007] identifying changes in the body position of the tumor patient under the real-time respiratory state, analyzing the respiratory rhythm of the tumor patient under different respiratory states based on the changes in body position, identifying the degree of influence of the changes in body position on the respiratory rhythm, fixing a body part of the tumor patient according to the degree of influence to obtain a fixed body position, and identifying a movement pattern of the tumor position based on the fixed body position and the real-time respiratory state;

[0008] analyzing a positional equilibrium point of the tumor position under the respiratory mode based on the movement pattern, identifying a respiratory phase of the real-time respiratory state according to the positional equilibrium point, and setting a radiation beam at the tumor position based on the respiratory phase and the positional equilibrium point;

[0009] Tracking the dynamic coordinates of the tumor position in real time, determining the radiation timing of the radiation beam based on the real-time respiratory state and the dynamic coordinates, analyzing the motion trajectory of the tumor position, identifying the radiation angle of the radiation beam based on the radiation timing, and constructing a correlation pattern between the motion trajectory and the radiation angle. Based on the correlation pattern, setting a multi-angle tracking mechanism for the tumor position;

[0010] Based on the multi-angle tracking mechanism, the changes in the tumor position during radiotherapy are tracked to obtain tracking results.

[0011] In a possible implementation of the first aspect, identifying the breathing pattern of the tumor patient during radiotherapy includes:

[0012] collecting a respiratory signal of the tumor patient;

[0013] extracting key features of the respiratory signal;

[0014] identifying the respiratory stage of the tumor patient based on the key features;

[0015] The breathing pattern of the tumor patient is analyzed based on the key features and the breathing phase.

[0016] In a possible implementation of the first aspect, analyzing a position change trend of the tumor position under the breathing mode includes:

[0017] collecting position data corresponding to the tumor position and respiratory data corresponding to the respiratory pattern;

[0018] extracting a respiratory phase from the respiratory data;

[0019] identifying a synchronization timestamp of the position data and the respiratory data;

[0020] analyzing asynchronous changes of the tumor position during the respiratory phase based on the synchronized timestamp;

[0021] Based on the asynchronous change and the synchronous timestamp, a position change trend of the tumor position under the breathing pattern is analyzed.

[0022] In a possible implementation of the first aspect, identifying a change in the body position of the tumor patient in the real-time respiratory state includes:

[0023] collecting initial body position data of the tumor patient in the real-time breathing state;

[0024] identifying a time period during which the tumor patient's posture is stable under the real-time respiratory state;

[0025] Analyze the influencing conditions of the posture stability time period;

[0026] Calculating the degree of variation of the initial body position data according to the influencing conditions;

[0027] The body position change of the tumor patient in the real-time respiratory state is identified by combining the body position stable time period and the degree of change.

[0028] In a possible implementation of the first aspect, analyzing the breathing rhythm of the tumor patient in different breathing states based on the body position change includes:

[0029] Based on the body position change, real-time monitoring of the respiratory parameters of the tumor patient;

[0030] Calculating the inhalation-exhalation ratio of the tumor patient according to the respiratory parameters, and analyzing the respiratory rate of the tumor patient;

[0031] Performing a stability evaluation on the inhalation-exhalation ratio to obtain a stability evaluation result;

[0032] Calculating the discrete degree of the respiratory frequency under the different respiratory states;

[0033] The stability evaluation result and the discreteness are combined to analyze the breathing rhythm of the tumor patient under different breathing states.

[0034] In a possible implementation of the first aspect, identifying a movement pattern of the tumor position based on the fixed body position and the real-time respiratory state includes:

[0035] extracting time series data of the tumor position based on the fixed body position and the real-time respiratory state;

[0036] identifying tumor characteristics in the time series data;

[0037] identifying the tumor type at the tumor location based on the tumor characteristics;

[0038] Analyzing the affected organs corresponding to the tumor type and analyzing the movement patterns of the affected organs;

[0039] The movement pattern of the tumor position is identified by combining the tumor type, the affected organ and the movement pattern.

[0040] In a possible implementation of the first aspect, analyzing, based on the movement pattern, a position equilibrium point of the tumor position under the breathing mode includes:

[0041] Based on the movement law, extracting characteristic parameters of the tumor position under the change of the breathing pattern;

[0042] identifying the expiratory phase and the inspiratory phase corresponding to the tumor position according to the characteristic parameters;

[0043] Calculating the minimum position change point corresponding to the exhalation phase and the inhalation phase;

[0044] The position equilibrium point of the tumor position under the breathing mode is analyzed according to the minimum position change point.

[0045] In a possible implementation of the first aspect, identifying the radiation angle of the radiation beam according to the radiation timing includes:

[0046] positioning a target area of the radiation beam according to the radiation timing;

[0047] identifying organs at risk corresponding to the target area;

[0048] analyzing a voxel dose of the target area under the radiation beam, and analyzing a dose limit of the organ at risk under the radiation beam;

[0049] calculating a target dose deviation of the radiation beam based on the voxel dose and the dose limit;

[0050] An irradiation angle of the radiation beam is identified based on the target dose deviation.

[0051] In a possible implementation of the first aspect, setting a multi-angle tracking mechanism for the tumor position based on the association pattern includes:

[0052] identifying multi-directional retention points at the tumor location based on the correlation pattern;

[0053] configuring a real-time detection device for the multi-directional retention points and analyzing detection results of the real-time detection device;

[0054] analyzing a degree of deviation of the detection result;

[0055] According to the degree of deviation, a dynamic adjustment mechanism of the real-time detection device is set;

[0056] In combination with the real-time detection device and the dynamic adjustment mechanism, a multi-angle tracking mechanism for the tumor position is set up.

