System and method for automatically adjusting movement track of medical equipment

Abstract

The invention provides a system and method for automatically adjusting the motion trail of medical equipment, and the system comprises storage equipment which is used for storing a set of instruction sets; and at least one processor in communication with the storage device, where the at least one processor, when executing the instruction set, is configured to cause the system to: obtain an initial trajectory of a component of the medical device, where the initial trajectory of the component includes a plurality of initial positions; at least one initial position of the plurality of initial positions is disposed at an initial distance of an isocenter, and the isocenter is configured to align with a center of a region of interest of the patient; and determining whether collision may occur between the object and the component according to the initial trajectory of the component, in response to this, the initial trajectory of the component is updated by updating an initial position of the component in the initial trajectory or updating an initial tilt angle of the component in the initial trajectory to determine an updated trajectory of the component.

Description

Description of the case

[0001] This application is a divisional application filed for the Chinese application with the application date of August 14, 2017, application number 201710693821.1, and invention name “A system and method for adjusting medical equipment”. Technical Field

[0002] The present invention relates to medical equipment, and in particular to a system and method for automatically adjusting the motion trajectory of medical equipment. Background Art

[0003] In scanning with medical equipment, such as cone beam CT (CBCT), in situ scanning is effective and accurate. However, collisions that prevent in situ scanning may occur between components of the medical equipment and the patient. Therefore, collisions between components and the patient should be avoided during in situ scanning. Summary of the invention

[0004] In view of the problem of possible collision between components of medical equipment and patients, the purpose of the present invention is to design a system and method for automatically adjusting the motion trajectory of medical equipment to avoid collision between components of medical equipment and patients during in-situ scanning in the prior art.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution provided by the present invention is as follows:

[0006] One or more embodiments of the present specification provide a system for automatically adjusting the motion trajectory of a medical device, comprising: a storage device for storing a set of instruction sets; and at least one processor, the at least one processor communicating with the storage device, wherein, when executing the instruction set, the at least one processor is configured to enable the system to: obtain an initial trajectory of a component of the medical device, wherein the initial trajectory of the component includes multiple initial positions; at least one initial position of the multiple initial positions is set at an initial distance from an isocenter, and the isocenter is configured to be aligned with the center of a patient's region of interest; and determine whether a collision may occur between an object and the component based on the initial trajectory of the component; and when it is determined that a collision may occur between the object and the component, update the initial trajectory of the component by updating the initial position of the component in the initial trajectory or updating the initial tilt angle of the component in the initial trajectory to determine an updated trajectory of the component.

[0007] One or more embodiments of the present specification provide a method for automatically adjusting the motion trajectory of a medical device, characterized in that it includes: acquiring an initial trajectory of a component in the medical device, wherein the initial trajectory of the component includes multiple initial positions; at least one of the multiple initial positions is set at an initial distance from an isocenter, and the isocenter is configured to be aligned with the center of a patient's area of ​​interest; and determining whether a collision may occur between an object and the component based on the initial trajectory of the component; and when it is determined that a collision may occur between the object and the component, updating the initial trajectory of the component by updating the initial position of the component in the initial trajectory or updating the initial tilt angle of the component in the initial trajectory to determine an updated trajectory of the component.

[0008] One or more embodiments of the present specification provide a non-temporary computer-readable medium, characterized in that it contains a computer program product, which includes an instruction set, and the instruction set is configured to enable the computer system to: obtain an initial trajectory of a component in a medical device, wherein the initial trajectory of the component includes multiple initial positions; at least one of the multiple initial positions is set at an initial distance from an isocenter, and the isocenter is configured to be aligned with the center of a patient's region of interest; and determine whether a collision may occur between an object and the component based on the initial trajectory of the component; and when it is determined that a collision may occur between the object and the component, update the initial trajectory of the component by updating the initial position of the component in the initial trajectory or updating the initial tilt angle of the component in the initial trajectory to determine an updated trajectory of the component.

[0009] One or more embodiments of the present specification also provide a system for automatically adjusting the motion trajectory of a cone beam computed tomography (CBCT) device, characterized in that it includes: a storage device for storing a set of instruction sets; and at least one processor, the at least one processor communicating with the storage device, wherein, when executing the instruction set, the at least one processor is configured to enable the system to: obtain an initial trajectory of a component in a CBCT device, the component including a detector or a scanning source, wherein the initial trajectory of the component includes multiple initial positions; at least one initial position of the multiple initial positions is set at an initial distance from an isocenter, and the isocenter is configured to be aligned with the center of a region of interest of a patient; and determine whether a collision may occur between an object and the component based on the initial trajectory of the component; and when it is determined that a collision may occur between the object and the component, update the initial trajectory of the component by updating the initial position of the component in the initial trajectory or updating the initial tilt angle of the component in the initial trajectory to determine an updated trajectory of the component.

[0010] One or more embodiments of the present specification also provide a system for automatically adjusting the motion trajectory of a radiotherapy RT device, characterized in that it includes: a storage device for storing a set of instruction sets; and at least one processor, the at least one processor communicating with the storage device, wherein, when executing the instruction set, the at least one processor is configured to enable the system to: obtain an initial trajectory of a component in the RT device, the component including a treatment head or an electronic portal imaging device (EPID), wherein the initial trajectory of the component includes multiple initial positions; at least one of the multiple initial positions is set at an initial distance from the isocenter, and the isocenter is configured to be aligned with the center of the patient's area of ​​interest; and determine whether a collision may occur between an object and the component based on the initial trajectory of the component; and when it is determined that a collision may occur between the object and the component, update the initial trajectory of the component by updating the initial position of the component in the initial trajectory or updating the initial tilt angle of the component in the initial trajectory to determine the updated trajectory of the component.

[0011] Compared with the prior art, the present invention can ensure in-situ scanning on the one hand, and can also perform scanning at any angle on the other hand, so that the scanning information is more complete and symmetrical, thereby avoiding artifacts and improving image quality.

[0012] The accompanying drawings described below are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute limitations of the present invention. In each figure, the same reference numeral represents the same component.