[0057] In a second aspect, the present invention provides a positioning system for tracking changes in tumor position during radiotherapy, characterized in that the system comprises:

[0058] a respiratory monitoring module, configured to obtain a tumor patient to be tracked and the corresponding tumor location, identify the tumor patient's respiratory pattern during radiotherapy, analyze the position change trend of the tumor location under the respiratory pattern, calculate a correlation coefficient between the respiratory pattern and the tumor location, and monitor the real-time respiratory status of the tumor patient based on the correlation coefficient and the position change trend;

[0059] a pattern recognition module, configured to recognize changes in the body position of the tumor patient under the real-time respiratory state, analyze the respiratory rhythm of the tumor patient under different respiratory states based on the changes in body position, recognize the degree of influence of the changes in body position on the respiratory rhythm, fix a body part of the tumor patient according to the degree of influence to obtain a fixed body position, and recognize the movement pattern of the tumor position based on the fixed body position and the real-time respiratory state;

[0060] a radiation analysis module, configured to analyze a positional equilibrium point of the tumor position under the respiratory mode based on the movement pattern, identify a respiratory phase of the real-time respiratory state according to the positional equilibrium point, and set a radiation beam at the tumor position based on the respiratory phase and the positional equilibrium point;

[0061] a correlation tracking setting module, configured to track the dynamic coordinates of the tumor position in real time, determine the radiation timing of the radiation beam based on the real-time respiratory state and the dynamic coordinates, analyze the motion trajectory of the tumor position, identify the radiation angle of the radiation beam based on the radiation timing, and construct a correlation pattern between the motion trajectory and the radiation angle, and set a multi-angle tracking mechanism for the tumor position based on the correlation pattern;

[0062] The position tracking module is used to track the changes in the tumor position during radiotherapy based on the multi-angle tracking mechanism to obtain tracking results.

[0063] Compared with the existing technology, the technical principle and beneficial effects of this solution are:

[0064] The embodiment of the present invention can optimize the emission timing of the radiation beam by synchronizing the patient's breathing, ensuring that the radiation dose reaches the tumor location more accurately and reducing damage to surrounding normal tissues by identifying the breathing pattern of the tumor patient during radiotherapy; further, the embodiment of the present invention can determine the range of possible movement of the tumor during treatment by analyzing the position change trend of the tumor location under the breathing pattern, reduce the uneven radiation dose caused by tumor movement, and improve the local control rate of radiotherapy; the embodiment of the present invention can help doctors optimize the patient's body position fixation by identifying the body position changes of the tumor patient under the real-time breathing state, reduce the change of tumor position caused by respiratory movement, thereby reducing unnecessary irradiation of surrounding normal tissues and reducing the risk of side effects; further, based on the body position changes, the embodiment of the present invention analyzes the body position of the tumor patient under different breathing states. The breathing rhythm can achieve synchronous breathing between the patient and the treatment device, ensuring that treatment is performed when the tumor is in the ideal position; the embodiment of the present invention can track the tumor position in real time by identifying the movement pattern of the tumor position based on the fixed body position and the real-time breathing state, thereby being able to more accurately control the delivery of radiation dose, avoid unnecessary damage to surrounding healthy tissues, and reduce side effects; further, the embodiment of the present invention can determine at which respiratory phase the tumor position is most stable by analyzing the position equilibrium point of the tumor position under the breathing mode based on the movement pattern, thereby performing precise radiotherapy; the embodiment of the present invention can achieve full coverage of the tumor position by setting a multi-angle tracking mechanism for the tumor position based on the association mode, reducing tracking errors caused by changes in the tumor position, and at the same time achieving accurate tracking of complex tumor motion trajectories. Therefore, the positioning method for tracking changes in tumor position during radiotherapy proposed in the embodiment of the present invention can accurately track changes in the position of the tumor during radiotherapy, thereby improving the overall efficiency and effectiveness of radiotherapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0066] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0067] Figure 1 A flowchart of a positioning method for tracking changes in tumor position during radiotherapy provided by one embodiment of the present invention;

[0068] Figure 2 A schematic diagram of a module of a positioning system for tracking changes in tumor position during radiotherapy provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0069] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0070] An embodiment of the present invention provides a positioning method for tracking changes in the position of a tumor during radiotherapy. The execution subject of the positioning method for tracking changes in the position of a tumor during radiotherapy includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present invention. In other words, the positioning method for tracking changes in the position of a tumor during radiotherapy can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0071] See Figure 1 FIG. 1 is a flow chart of a positioning method for tracking changes in tumor position during radiotherapy provided by an embodiment of the present invention. Figure 1 A localization method described in

[15] for tracking changes in tumor position during radiotherapy includes:

[0072] S1. Obtain the tumor patient to be tracked and the corresponding tumor location, identify the breathing pattern of the tumor patient during radiotherapy, analyze the position change trend of the tumor location under the breathing pattern, calculate the correlation coefficient between the breathing pattern and the tumor location, and monitor the real-time breathing status of the tumor patient based on the correlation coefficient and the position change trend.

[0073] By acquiring the tumor patient to be tracked and the corresponding tumor location, the embodiment of the present invention can clarify the target area of radiotherapy, and provide a basis for real-time monitoring and adjustment of treatment parameters to ensure that the radiation beam is always aimed at the tumor location of the tumor patient. The tumor patient refers to a cancer patient who needs to receive radiotherapy, and the tumor location refers to the specific location of the tumor in the patient's body.

[0074] Optionally, the tumor location can be acquired by imaging examination, such as CT examination.