[0013] In the following detailed description, many specific details are illustrated by way of example in order to provide a thorough understanding of the invention concerned. However, it should be apparent to those skilled in the art that the present invention can be practiced without these details. In other cases, well-known methods, processes, systems, components and / or circuits are not described in detail at a relatively high level to avoid unnecessarily obscuring some aspects of the present invention. It will be apparent to those skilled in the art that various modifications may be made to the disclosed embodiments. In addition, the general principles defined in the present invention may be applied to other embodiments and application scenarios without departing from the principles and scope of the present invention. Therefore, the present invention is not limited to the disclosed embodiments, but should be given the broadest scope consistent with the claims.

[0014] The terms used herein are only used to describe specific exemplary embodiments and are not limiting. As shown in the present invention and claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other features, integers, steps, operations, elements, components and / or groups.

[0015] Here, "system", "engine", "unit", "module" and / or "block" may be understood as being used to distinguish different parts, components, parts, sections or assemblies in an ascending order. However, the terms may be replaced by other expressions if they achieve the same purpose.

[0016] Generally, the terms "module", "unit" or "block" as used herein refer to logic embodied in hardware or firmware, or to a set of software instructions. The modules, units or blocks described in the present invention may be implemented as software and / or hardware, and may be stored in any type of non-transitory computer-readable medium or other storage device. In some embodiments, software modules / units / blocks may be compiled and linked into an executable program. It is understood that software modules may be called from other modules / units / blocks or themselves, and / or may be called in response to detected events or interrupts. In a computing device (e.g., such as Figure 3 The software modules / units / modules executed on the central processor 220 shown in the figure can be provided on a computer-readable medium, such as a compact disc, a digital video disc, a flash drive, a disk, or any other tangible medium, or as a digital download (which can be initially stored in a compressed or installed format, which needs to be installed, decompressed or decrypted before execution). Such software code can be stored in part or in whole in the storage device of the computer and executed by the computer. The software instructions can be embedded in firmware, such as an erasable programmable read-only memory. It will be further understood that the hardware modules / units / blocks can be included in connected logical components, such as gates and triggers, and / or can include programmable units, such as programmable gate arrays or processors. The modules / units / blocks or computing device functions described in the present invention can be implemented as software modules / units / blocks, but can be represented by hardware or firmware. In general, the modules / units / blocks described here refer to logical modules / units / blocks combined with other modules / units / blocks, or although their physical structure or storage is divided into sub-modules / sub-units / sub-blocks. The description can be applicable to the system, engine or part thereof.

[0017] It is understood that when a unit, engine, module or block is referred to as being "on," "connected to," or "coupled to" another unit, engine, module or block, it may be directly on, connected to, coupled to, or communicate with other units, engines, modules, or blocks, or with intermediate units, engines, modules, or blocks, unless the context clearly indicates otherwise. As used herein, the term "and / or" includes all combinations of at least one of the associated listed elements.

[0018] The features and characteristics of the invention, as well as the method of operation, the functions of the relevant elements of the structure, the combination of the parts, the economy of manufacture, become apparent after considering the description of the drawings which form a part of the present invention. However, it should be understood that the drawings are not to scale and the above drawings are schematic and do not limit the scope of the present invention.

[0019] Systems and methods for adjusting the geometry of a medical device and / or obtaining image data based on the adjusted geometry are provided herein. In some embodiments, the medical device may include one or more combinations of a computed tomography (CT) device, a cone beam CT (CBCT) device, an emission computed tomography (ECT) device, a magnetic resonance imaging (MRI), a radiotherapy (RT) device, and the like.

[0020] The following description is helpful for a better understanding of the CT image reconstruction method and / or system. The term "image" used in the present invention may refer to a 2D image, a 3D image, a 4D image and / or any related image data (e.g., CT data, projection data corresponding to the CT data). This is not intended to limit the scope of the present invention. For those of ordinary skill in the art, the processing and / or application in CT image reconstruction may also be applicable to the imaging systems of other modes described above.

[0021] In addition, the system and method described in the present invention are mainly about the description of avoiding collision between components of medical devices and patients. In some embodiments, the system and method can determine whether a collision between components of medical devices and patients is likely to occur. In some embodiments, the system and method can further adjust the geometric state of the medical device based on the determination of the possible collision. Adjusting the geometric state of the medical device includes updating the trajectory of the components of the medical device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 and Figure 2 is a medical device application scenario diagram provided according to the present invention;

[0023] Figure 3 is a schematic diagram of a computing device provided according to the present invention;

[0024] Figure 4is a schematic diagram of hardware and / or software components of an exemplary mobile device that can implement a terminal according to the present invention;

[0025] Figure 5 is a block diagram of an exemplary processing device provided according to the present invention;

[0026] Figure 6 is an exemplary flow chart of an image reconstruction process provided according to the present invention;

[0027] Figure 7 is an exemplary flow chart of updating component trajectory according to the present invention;

[0028] Figure 8 is a schematic diagram of an initial geometric state of a CBCT provided according to the present invention;

[0029] Fig. 9 is a schematic diagram of an updated CBCT geometric state provided according to the present invention;

[0030] Fig.10 is a schematic diagram of a CBCT provided according to the present invention;

[0031] Figures 11 to 14 It is a schematic diagram of updating the position of at least one component of a radiotherapy device provided according to the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings.

[0033] Figure 1 and Figure 2 1 is a schematic diagram of an exemplary medical system 100 according to some embodiments of the present invention. In some embodiments, the medical system 100 may include a medical device 110, a network 120, at least one terminal 130, a processing device 140, and a memory 150.

[0034] In some embodiments, the medical device 110 may include a CBCT device 110-1. The CBCT device 110-1 may include a gantry 111, a detector 112, a table 114, and a scan source 115. The gantry 111 may support the detector 112 and the scan source 115. An object may be placed on the table 114 for scanning. The scan source 115 may emit a cone-shaped beam of X-rays to the object. The detector 112 may detect the attenuated X-rays. The attenuated X-rays may be processed and converted into image data.