[0075] Furthermore, the embodiments of the present invention can optimize the timing of radiation beam emission by synchronizing the patient's breathing, ensuring that the radiation dose is delivered to the tumor location more accurately and reducing damage to surrounding normal tissues by identifying the breathing pattern of the tumor patient during radiotherapy. The breathing pattern refers to the breathing movement of the tumor patient during radiotherapy.

[0076] As an embodiment of the present invention, the identifying of the breathing pattern of the tumor patient during radiotherapy includes: collecting the breathing signal of the tumor patient; extracting the key features of the breathing signal; identifying the breathing stage of the tumor patient based on the key features; and analyzing the breathing pattern of the tumor patient according to the key features and the breathing stage.

[0077] The respiratory signal refers to data representing the patient's respiratory activity collected by the sensor, the key feature refers to important information extracted from the respiratory signal, such as respiratory rate, and the respiratory phase refers to the exhalation phase and the inhalation phase during the breathing process.

[0078] Optionally, the respiratory signal of the tumor patient can be acquired through a respiratory belt, and the key feature extraction of the respiratory signal can be implemented using machine learning tools, such as PyTorch tools. Based on the key features, the respiratory stage identification of the tumor patient can be obtained through a pressure sensor, such as using a pressure sensor to monitor abdominal pressure changes caused by breathing.

[0079] By analyzing the position change trend of the tumor position under the breathing mode, the embodiment of the present invention can determine the range of possible movement of the tumor during treatment, reduce the uneven radiation dose caused by tumor movement, and improve the local control rate of radiotherapy. The position change trend refers to the movement and change pattern of the tumor in the patient's body.

[0080] As an embodiment of the present invention, the analysis of the position change trend of the tumor position under the breathing mode includes: collecting position data corresponding to the tumor position and breathing data corresponding to the breathing mode; extracting the breathing stage in the breathing data; identifying the synchronization timestamp of the position data and the breathing data; based on the synchronization timestamp, analyzing the asynchronous change of the tumor position in the breathing stage; based on the asynchronous change and the synchronization timestamp, analyzing the position change trend of the tumor position under the breathing mode.

[0081] Among them, the position data refers to the position information data of the tumor at different time points, the respiratory data refers to the patient's respiratory signal data obtained by the sensor, the synchronous timestamp refers to the mark of the position data and respiratory data at the same time point, and the asynchronous change refers to the change of the tumor position at different respiratory stages.

[0082] Optionally, the position data corresponding to the tumor position can be acquired through 4D MRI, the respiratory data corresponding to the respiratory pattern can be acquired using an optical tracking system, the synchronous timestamp identification of the position data and the respiratory data can be acquired through a timestamp alignment algorithm, and the analysis of the asynchronous changes of the tumor position during the respiratory stage based on the synchronous timestamp can be implemented using a Python library.

[0083] Furthermore, the embodiment of the present invention can help the medical team adjust the direction and intensity of the radiation beam in real time during radiotherapy by calculating the correlation coefficient between the breathing pattern and the tumor position to adapt to the movement of the tumor and reduce damage to surrounding normal tissues. The correlation coefficient refers to the relationship and degree of influence between the change in tumor position and the breathing pattern.

[0084] In an optional embodiment of the present invention, the correlation coefficient between the respiratory pattern and the tumor location is calculated using the following formula:

[0085]

[0086] Where r represents the correlation coefficient between the breathing pattern and the tumor location, m represents the number of data pairs between the breathing pattern and the tumor location, q represents the data value of the breathing pattern, and z represents the data value of the tumor location.

[0087] The embodiment of the present invention monitors the real-time respiratory status of the tumor patient based on the correlation coefficient and the position change trend, which can help study the impact of respiratory movement on tumor location. It also reduces the time the patient needs to maintain a certain respiratory state and reduces the complexity of treatment. The real-time respiratory status refers to the patient's breathing pattern continuously monitored by monitoring equipment during radiotherapy.

[0088] Optionally, the real-time respiratory status monitoring of the tumor patient based on the correlation coefficient and the position change trend can be achieved using a pulmonary function tester.

[0089] S2. Identify the changes in the body position of the tumor patient under the real-time respiratory state; based on the changes in body position, analyze the breathing rhythm of the tumor patient under different breathing states; identify the degree of influence of the body position changes on the breathing rhythm; fix the body part of the tumor patient according to the degree of influence to obtain a fixed body position; and identify the movement pattern of the tumor position based on the fixed body position and the real-time respiratory state.

[0090] The embodiment of the present invention can help doctors optimize the patient's body position fixation by identifying the changes in the body position of the tumor patient in the real-time breathing state, reduce the changes in the tumor position caused by respiratory movement, thereby reducing unnecessary irradiation of surrounding normal tissues and reducing the risk of side effects. The body position changes refer to changes in the patient's body position during radiotherapy, including slight movements and changes in posture.

[0091] As an embodiment of the present invention, the identifying of the changes in the body position of the tumor patient in the real-time respiratory state includes: collecting the initial body position data of the tumor patient in the real-time respiratory state; identifying the body position stable time period of the tumor patient in the real-time respiratory state; analyzing the influencing conditions of the body position stable time period; calculating the degree of variation of the initial body position data based on the influencing conditions; and identifying the body position changes of the tumor patient in the real-time respiratory state in combination with the body position stable time period and the degree of variation.

[0092] Among them, the initial body position data refers to the body posture data of the patient at the beginning of real-time monitoring of the respiratory status, the body position stability time period refers to the time period during which the patient can keep the body stable and motionless during the real-time monitoring of the respiratory status, the influencing conditions refer to the factors that affect the change of the patient's body posture, and the degree of variation refers to the range of change that the patient's initial body position data can reach as the patient's body position changes.