[0035] In some embodiments, the medical device 110 may include a radiotherapy (RT) device 110-2. The RT device 110-2 may include a gantry 116, a table 117, a treatment head 118, and an electronic portal imaging device (EPID) 119. The treatment head 118 may include a target (e.g., Fig.11 Target 901 shown in ), primary grating (e.g., Fig.11 ), a tungsten gate (e.g., Fig.11 tungsten gate 903 shown in ), multi-leaf grating (MLC) (e.g., Fig.11 904) and a housing (e.g., Fig.11 The housing 905 is shown in FIG. 1 . The housing is used to cover at least one component. Specifically, the MLC can be inside or outside the housing. For example, the MLC 904 can be inside the housing 905, such as Figure 12 to Figure 14 As another example, the MLC 904 may be outside the housing 905, such as Fig.11 As shown. Accelerated particles can hit a target 901 to generate radiation. The radiation can include a photon beam, an electron beam, a proton beam, etc. The radiation can form an ideal beam after passing through a primary grating 902, a tungsten gate 903, and a multi-leaf grating 904. The ideal beam can be directed and projected onto an object to implement a treatment plan.

[0036] In some embodiments, the medical device 110 may include a combined CBCT device and RT device (also referred to as a CBCT-RT device 110-3). The CBCT-RT device 110-3 may include a gantry 120, a table 121, a treatment head 122, a detector 123, a scanning source 124, an EPID 125, etc. In some embodiments, the CBCT-RT device 110-3 may not include an EPID. The CBCT-RT device 110-3 may perform scanning and treatment sequentially or simultaneously.

[0037] The network 120 may include any suitable network capable of facilitating information and / or data exchange of the medical system 100. In some embodiments, at least one component of the medical system 100 (e.g., the medical device 110, the terminal 130, the processing device 140, the memory 150) may communicate with at least one other component of the medical system 100 via the network 120. For example, the processing device 140 may obtain image data from the medical device 110 via the network 120. As another example, the processing device 140 may obtain a user instruction from the terminal 130 via the network 120. The network 120 may and / or include a public network (e.g., the Internet), a private network (e.g., a local area network (LAN), a wide area network (WAN)), a wired network (e.g., an Ethernet), a wireless network (e.g., an 802.11 network, a Wi-Fi network, a cellular network (e.g., a long-term evolution (LTE) network), a frame relay network, a virtual private network (VPN), a satellite network, a telephone network, a router, a hub, a server, and the like, and any combination thereof. Merely by way of example, the network 120 may include a wired network, a cable network, a fiber optic network, a telecommunications network, a local area network, a wireless local area network (WLAN), a metropolitan area network (MAN), a public switched telephone network (PSTN), a Bluetooth network, a ZigBee network, a near field communication (NFC) network, and the like, or any combination thereof. In some embodiments, the network 120 may include at least one network access point. For example, the network 120 may include a wired and / or wireless network access point, such as a base station and / or an Internet exchange point. Through the network exchange point, at least one component of the medical system 100 may be connected to the network 120 to exchange data and / or information.

[0038] The terminal 130 may include one or more combinations of a mobile device 131, a tablet computer 132, a laptop computer 133, etc. In some embodiments, the mobile device 131 may include one or more combinations of smart home devices, wearable devices, mobile devices, virtual reality devices, augmented reality devices, etc. In some embodiments, the smart home devices may include one or more combinations of smart lighting devices, control devices of smart appliances, smart monitoring devices, smart TVs, smart cameras, intercoms, etc. In some embodiments, the wearable devices may include one or more combinations of bracelets, shoes and socks, glasses, helmets, watches, clothing, backpacks, smart accessories, etc. In some embodiments, the mobile device may include one or more combinations of mobile phones, personal digital assistants (PDAs), gaming devices, navigation devices, point of sale (POS) devices, laptop computers, tablet computers, desktop computers, etc. In some embodiments, the virtual reality device and / or augmented reality device may include one or more combinations of virtual reality helmets, virtual reality glasses, virtual reality patches, augmented reality helmets, augmented reality glasses, augmented reality patches, etc. For example, the virtual reality device and / or augmented reality device may include Google Glass, Oculus Rift, Hololens, Gear VR. In some embodiments, terminal 130 may be part of processing device 140 .

[0039] The processing device 140 can detect whether a collision may occur between a component of the medical device 110 and an object. According to the possible collision between the component and the object, the processing device 140 can adjust the geometric state of the medical device 110. For example, the processing device 140 can update the trajectory of the component. More specifically, the processing device 140 can update one or more of the position of the component, the tilt angle of the component, etc. In some embodiments, the processing device 140 can determine the updated trajectory of the component. For example, the processing device 140 can determine the updated trajectory based on machine learning technology. More specifically, the processing device 140 can select one of at least two existing trajectories as the updated trajectory of the component based on at least one feature of the object.

[0040] In some embodiments, the processing device 140 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, the processing device 140 may be local or remote from other components in the medical system 100. The processing device 140 may obtain the trajectory of the components of the medical device 110 stored in the medical device 110, the terminal 130 and / or the memory 150 via the network 120. Alternatively, the processing device 140 may be directly connected to the medical device 110, the terminal 130 and / or the memory 150 to obtain the stored trajectory. In some embodiments, the processing device 140 may implement the above-mentioned processing on a cloud platform. For example, the processing device 140 may detect whether a collision occurs between a component of the medical device 110 and an object on the cloud platform, adjust the geometric state of the medical device 110, perform trajectory planning, etc., one or more of the above. By way of example only, the cloud platform may include one or more of a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, a cross-cloud, a multi-cloud, etc. In some embodiments, such as Figure 3 As shown, the processing device 140 may be implemented by a computing device 200 having at least one component.

[0041] The memory 150 may store data, instructions and / or any other information. In some embodiments, the memory 150 may store data obtained from the terminal 130 and / or the processing device 140. In some embodiments, the memory 150 may store data and / or instructions executed by the processing device 140 or used to implement the exemplary methods described in the present invention. In some embodiments, the memory 150 may include a combination of one or more of a mass storage, a removable memory, a volatile read-write memory, a read-only memory (ROM), etc. Exemplary mass storage may include a disk, an optical disk, a solid-state hard disk, etc. Exemplary mobile storage may include a flash drive, a floppy disk, an optical disk, a memory card, a compressed disk, a magnetic tape, etc. Exemplary volatile read-write memory may include a random access memory (RAM). Exemplary RAM may include a dynamic random access memory (DRAM), a double data rate synchronous dynamic RAM (DDR SDRAM), a static random access memory (SRAM), a thyristor RAM (T-RAM), and a zero-capacitance RAM (Z-RAM), etc. Exemplary ROMs may include mask ROM (MROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), compact disk read-only memory (CD-ROM), and digital versatile disk read-only memory, etc. In some embodiments, the memory 150 may be implemented on a cloud platform. As an example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, a cross-cloud, a multi-cloud, etc., or a combination of one or more thereof.

[0042] In some embodiments, the memory 150 may be connected to the network 120 to communicate with at least one other component in the medical system 100 (e.g., the processing device 140, the terminal 130). At least one component of the medical system 100 may obtain data or instructions stored in the memory 150 via the network 120. In some embodiments, the memory 150 may be directly connected to the medical system 100 or connected or communicated with at least one other component of the medical system 100 (e.g., the processing device 140, the terminal 130). In some embodiments, the memory 150 may be part of the processing device 140.

[0043] Figure 3 FIG. 2 is a schematic diagram of an exemplary computing device 200 that can implement the medical system 100 according to some embodiments of the present invention.

[0044] The computing device 200 can be a general-purpose computer or a special-purpose computer. Both can be used to implement the medical system of the present invention. The computing device 200 can be used to implement any component of the service described in the present invention. For example, the processing device 140 of the medical system 100 can be implemented on the computing device 200 through its hardware, software program, firmware or a combination thereof. Although only one such computer is shown for convenience, the computer functions related to the medical system 100 described in the present invention can be implemented in a distributed manner on a distributed platform to distribute the processing load.

[0045] The computing device 200, for example, may include a communication port 250, which may be connected to a network (e.g., network 120) that enables data communication. The computing device 200 may also include a central processing unit (CPU) 220 for executing program instructions. The CPU 220 may be a processor of at least one form. An exemplary computer platform may include an internal communication bus 210, different forms of program memory and data memory, such as a disk 270, a read-only memory (ROM) 230, or a random access memory (RAM) 240, which can process and / or send various data files through a computer. The exemplary computer platform may also include program instructions executed by the CPU 220 stored in the ROM 230, RAM 240, and / or other types of non-temporary storage media. The method and / or process of the present invention may be implemented as program instructions. The computing device 200 also includes an input / output I / O 260 that supports input / output between the computer and other components of the computing device. The computing device 200 may also receive programs and data through network communications.

[0046] For illustration only, only one CPU and / or processor is described in the computing device 200. However, it should be noted that the computing device 200 in the present invention may also include at least two CPUs and / or processors. Therefore, the operations and / or methods described in the present invention performed by one CPU and / or processor may also be performed jointly or separately by at least two CPUs and / or processors. For example, the CPU and / or processor in the computing device 200 may perform steps A and B. As another example, steps A and B may also be performed jointly or separately by two different CPUs and / or processors in the computing device 200 (e.g., the first processor performs step A, the second processor performs step B; or the first and second processors perform steps A and B jointly).

[0047] Figure 4 FIG. 1 is a schematic diagram of exemplary hardware and / or software components of a mobile device 300 that can implement a terminal 130 according to some embodiments of the present invention. Figure 4 As shown, the mobile device 300 may include a communication module 310, a display 320, a graphics processing unit (GPU) 330, a central processing unit (CPU) 340, an input / output I / O 350, a memory 360, and a storage 390. In some embodiments, any other suitable components, including but not limited to a system bus or a controller (not shown), may also be included in the mobile device 300. In some embodiments, a mobile operating system (such as iOS 370, Android, Windows Phone) and at least one application 380 may be imported from the storage 390 into the memory 360 to be executed by the CPU 340. The application 380 may include a browser or any other mobile application. The mobile application is suitable for receiving and presenting information related to image processing or other information from the processing device 140. User interaction with the information stream may be implemented through the I / O 350 and provided to the processing device 140 and / or other components of the medical system 100 via the network 120.

[0048] In order to implement the various modules, units and functions thereof described in the present invention, a computer hardware platform can be used as a hardware platform for at least one element described in the present invention. A computer with user interface elements can be used to implement a personal computer (PC) or any other type of workstation or terminal device. If properly programmed, the computer can also act as a server.

[0049] Figure 5 4 is a block diagram of an exemplary processing device 140 according to some embodiments of the present invention. The processing device 140 may include an acquisition module 410, a collision detection module 420, a trajectory update module 430, a trajectory planning module 440, and a reconstruction module 450. The processing device 140 may be configured in various components (e.g., Figure 3 The CPU 220 of the computing device 200 shown is implemented.

[0050] The acquisition module 410 can acquire an initial trajectory of the component. In some embodiments, the initial trajectory can be acquired based on the initial geometric state of the medical device 110. In some embodiments, the initial trajectory can be selected from at least two existing trajectories. The at least two existing trajectories can be determined based on machine learning techniques. Alternatively, the at least two existing trajectories can be a set of trajectories that the component has moved before (e.g., the previous 30 days). In some embodiments, the initial trajectory can be a default trajectory of the component of the medical device 110.

[0051] The collision detection module 420 can determine whether a collision is likely to occur. The collision may occur between different objects. For example, for a CBCT device, a collision may occur between a component of the CBCT device (e.g., a scan source, a detector) and an object (e.g., a patient, a table, a floor, a ceiling). For an RT device, a collision may occur between a component of the RT device (e.g., a treatment head, an EPID) and an object (e.g., a patient, a table, a floor, a ceiling). For a CBCT-RT device, a collision may occur between a component of the CBCT-RT (e.g., a scan source, a detector, an EPID or a treatment head) and an object (e.g., a patient, a table, a floor, a ceiling). In some embodiments, the collision detection module 420 may use dynamic collision detection technology (e.g., hierarchical bounding box technology, spatial decomposition technology) using at least one proximity sensor or a combination thereof for collision detection.