[0093] Optionally, the initial body position data of the tumor patient in the real-time breathing state can be obtained through a body position sensor, such as an accelerometer sensor, and the analysis of the influencing conditions of the body position stability time period can be achieved using statistical analysis tools. Based on the influencing conditions, the calculation of the degree of variation of the initial body position data can be obtained through the coefficient of variation formula.

[0094] Furthermore, the embodiment of the present invention analyzes the breathing rhythm of the tumor patient in different breathing states based on the changes in body position, so that the patient and the treatment equipment can breathe synchronously, ensuring that treatment is performed when the tumor is in an ideal position. The different breathing states refer to the breathing patterns of the human body under different conditions, such as the breath-holding state, and the breathing rhythm refers to the regularity and periodic changes in the patient's breathing pattern during the breathing process.

[0095] As an embodiment of the present invention, the analyzing the breathing rhythm of the tumor patient in different respiratory states based on the body position change includes: monitoring the breathing parameters of the tumor patient in real time based on the body position change; calculating the inhalation-exhalation ratio of the tumor patient according to the breathing parameters, and analyzing the breathing frequency of the tumor patient; performing a stability evaluation on the inhalation-exhalation ratio to obtain a stability evaluation result; calculating the degree of dispersion of the breathing frequency in the different respiratory states; and analyzing the breathing rhythm of the tumor patient in different respiratory states in combination with the stability evaluation result and the degree of dispersion.

[0096] Among them, the respiratory parameter refers to the respiratory measurement value of the cancer patient during the treatment process, the I / E ratio refers to the ratio of the inhalation time to the exhalation time in a complete respiratory cycle, the stability assessment result refers to the stability assessment of the fluctuation of the I / E ratio over a period of time, and the discreteness refers to the change in respiratory frequency.

[0097] Optionally, the stability assessment of the I / E ratio may be achieved through a time series analysis method, and the calculation of the I / E ratio of the tumor patient based on the respiratory parameters may be achieved by utilizing the ratio of the inhalation time to the exhalation time per unit time.

[0098] In an optional embodiment of the present invention, the discrete degree of the respiratory frequency under the different respiratory states is calculated using the following formula:

[0099]

[0100] Among them, P represents the discrete degree of respiratory frequency in different respiratory states, n represents the number of samples in different respiratory states, i represents the index of respiratory frequency in different respiratory states, and w i represents the weight of the i-th respiratory frequency under different respiratory states, x i Represents the measured value of the i-th respiratory frequency under different respiratory states.

[0101] The embodiment of the present invention can reduce the irregularity of the respiratory state and ensure the effectiveness and safety of treatment by identifying the degree of influence of the body position change on the respiratory rhythm. The degree of influence refers to the level of influence of the body position change on the respiratory rhythm.

[0102] Optionally, the identification of the degree of influence of the body position change on the breathing rhythm may be achieved using a statistical test, such as a t-test.

[0103] Furthermore, the embodiments of the present invention can reduce the movement of the tumor during the patient's breathing by fixing the body part of the tumor patient according to the degree of influence to obtain a fixed position, thereby reducing the uncertainty in the treatment process and improving the accuracy of radiotherapy. The fixed position refers to maintaining the patient's body part in a specific, unchanging position through physical means.

[0104] Optionally, fixing the body part of the tumor patient according to the degree of influence can be achieved by using a fixing device, such as a bandage.

[0105] The embodiments of the present invention can track the tumor position in real time by identifying the movement pattern of the tumor position based on the fixed body position and the real-time respiratory status, thereby more accurately controlling the delivery of the radiation dose, avoiding unnecessary damage to surrounding healthy tissues, and reducing side effects such as radiation pneumonia. The movement pattern refers to the displacement pattern of the tumor in the patient's body with breathing or other physiological activities.

[0106] As an embodiment of the present invention, the identifying the movement pattern of the tumor location based on the fixed body position and the real-time respiratory state includes: extracting time series data of the tumor location based on the fixed body position and the real-time respiratory state; identifying tumor characteristics in the time series data; identifying the tumor type at the tumor location based on the tumor characteristics; analyzing the affected organs corresponding to the tumor type and analyzing the movement patterns of the affected organs; and identifying the movement pattern of the tumor location based on the tumor type, the affected organs and the movement pattern.

[0107] Among them, the time series data refers to the data record of the change of tumor position over time in a fixed body position and real-time breathing state; the tumor characteristics refer to the shape, size, edge, density and other characteristics of the tumor in the time series data; the tumor type refers to the type of tumor identified based on the tumor characteristics, such as benign tumors, malignant tumors, etc.; the affected organs refer to other organs adjacent to the tumor or that affect the tumor position, such as the lungs, heart, etc.; the motion pattern refers to the operating state of the organ that affects the tumor position, such as heartbeat.

[0108] Optionally, the time series data extraction of the tumor location based on the fixed body position and the real-time respiratory status can be obtained by implementing a recorder in the image, such as a recorder in CBCT. The tumor feature identification in the time series data can be achieved using image processing software. The tumor type identification at the tumor location based on the tumor features can be obtained by CT judgment. The motion pattern analysis affecting the organ can be achieved using EPID images.

[0109] S3. Based on the movement pattern, analyze the position balance point of the tumor position under the breathing mode, identify the respiratory phase of the real-time respiratory state according to the position balance point, and set the radiation beam at the tumor position based on the respiratory phase and the position balance point.

[0110] By analyzing the positional equilibrium point of the tumor position under the breathing mode based on the movement pattern, the embodiment of the present invention can determine in which respiratory phase the tumor position is most stable, thereby performing precise radiotherapy. The positional equilibrium point refers to the relatively stable position of the tumor in the respiratory cycle, which is usually the position where the tumor position changes less during inhalation and exhalation.