[0052] The trajectory update module 430 can update the initial trajectory of the component and determine the updated trajectory. In some embodiments, the trajectory update module 430 can update the initial trajectory using machine learning techniques. In some embodiments, the trajectory update module 430 can update the initial trajectory by increasing the distance between the component and the object (e.g., a patient, a workbench). In some embodiments, the trajectory update module 430 can update the initial trajectory by updating the initial tilt angle of the component at the initial position.

[0053] The trajectory planning module 440 can determine at least one parameter associated with the initial (or updated) trajectory of the component. The initial (or updated) trajectory of the component can include at least two specific positions. The at least one parameter can ensure that the component can move from one specific position to the next specific position. The trajectory planning module 440 can determine at least one parameter associated with a specific position. Specifically, these parameters may include speed, acceleration and / or direction of movement.

[0054] The reconstruction module 450 can reconstruct an image based on the image data. The image data can be acquired according to the initial and / or updated trajectory. In some embodiments, the reconstruction module 450 can perform a scale transformation and generate at least two virtual projection images according to the scale transformation result. In some embodiments, the reconstruction module 450 can reconstruct an image according to the at least two virtual projection images.

[0055] In some embodiments, Figure 5 At least one module shown in Figure 1 and Figure 2 , and the like. The exemplary system shown in FIG. 4 is implemented in at least a portion of the exemplary system shown in FIG. For example, the collision detection module 420, the trajectory update module 430, and the trajectory planning module 440 can be integrated into a console (not shown). Through the console, the user can determine whether a collision is likely to occur. If a collision is likely to occur, the trajectory of the component is updated, and at least one parameter is determined based on the updated trajectory of the component. In some embodiments, the functions of the console can be implemented by the processing device 140 and / or the terminal 130.

[0056] Figure 6 FIG. 5 is a flow chart of an exemplary process 500 for adjusting the geometry of a medical device according to some embodiments of the present invention. In some embodiments, the process 500 may be performed or implemented by the processing device 140 of the medical system 100 .

[0057] In 510, the acquisition module 410 may acquire an initial trajectory of the component. If the medical device is a CBCT device, the component may include a detector (e.g., the detector 112) and / or a scan source (e.g., the scan source 115). The scan source 115 may be an X-ray source. If the medical device is an RT device, the component may include a treatment head (e.g., the treatment head 118) and / or an electronic portal imaging system (EPID) (e.g., EPID 119). If the medical device is a CBCT-RT device, the component may include a detector (e.g., the detector 123), a scan source (e.g., the scan source 124), a treatment head (e.g., the treatment head 122) and / or an EPID (e.g., EPID 125). The initial trajectory may be acquired based on an initial geometric state of the medical device 110. For example, the initial trajectory may be a default trajectory when the component is in the initial geometric state. The initial geometric state may be determined based on an initial setting of the medical device 110. As another example, the initial trajectory may be a historical trajectory (e.g., a trajectory last used), which may be the same as or different from the default trajectory.

[0058] In some embodiments, the initial trajectory may be a circle, a semicircle, any type of incomplete circle, or other curved shape. By way of example only, Figure 8, an initial trajectory 701 of the scan source 115 and an initial trajectory 705 of the detector 112 in the CBCT device are shown. The initial trajectory 701 of the scan source 115 may be a circle. The initial trajectory 705 of the detector 112 may also be a circle. In some embodiments, the initial trajectory of a component (e.g., the scan source 115, the detector 112) may include at least two initial positions of the component. The at least two initial positions may be evenly or unevenly distributed on the initial trajectory. For example, Figure 8 The initial trajectory 701 shown in FIG. 7 may include at least two initial positions of the scanning source 115, for example, a first initial position 702, a second initial position 703, and a third initial position 704. The at least two initial positions of the scanning source 115 may be evenly distributed on the initial trajectory 701. As another example, Figure 8 The initial trajectory 705 shown in may include at least two initial positions of the detector 112, for example, a first initial position 706, a second initial position 707, and a third initial position 708. The at least two initial positions of the detector 112 may be evenly distributed on the initial trajectory 705. Each initial position of the detector 112 may correspond to an initial position of the scanning source 115. For example, the first initial position 706 may correspond to the first initial position 702. As another example, the second initial position 707 may correspond to the second initial position 703. As another example, the third initial position 708 may correspond to the third initial position 704. Figure 8 , the initial position of the scan source 115, the corresponding initial position of the detector 112, and the isocenter 709 can be arranged in a straight line. For the convenience of explanation only, it is assumed that the detector 112 will not collide with the patient or the workbench 114 when it is in the first initial position 706, but the detector 112 may collide with the patient or the workbench 114 when it is in the second initial position 707 or the third initial position 708. When the collision detection module 420 determines that the detector 112 and the patient or the workbench 114 may collide at the second initial position 707 or the third initial position 708, the trajectory update module 430 may update the trajectory of the detector 112 to avoid the collision. For example, Fig. 9 The trajectory update module 430 shown in FIG. 4 can increase (or direct the medical device to increase) the distance between the detector 112 and the isocenter 709 (or between the detector 112 and the patient or the table 114). Fig. 9 As shown in FIG. 1 , the detector 112 may be moved from the second initial position to the position 711 (updated position) and from the third initial position 708 to the position 712 (updated position) to avoid a possible collision.

[0059] In some embodiments, the assembly can rotate in a circle to scan and / or treat the target object to be inspected. In some embodiments, the assembly can have an initial tilt angle relative to the tangent direction of the initial trajectory at each initial position. The initial tilt angle can be between 0 degrees and 90 degrees.

[0060] In 520, the collision detection module 420 may determine whether a collision may occur. The collision may occur between different objects, for example, components (e.g., scanning light source, detector, treatment head, EPID) and objects (e.g., patient, table, ground, ceiling). For example, for the CBCT device 110-1, the collision may occur between the patient and the detector 112, between the patient and the scanning source 115, between the scanning source 115 and the table 114, and / or between the detector 112 and the table 114. As another example, for the RT device 110-2, the collision may occur between the patient and the treatment head 118, between the patient and the EPID 119, between the table 117 and the EPID 119, and / or between the table 117 and the treatment head 118. As another example, for the CBCT-RT device 110-3, the collision may occur in at least one of the above-mentioned scenarios of the CBCT device 110-1 and the RT device 110-2.

[0061] The treatment head may include a multi-leaf grating. The multi-leaf grating may be inside or outside the housing of the treatment head. If the multi-leaf grating is inside the housing (e.g., Figure 12 to Figure 14 ), collisions may occur between objects (e.g., patients, work tables) and the housing. In addition, if the multileaf grating is external to the treatment head (e.g., Fig.11 As shown), collisions may occur between an object (e.g., a patient table) and the multileaf grating.

[0062] In some embodiments, collision detection can be performed during the scanning and / or treatment of the target object. For example, for a CBCT device (e.g., CBCT device 110-1), when the CBCT device scans the target object to determine the image of the target object, the collision detection module 420 can determine whether a collision may occur between the components of the CBCT device (e.g., scanning source 115, detector 112) and the object (e.g., patient, table 114, ground, ceiling) at each position of its trajectory during the movement. If the collision detection module 420 determines that a collision may occur between the component and the object, the trajectory update module 430 can update the trajectory of the component of the CBCT device in real time. For a radiotherapy (RT) device (e.g., RT device 110-2), when the RT device treats the target object, the collision detection module 420 can determine whether a collision may occur between the components of the RT device (e.g., treatment head 118, EPID 119) and the object (e.g., patient, table 117, ground, ceiling) at each position of its trajectory during the movement. If the collision detection module 420 determines that a collision may occur between a component and an object, the trajectory update module 430 may update the trajectory of the component of the RT device in real time. For a CBCT-RT device (e.g., CBCT-RT device 110-3), when the CBCT-RT device scans and / or treats a target object, the collision detection module 420 may determine whether a collision may occur between the component of the CBCT-RT device (e.g., treatment head 122, detector 123, scan source 124, EPID 125) and an object (e.g., patient, table 121, floor, ceiling). If the collision detection module 420 determines that a collision may occur between a component and an object, the trajectory update module 430 may update the trajectory of the component of the CBCT-RT device to avoid a collision between the component of the CBCT-RT device during movement.

[0063] In some embodiments, collision detection may be performed before scanning and / or treating the target object. For example, for a CBCT device (e.g., CBCT device 110-1), before the CBCT device scans the target object, the collision detection module 420 may determine whether a collision may occur between a component of the CBCT device (e.g., scan source 115, detector 112) and an object (e.g., patient, table 114, ground, ceiling). If the collision detection module 420 determines that a collision may occur between a component and an object, the trajectory update module 430 may update the trajectory of the component of the CBCT device to avoid a collision before the CBCT device scans the target object. When the CBCT device starts scanning the target object, the component of the CBCT device that may collide with the object may move according to the updated trajectory to acquire image data to determine an image of the target object. For a radiotherapy (RT) device (e.g., RT device 110-2), before the RT device treats the target object, the collision detection module 420 may determine whether a collision may occur between a component of the RT device (e.g., treatment head 118, EPID 119) and an object (e.g., patient, table 117, ground, ceiling). If the collision detection module 420 determines that a collision may occur between a component and an object, the trajectory update module 430 may update the trajectory of the component of the RT device to avoid a collision before the RT device treats the target object. When the RT device starts to treat the target object, the component of the RT device that may collide with the object may move according to the updated trajectory to treat the target object. For a CBCT-RT device (e.g., CBCT-RT device 110-3), before the CBCT-RT device scans and / or treats the target object, the collision detection module 420 may determine whether a collision may occur between the component of the CBCT-RT device (e.g., treatment head 122, detector 123, scan source 124, EPID 125) and the object (e.g., patient, workbench 121, ground, ceiling). If the collision detection module 420 determines that a collision may occur between a component and an object, the trajectory update module 430 may update the trajectory of the component of the CBCT-RT device to avoid a collision between the component of the CBCT-RT device before scanning and / or treating the target object. When the CBCT-RT device starts scanning and / or treating the target object, components of the CBCT-RT device that may collide with the object may move according to the updated trajectory to scan or treat the target object.

[0064] In some embodiments, collision detection can be performed after scanning and / or treating the target object. For example, after scanning and / or treating the first target object, the collision detection module 420 can determine whether a collision may occur between a medical device (e.g., a CBCT device, an RT device, or a CBCT-RT device) and an object (e.g., a second target object, a workbench, a floor, a ceiling). The collision detection module 420 can obtain at least one feature of the object (e.g., gender, height, waist circumference, size, etc.) and a target area of ​​the object. In addition, the collision detection module 420 can determine whether a collision may occur between a component of the medical device and an object based on the at least one feature and the target area.

[0065] In some embodiments, the collision detection module 420 may perform collision detection using a dynamic collision detection technique. The dynamic collision detection technique includes, for example, a hierarchical bounding box technique or a spatial decomposition technique. The collision detection module 420 may use a dynamic collision detection technique during scanning and / or treating a target object, before scanning and / or treating a target object, or after scanning and / or treating a target object. For example, the collision detection module 420 may use a hierarchical bounding box technique to determine whether a collision may occur. The collision detection module 420 may determine the volume and / or position of an object (e.g., a scanning source, a workbench, a detector, a treatment head, a patient, a floor, a ceiling). The collision detection module 420 may assign a corresponding bounding box to the object based on the volume and / or position of the object. The bounding box may be a regular shape (e.g., a cuboid, a sphere, a cylinder, an ellipsoid) or an irregular shape. The collision detection module 420 may further determine whether a collision occurs between bounding boxes. When it is determined that a collision may occur between bounding boxes, the collision detection module 420 may determine that a collision may occur between different objects. On the other hand, when it is determined that collision between bounding boxes is impossible, collision detection module 420 can determine that collision between different objects is impossible, in which case the components can move according to the initial position on the initial trajectory. For hierarchical bounding box technology, see, for example, Transactions on Visualization and Computer Graphics, 4(1):21-36(1998) published by James T. et al.