[0111] As an embodiment of the present invention, analyzing the position equilibrium point of the tumor position under the breathing mode based on the movement law includes: extracting characteristic parameters of the tumor position under the change of the breathing pattern based on the movement law; identifying the expiratory phase and the inspiratory phase corresponding to the tumor position according to the characteristic parameters; calculating the minimum position change point corresponding to the expiratory phase and the inspiratory phase; and analyzing the position equilibrium point of the tumor position under the breathing mode according to the minimum position change point.

[0112] Among them, the characteristic parameters refer to the representative characteristics of the tumor position under the breathing pattern, the expiratory phase refers to the stage when the patient exhales air during the breathing process, the inspiratory phase refers to the stage when the patient inhales air during the breathing process, and the minimum position change point refers to the point at which the tumor position changes the least during the breathing cycle.

[0113] Optionally, the key feature extraction of the tumor position under the breathing pattern change based on the movement law can be achieved by edge detection, and the identification of the expiratory phase and inspiratory phase corresponding to the tumor position based on the key features can be obtained through a respiratory monitor, and the calculation of the minimum position change point corresponding to the expiratory phase and the inspiratory phase can be achieved by using the relationship between the breathing phase change and the target displacement.

[0114] Furthermore, the embodiments of the present invention can determine the tumor position equilibrium point by identifying the respiratory phase of the real-time respiratory state based on the position equilibrium point, reduce the displacement caused by breathing during radiotherapy, and improve the accuracy of treatment. The respiratory phase refers to the different stages or time periods of the patient's breathing process, including the expiratory phase and the inspiratory phase.

[0115] Optionally, the respiratory phase identification of the real-time respiratory state based on the position equilibrium point can be obtained through 4D CT imaging technology.

[0116] The embodiment of the present invention sets the radiation beam at the tumor position based on the respiratory phase and the position equilibrium point, thereby reducing the change in tumor position caused by breathing, thereby reducing the radiation dose to surrounding healthy tissue. At the same time, treatment is performed when the tumor position is most stable, which can better protect surrounding healthy tissue from excessive radiation. The radiation beam refers to a high-energy ray beam generated by a radiotherapy device and is precisely modulated.

[0117] As an embodiment of the present invention, setting the radiation beam at the tumor location based on the respiratory phase and the positional balance point includes: identifying the location of an adjacent organ of the tumor location; analyzing the radiation risk of the adjacent organ location based on the respiratory phase and the positional balance point; identifying the tumor structure at the tumor location based on the respiratory phase and the positional balance point; analyzing the radiation type at the tumor location based on the tumor structure; setting the radiation dose at the tumor location based on the radiation risk and the tumor structure; and setting the radiation beam at the tumor location in combination with the radiation type and the radiation dose.

[0118] Among them, the adjacent organ location refers to those organs around the tumor that are sensitive to radiation, such as the lungs; the radiation risk refers to the risk of damage to adjacent organs due to radiotherapy; the tumor structure refers to the shape, size, location of the tumor and its relationship with surrounding tissues; the radiation type refers to the type of radiation used in radiotherapy, such as X-rays; and the radiation dose refers to the amount of radiation received by the tumor.

[0119] Optionally, the identification of the position of the organs adjacent to the tumor can be obtained through imaging examinations, such as CT examinations. The radiation risk analysis of the position of the adjacent organs based on the respiratory phase and the position balance point can be achieved using dose distribution calculations. The radiation type analysis of the tumor position based on the tumor structure can be achieved through TPS software simulation.

[0120] S4. Track the dynamic coordinates of the tumor position in real time, determine the radiation timing of the radiation beam based on the real-time respiratory state and the dynamic coordinates, and analyze the motion trajectory of the tumor position. According to the radiation timing, identify the radiation angle of the radiation beam, and construct a correlation pattern between the motion trajectory and the radiation angle. Based on the correlation pattern, set a multi-angle tracking mechanism for the tumor position.

[0121] The embodiments of the present invention can ensure that the radiation beam always accurately irradiates the tumor area during the treatment process by real-time tracking of the dynamic coordinates of the tumor position, avoiding misirradiation due to changes in the tumor position, thereby reducing the radiation dose to surrounding healthy tissues. The dynamic coordinates refer to the position coordinates of the tumor that change over time during the respiratory cycle or other physiological activities.

[0122] Optionally, the real-time tracking of the dynamic coordinates of the tumor position can be achieved using an optical tracking system.

[0123] Furthermore, the embodiment of the present invention determines the radiation timing of the radiation beam based on the real-time respiratory state and the dynamic coordinates, so that radiotherapy can be performed when the tumor position is most stable, ensuring that the radiotherapy process achieves the best effect. The radiation timing refers to the best time to start radiotherapy during the radiotherapy process.

[0124] Optionally, the radiation timing of the radiation beam based on the real-time respiratory status and the dynamic coordinates can be obtained through radiotherapy equipment, such as CyberKnife.

[0125] By analyzing the motion trajectory of the tumor position based on the real-time respiratory state and the dynamic coordinates, the embodiment of the present invention can monitor the growth rate and diffusion direction of the tumor, and accurately reflect the actual position and shape of the tumor, providing doctors with accurate tumor positioning information. The motion trajectory refers to the position and morphological change path of the tumor in the human body over time.

[0126] Optionally, the motion trajectory analysis of the tumor position based on the real-time respiratory status and the dynamic coordinates can be obtained by combining imaging technology and real-time tracking algorithms, such as using multiple rapid X-ray scans to capture images of the patient's lung area in real time, and then transmitting the image data to a computer processing unit, and automatically identifying and locking the tumor target through the image recognition, feature extraction and tracking algorithms of the computer processing unit.