[0066] In some embodiments, collision detection can be performed based on at least one proximity sensor. The at least one proximity sensor can detect a signal related to the position of the component and send the signal to the collision detection module 420. The collision detection module 420 can determine whether a collision is likely to occur based on the corresponding signal during scanning and / or treating the target object, before scanning and / or treating the target object, or after scanning and / or treating the target object. The proximity sensor can be installed on an object, including a component (e.g., a scanning source, a detector, a treatment head, an EPID) and / or an object (e.g., a patient, a workbench, a floor, a ceiling). The at least one proximity sensor can detect the distance between different objects, for example, detecting the distance between a component (e.g., a scanning source, a detector, a treatment head, an EPID) of a medical device (e.g., a CBCT device 110-1, an RT device 110-2, a CBCT-RT device 110-3) and an object (e.g., a patient, a workbench, a floor, a ceiling). The proximity sensor may include a capacitive proximity sensor, an eddy current proximity sensor, a Hall effect proximity sensor, a Doppler effect proximity sensor, and the like.

[0067] The collision detection module 420 can determine whether a collision may occur between the two objects based on the distance between the two objects and the threshold. The collision detection module 420 can compare the distance with the threshold. If the collision detection module 420 determines that the distance is less than the threshold, the collision detection module 420 can determine that a collision may occur between the two objects. The process 500 can proceed to 530 to update the initial trajectory of the component. On the other hand, if the collision detection module 420 determines that the distance is not less than the threshold, the collision detection module 420 can determine that a collision is not possible between the two objects, and the process 500 can continue to perform step 540 to directly perform trajectory planning. The threshold may include a default value, a value automatically set by the collision detection module 420, or a value manually set by the user or a value adaptively adjusted by the medical system 100. The threshold may be any suitable value between 0 and 20 centimeters. In some embodiments, the threshold may be from 0 to 10 centimeters or 10.1 centimeters to 20 centimeters. In some embodiments, the threshold may be in the range of from 0 to 5 centimeters or from 5 centimeters to 10 centimeters. In some embodiments, the threshold may be 1 centimeter, 2 centimeters, 3 centimeters, 4 centimeters, etc.

[0068] In 530, the trajectory update module 430 can update the initial trajectory of the component and determine the updated trajectory. For ease of description, Fig. 9It represents the updated trajectory 710 of the detector 112. The updated trajectory 710 may include at least two updated positions of the detector 112, such as the updated position 711 and the updated position 712. In some embodiments, the trajectory update module 430 may update the initial trajectory using machine learning technology. For example, the trajectory update module 430 may generate at least two trajectories of the component based on machine learning technology. The trajectory update module 430 may further obtain at least one feature of the object (e.g., component, body), and select one of the at least two trajectories as the updated trajectory based on the at least one feature of the object. In another embodiment, the trajectory update module 430 may obtain at least two existing trajectories (e.g., historical trajectories of the component) of the component stored in a storage device (e.g., memory 150), each trajectory corresponding to at least one feature of the object (e.g., component, object). The trajectory update module 430 may select one of the at least two trajectories as the updated trajectory based on at least one feature of the object using machine learning technology. For the case where the object is a patient, the at least one feature may include gender, height, waist circumference, size, etc.

[0069] In some embodiments, the trajectory update module 430 can update the initial trajectory by increasing the distance between the object (e.g., patient, table) and the components that may collide with the object. For example, during a CBCT scan, the trajectory update module 430 can increase the distance between the detector 112, the patient or table 114 and / or the distance between the scan source 115 and the patient or table 114. For ease of illustration, Fig. 9 The updated trajectory 710 shown in FIG. 4 can be generated by increasing the distance between the detector 112 and the isocenter 709, for example, by adjusting the initial position 707 to the updated position 711, and adjusting the initial position 708 to the updated position 712. As another example, during radiotherapy of the RT device, the trajectory update module 430 can increase the distance between the treatment head 118 and the patient (or the workbench 117), or increase the distance between the EPID 119 and the patient (or the workbench 117).

[0070] The trajectory update module 430 can increase the distance between the component and the object by updating the initial position of the component in the initial trajectory of the component. For example, for a CBCT device, the trajectory update module 430 can update the initial position of the component of the CBCT device (e.g., the detector 112 and / or the scan source 115) that may collide with the object. The update of the component of the CBCT device can be along the straight line direction (radial direction) defined by the scan source 115, the isocenter and the detector 112, along the tangent direction of the initial trajectory of the detector 112 and / or the scan source 115, along the horizontal direction, along the vertical direction, etc. or any combination thereof. As another example, for an RT device, the trajectory update module 430 can update the initial position of the component of the RT device (e.g., the treatment head 118 and / or the EPID 119) that may collide with the object. The update of the initial position of the component of the RT device can be along the straight line direction (radial direction) defined by the EPID 119, the isocenter and the treatment head 118, along the tangent direction of the initial trajectory of the treatment head and / or the EPID, along the horizontal direction, along the vertical direction, etc. or any combination thereof. For a CBCT-RT device, the trajectory update module 430 may update the initial positions of the components of the CBCT-RT device (e.g., the treatment head 122, the detector 123, the scanning source 124, the EPID 125) that may collide with the object. The initial positions of the components of the CBCT-RT device may be updated along the radial direction, along the tangent direction of the initial trajectory of the component, along the horizontal direction, along the vertical direction, etc. or any combination thereof. The horizontal direction may be a direction parallel to the ground. The vertical direction may be a direction perpendicular to the ground.