[0127] Furthermore, the embodiment of the present invention identifies the radiation angle of the radiation beam based on the radiation timing, which can ensure that the radiation beam can still accurately irradiate the tumor area when the tumor position changes. The radiation angle refers to the angle of the radiation beam relative to the reference coordinate system when irradiating the tumor, including the horizontal angle and the vertical angle.

[0128] As an embodiment of the present invention, identifying the radiation angle of the radiation beam according to the radiation timing includes: locating the target area of the radiation beam according to the radiation timing; identifying the organ at risk corresponding to the target area; analyzing the voxel dose of the target area under the radiation beam, and analyzing the dose limit of the organ at risk under the radiation beam; calculating the target dose deviation of the radiation beam based on the voxel dose and the dose limit; and identifying the radiation angle of the radiation beam according to the target dose deviation.

[0129] Among them, the target area refers to the tumor area that needs to be irradiated with radiation during radiotherapy, the organ at risk refers to the surrounding normal tissue or organ that is sensitive to radiation and may be damaged by radiotherapy, the voxel dose refers to the dose received by each volume pixel in the radiotherapy plan, the dose limit refers to the maximum allowable value of the radiation dose set to protect the organ at risk from radiation damage, and the target dose deviation refers to the difference between the actual dose and the expected dose, including the dose coverage difference of the target area and the dose limit difference of the organ at risk.

[0130] Optionally, the voxel dose analysis of the target area under the radiation beam can be calculated by a radiotherapy system, and the dose limit analysis of the organ at risk under the radiation beam can be obtained using clinical guidelines.

[0131] In an optional embodiment of the present invention, the target dose deviation of the radiation beam is calculated using the following formula:

[0132] J(θ)=∑p TAR (DD presc,TAR ) 2 +∑pOAR(BB presc,OAR ) 2

[0133] Where J(θ) represents the target dose deviation of the radiation beam, TAR represents the target area of the radiation beam, OAR represents the organ at risk corresponding to the target area, D represents the voxel dose of the target area under the radiation beam, and p TAR represents the weight of the target voxel dose, D presc,TAR represents the preset voxel dose of the target area, B represents the voxel limit of the risk organ under the radiation beam, and B presc,OAR represents the preset voxel limit of the organ at risk, p OAR Represents the weight of the organ at risk.

[0134] The embodiment of the present invention sets the association pattern between the motion trajectory and the radiation angle according to the radiation timing, and can automatically adjust the radiation beam angle according to changes in the tumor position to ensure that the radiation beam is always accurately aimed at the tumor, thereby reducing the tracking error caused by changes in the tumor position. The association pattern refers to a model that can reflect the dynamic relationship between the radiation angle and the tumor motion trajectory.

[0135] As an embodiment of the present invention, setting the association pattern between the motion trajectory and the radiation angle according to the radiation timing includes: collecting the radiation parameters of the radiation angle according to the radiation timing; extracting the tumor motion trajectory data under the motion trajectory, and identifying the characteristic factors of the radiation parameters and the tumor motion trajectory data; analyzing the degree of association between the radiation parameters and the tumor motion trajectory data; setting the association algorithm between the motion trajectory and the radiation angle according to the correlation degree and the characteristic factors; and setting the association pattern between the motion trajectory and the radiation angle based on the correlation algorithm and the correlation degree.

[0136] Among them, the radiation parameters refer to a series of physical and clinical parameters related to radiotherapy, such as the irradiation field; the tumor motion trajectory data refers to the motion trajectory data of the tumor changing over time or physiological state; the correlation degree refers to the degree of correlation between the radiation parameters and the tumor motion trajectory data; and the characteristic factors refer to the characteristic parameters related to the radiation parameters and the tumor motion trajectory extracted according to the correlation degree.

[0137] Optionally, the analysis of the degree of correlation between the radiation parameters and the tumor motion trajectory data can be achieved using the Pearson correlation coefficient, the extraction of characteristic factors of the radiation parameters and the tumor motion trajectory data can be obtained through the convolutional layer of a deep learning network, and the setting of the association algorithm between the motion trajectory and the radiation angle based on the degree of correlation and the characteristic factors can be achieved using a neural network.

[0138] Furthermore, the embodiment of the present invention sets up a multi-angle tracking mechanism for the tumor position based on the association pattern, which can achieve all-round coverage of the tumor position, reduce tracking errors caused by changes in the tumor position, and at the same time achieve accurate tracking of complex tumor movement trajectories. The multi-angle tracking mechanism refers to a technology that tracks and monitors the tumor position in real time through multiple different angles.

[0139] As an embodiment of the present invention, the multi-angle tracking mechanism for the tumor position is set based on the association pattern, including: identifying multi-directional retention points of the tumor position based on the association pattern; configuring a real-time detection device for the multi-directional retention points, and analyzing the detection results of the real-time detection device; analyzing the degree of deviation of the detection results; setting a dynamic adjustment mechanism of the real-time detection device according to the degree of deviation; and setting a multi-angle tracking mechanism for the tumor position in combination with the real-time detection device and the dynamic adjustment mechanism.

[0140] Among them, the multi-directional retention points refer to the retention points of the tumor at different positions, the real-time detection device refers to a device that can continuously and quickly obtain tumor position data, the detection result refers to the tumor position data obtained by the real-time detection device, the deviation degree refers to the difference between the real-time detected tumor position and the expected position, and the dynamic adjustment mechanism refers to a mechanism that automatically adjusts the real-time detection device according to the deviation degree of the detection result to ensure accurate tracking of the tumor position.

[0141] Optionally, the real-time detection device configuration of the multi-directional retention points can be obtained through a radiation tracking system, such as an X-ray real-time imaging system, and the deviation degree analysis of the detection results can be achieved using an error function. The dynamic adjustment mechanism setting of the real-time detection device based on the deviation degree can be obtained through a controller combined with mechanical equipment, such as a PID controller combined with an accelerator.

[0142] S5. Based on the multi-angle tracking mechanism, track the changes in the tumor position during the radiotherapy process to obtain a tracking result.

[0143] The embodiment of the present invention tracks the changes in the tumor position during radiotherapy based on the multi-angle tracking mechanism to obtain tracking results. It can track the position changes of the tumor during radiotherapy in real time and accurately, ensure that the radiation beam is always aimed at the tumor target area, improve the accuracy of radiotherapy, and minimize the radiation dose of radiotherapy to the patient's normal tissues, thereby improving the overall efficiency and effectiveness of radiotherapy. The tracking results refer to the tumor position data obtained after continuous and real-time tracking of the changes in the tumor position during radiotherapy based on the multi-angle tracking mechanism.

[0144] It can be seen that the embodiment of the present invention can optimize the emission timing of the radiation beam by synchronizing the patient's breathing, ensuring that the radiation dose is delivered to the tumor position more accurately and reducing damage to surrounding normal tissues by identifying the breathing pattern of the tumor patient during radiotherapy; further, the embodiment of the present invention can determine the range of possible movement of the tumor during treatment by analyzing the position change trend of the tumor position under the breathing pattern, reduce the uneven radiation dose caused by tumor movement, and improve the local control rate of radiotherapy; the embodiment of the present invention can help doctors optimize the patient's body position fixation and reduce the change of tumor position caused by respiratory movement by identifying the body position change of the tumor patient in the real-time breathing state, thereby reducing unnecessary irradiation of surrounding normal tissues and reducing the risk of side effects; further, based on the body position change, the embodiment of the present invention analyzes the tumor patient in different breathing states The breathing rhythm under the fixed body position and the real-time breathing state can achieve synchronous breathing between the patient and the treatment device, ensuring that treatment is performed when the tumor is in the ideal position; the embodiment of the present invention can identify the movement pattern of the tumor position based on the fixed body position and the real-time breathing state, and can track the tumor position in real time, so as to more accurately control the delivery of radiation dose, avoid unnecessary damage to surrounding healthy tissues, and reduce side effects; further, the embodiment of the present invention can determine at which breathing phase the tumor position is most stable by analyzing the position equilibrium point of the tumor position under the breathing mode based on the movement pattern, so as to perform precise radiotherapy; the embodiment of the present invention can achieve full coverage of the tumor position by setting a multi-angle tracking mechanism of the tumor position based on the association pattern, reduce tracking errors caused by changes in the tumor position, and accurately track complex tumor motion trajectories. Therefore, the positioning method for tracking changes in tumor position during radiotherapy proposed in the embodiment of the present invention can accurately track changes in the position of the tumor during radiotherapy, thereby improving the overall efficiency and effect of radiotherapy.

[0145] like Figure 2 FIG. 1 is a functional module diagram of a positioning system for tracking changes in tumor position during radiotherapy according to the present invention.

[0146] The positioning system 200 for tracking tumor position changes during radiotherapy described in the present invention can be installed in an electronic device. Depending on the functionality implemented, the positioning system for tracking tumor position changes during radiotherapy can include a respiratory monitoring module 201, a pattern recognition module 202, a radiation analysis module 203, an association tracking setup module 204, and a position tracking module 205. A module, also referred to as a unit, is a series of computer program segments that can be executed by an electronic device processor and perform a fixed function, and is stored in the electronic device's memory.

[0147] In the embodiment of the present invention, the functions of each module / unit are as follows:

[0148] A respiratory monitoring module 201 is configured to obtain a tumor patient to be tracked and the corresponding tumor location, identify the tumor patient's respiratory pattern during radiotherapy, analyze the position change trend of the tumor location under the respiratory pattern, calculate a correlation coefficient between the respiratory pattern and the tumor location, and monitor the real-time respiratory status of the tumor patient based on the correlation coefficient and the position change trend;

[0149] a pattern recognition module 202 for identifying changes in the body position of the cancer patient under the real-time respiratory state, analyzing the breathing rhythm of the cancer patient under different respiratory states based on the changes in body position, identifying the degree of influence of the changes in body position on the breathing rhythm, fixing a body part of the cancer patient based on the degree of influence to obtain a fixed body position, and identifying a movement pattern of the tumor position based on the fixed body position and the real-time respiratory state;

[0150] a radiation analysis module 203 configured to analyze a positional equilibrium point of the tumor position under the respiratory mode based on the movement pattern, identify a respiratory phase of the real-time respiratory state according to the positional equilibrium point, and set a radiation beam at the tumor position based on the respiratory phase and the positional equilibrium point;

[0151] a correlation tracking setting module 204 for tracking the dynamic coordinates of the tumor position in real time, determining the radiation timing of the radiation beam based on the real-time respiratory state and the dynamic coordinates, analyzing the motion trajectory of the tumor position, identifying the radiation angle of the radiation beam based on the radiation timing, and constructing a correlation pattern between the motion trajectory and the radiation angle, and setting a multi-angle tracking mechanism for the tumor position based on the correlation pattern;

[0152] The position tracking module 205 is used to track the changes in the tumor position during the radiotherapy process based on the multi-angle tracking mechanism to obtain tracking results.

[0153] In detail, the modules in the positioning system 200 for tracking tumor position changes during radiotherapy according to the embodiment of the present invention are used in the same manner as described above. Figure 1 The same technical means as the method for tracking the position changes of tumors during radiotherapy described in , and can produce the same technical effects, will not be repeated here.

[0154] In addition, the functional modules in various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional modules.

[0155] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A positioning system for tracking changes in tumor position during radiotherapy, characterized in that: The system comprises: a respiratory monitoring module, configured to obtain a tumor patient to be tracked and the corresponding tumor location, identify the tumor patient's respiratory pattern during radiotherapy, analyze the position change trend of the tumor location under the respiratory pattern, calculate a correlation coefficient between the respiratory pattern and the tumor location, and monitor the real-time respiratory status of the tumor patient based on the correlation coefficient and the position change trend; a pattern recognition module, configured to recognize changes in the body position of the tumor patient under the real-time respiratory state, analyze the respiratory rhythm of the tumor patient under different respiratory states based on the changes in body position, recognize the degree of influence of the changes in body position on the respiratory rhythm, fix a body part of the tumor patient according to the degree of influence to obtain a fixed body position, and recognize the movement pattern of the tumor position based on the fixed body position and the real-time respiratory state; a radiation analysis module, configured to analyze a positional equilibrium point of the tumor position under the respiratory mode based on the movement pattern, identify a respiratory phase of the real-time respiratory state based on the positional equilibrium point, and set a radiation beam at the tumor position based on the respiratory phase and the positional equilibrium point, including: extracting characteristic parameters of the tumor position under changes in the respiratory mode based on the movement pattern; identifying an expiratory phase and an inspiratory phase corresponding to the tumor position based on the characteristic parameters; calculating a minimum positional change point corresponding to the expiratory phase and the inspiratory phase; and analyzing a positional equilibrium point of the tumor position under the respiratory mode based on the minimum positional change point; a correlation tracking setting module, configured to track the dynamic coordinates of the tumor position in real time, determine the radiation timing of the radiation beam based on the real-time respiratory state and the dynamic coordinates, analyze the motion trajectory of the tumor position, identify the radiation angle of the radiation beam based on the radiation timing, and construct a correlation pattern between the motion trajectory and the radiation angle, and set a multi-angle tracking mechanism for the tumor position based on the correlation pattern; The position tracking module is used to track the changes in the tumor position during radiotherapy based on the multi-angle tracking mechanism to obtain tracking results.

2. The positioning system according to claim 1, wherein: The identifying the breathing pattern of the tumor patient during radiotherapy comprises: collecting a respiratory signal of the tumor patient; extracting key features of the respiratory signal; identifying the respiratory stage of the tumor patient based on the key features; The breathing pattern of the tumor patient is analyzed based on the key features and the breathing phase.

3. The positioning system according to claim 1, wherein: Analyzing the position change trend of the tumor position under the breathing mode includes: collecting position data corresponding to the tumor position and respiratory data corresponding to the respiratory pattern; extracting a respiratory phase from the respiratory data; identifying a synchronization timestamp of the position data and the respiratory data; analyzing asynchronous changes of the tumor position during the respiratory phase based on the synchronized timestamp; Based on the asynchronous change and the synchronous timestamp, a position change trend of the tumor position under the breathing pattern is analyzed.

4. The positioning system according to claim 1, wherein: The identifying the change in the body position of the tumor patient in the real-time respiratory state includes: collecting initial body position data of the tumor patient in the real-time breathing state; identifying a time period during which the tumor patient's posture is stable under the real-time respiratory state; Analyze the influencing conditions of the posture stability time period; Calculating the degree of variation of the initial body position data according to the influencing conditions; The body position change of the tumor patient in the real-time respiratory state is identified by combining the body position stable time period and the degree of change.

5. The positioning system according to claim 1, wherein: The analyzing the breathing rhythm of the tumor patient in different breathing states based on the body position change includes: Based on the body position change, real-time monitoring of the respiratory parameters of the tumor patient; Calculating the inhalation-exhalation ratio of the tumor patient according to the respiratory parameters, and analyzing the respiratory rate of the tumor patient; Performing a stability evaluation on the inhalation-exhalation ratio to obtain a stability evaluation result; Calculating the discrete degree of the respiratory frequency under the different respiratory states; The stability evaluation result and the discreteness are combined to analyze the breathing rhythm of the tumor patient under different breathing states.

6. The positioning system according to claim 1, wherein: The identifying the movement pattern of the tumor position based on the fixed body position and the real-time respiratory state includes: extracting time series data of the tumor position based on the fixed body position and the real-time respiratory state; identifying tumor characteristics in the time series data; identifying the tumor type at the tumor location based on the tumor characteristics; Analyzing the affected organs corresponding to the tumor type and analyzing the movement patterns of the affected organs; The movement pattern of the tumor position is identified by combining the tumor type, the affected organ and the movement pattern.

7. The positioning system according to claim 1, wherein: The identifying the radiation angle of the radiation beam according to the radiation timing includes: positioning a target area of the radiation beam according to the radiation timing; identifying organs at risk corresponding to the target area; analyzing a voxel dose of the target area under the radiation beam, and analyzing a dose limit of the organ at risk under the radiation beam; calculating a target dose deviation of the radiation beam based on the voxel dose and the dose limit; An irradiation angle of the radiation beam is identified based on the target dose deviation.

8. The positioning system according to claim 1, wherein: The multi-angle tracking mechanism for the tumor position is set based on the association pattern, including: identifying multi-directional retention points at the tumor location based on the correlation pattern; configuring a real-time detection device for the multi-directional retention points and analyzing detection results of the real-time detection device; analyzing a degree of deviation of the detection result; According to the degree of deviation, a dynamic adjustment mechanism of the real-time detection device is set; In combination with the real-time detection device and the dynamic adjustment mechanism, a multi-angle tracking mechanism for the tumor position is set up.

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