[0071] Alternatively or in addition, the trajectory update module 430 may also update the initial trajectory by updating the initial tilt angle of the component relative to the tangent direction of the initial trajectory at each initial position. For example, for a CBCT device, the trajectory update module 430 may adjust the tilt angle of the component of the CBCT device (e.g., the detector 112 and / or the scan source 115) that may collide with the object. As another example, for an RT device, the trajectory update module 430 may adjust the tilt angle of the component of the RT device (e.g., the treatment head 118 and / or the EPID 119) that may collide with the object. For example, for an RT device, if a collision may occur between the EPID 119 and the table 117, the trajectory update module 430 may update the initial trajectory of the EPID 119. The trajectory update module 430 may first increase the distance between the EPID 119 and the table 117. When the distance between the EPID 119 and the table 117 reaches a certain threshold, and a collision may still occur, the trajectory update module 430 may adjust the tilt angle of the EPID 119. For a CBCT-RT device, the trajectory update module 430 may adjust the tilt angles of components of the CBCT-RT device (e.g., the treatment head 122, the detector 123, the scan source 124, the EPID 125) that may collide with the object. In some embodiments, the trajectory update module 430 may be performed by executing Figure 7 At least one operation is described to update the initial trajectory.

[0072] In 540, the trajectory planning module 440 may determine at least one parameter associated with the actual trajectory of the component. The actual trajectory may be the initial trajectory or the updated trajectory. In addition, if the component initially moves along the initial trajectory, but is later adjusted to move along the updated trajectory to avoid a possible collision determined by the collision detection module 420, the actual trajectory may be a combination of a portion of the initial trajectory and a portion of the updated trajectory.

[0073] In some embodiments, if the collision detection module 420 determines that a collision is unlikely, the actual trajectory may be the initial trajectory, and the trajectory planning module 440 may use the initial parameters associated with the initial trajectory, or re-determine at least one parameter associated with the initial trajectory of the component. If the collision detection module 420 determines that a collision may occur, the actual trajectory may be an updated trajectory, and the trajectory planning module 440 may determine at least one parameter associated with the updated trajectory of the component. The at least one parameter determined may include a speed, a direction of motion, an acceleration, etc. associated with at least two positions of the actual trajectory of the component.

[0074] In some embodiments, process 500 may further include steps 550 and 560. In 550, acquisition module 410 may acquire image data along the actual trajectory (initial trajectory or updated trajectory). Acquisition module 410 may acquire the actual trajectory of the component and acquire scanned image data according to the actual trajectory. During the movement of the component along the actual trajectory, scanning source 115 may emit a cone of rays (e.g., X-rays) to an object to be inspected (e.g., a patient or other object to be inspected). Detector 112 may detect attenuated rays (e.g., attenuated X-rays) passing through the object. The attenuated rays may be converted into scanned image data.

[0075] At 560, the reconstruction module 450 may reconstruct an image based on the image data. In some embodiments, the updated trajectory may be generated by updating the detector 112 from an initial position to a corresponding updated position. Figure 8 and Fig. 9 As shown, the detector 112 can move from position 707 (initial position) to position 711 (updated position) to avoid collision. When the detector 112 moves from the initial position to the corresponding updated position, the reconstruction module 450 can further determine the virtual projection image in the initial position corresponding to the updated position based on the image data and the scale transformation.

[0076] Fig.10 1 is an example diagram of a medical device according to some embodiments of the present invention. The medical device may include a CBCT device, an RT device, or a CBCT-RT device. For ease of explanation, a CBCT device is taken as an example. Point S represents the scan source 115, and point O represents the isocenter. Point D1 represents the center of the detector 112 at the initial position, and point D2 represents the center of the detector 112 at the updated position. Line segment CE represents the detector 112 at the initial position (the length of CE represents the length of the detector 112). Line segment HI represents the detector 112 at the updated position (the length of HI represents the length of the detector 112). Line segment HI is parallel to line segment CE. The isocenter refers to the rotation center of the gantry 111 of the medical device 110, for example, the rotation center of the scan source 115 and the rotation center of the detector 112. In some embodiments, the center of the patient's region of interest may be aligned with the isocenter. The patient's region of interest refers to the area to be scanned. The geometry formed by point S, point C, point A, point D1, point B, and point E is referred to herein as geometry SCAD1BE (also referred to as the initial geometry state). The geometric state composed of point S, point F, point H, point D2, point I and point G is referred to here as geometry SFHD2IG (also referred to as updated geometric state).

[0077] In some embodiments, the isocenter, the scan source 115, and the center of the detector 112 may be arranged in a straight line. In some embodiments, the isocenter, the scan source 115, and the center of the detector 112 may not be in a straight line.

[0078] like Fig.10 As shown, the isocenter, the scanning source 115 and the center of the detector 112 are arranged on a straight line, and the line segment CE is parallel to the line segment FG. It should be noted that the description of the geometric state of the medical device is only an example and is not intended to be limiting.

[0079] When the position of the detector 112 is located on the line segment CE (the length of CE represents the length of the detector 112), the detector 112 can detect the attenuation ray corresponding to the line segment CE. After the position of the detector 112 is updated from the line segment CE to the line segment HI, the attenuation ray detected by the detector 112 is limited by the shape SHI. Therefore, a virtual projection image is generated at the initial position (i.e., the line segment CE), and the detector 112 can provide the ray information corresponding to the corresponding line segment AB, but cannot provide the ray information corresponding to CA and BE. In addition, the virtual projection image at the initial position can be scaled. For example, if the length of SD1 is a first value, L1, such as 140 cm, the length of SD2 is a second value, L2, such as 145 cm, and the length of the detector 112 (i.e., the length of CE and / or height) is a third value, L3, such as 40 cm, the virtual projection image can be scaled L3*L1 / L2, such as 40×140 / 145.

[0080] In some embodiments, the reconstruction module 450 may interpolate the ray information corresponding to the line segment CA and the ray information corresponding to the line segment BE based on the ray information corresponding to the line segment AB. The virtual projection image may be determined based on the ray information corresponding to the line segment AB and the ray information corresponding to the line segment CA and the line segment BE obtained by interpolation. In some embodiments, the reconstruction module 450 may reconstruct an image based on at least two virtual projection images obtained as described above. The reconstructed image may be a three-dimensional image.

[0081] It should be noted that the above description is provided only for the purpose of illustration and is not intended to limit the scope of the present invention. For those with ordinary skills in the art, multiple changes or modifications can be made under the guidance of the present invention. However, these changes and modifications do not deviate from the scope of the present invention.

[0082] In some embodiments, steps 520 and 530 in process 500 may be based on Figure 7 In some embodiments, process 600 may be performed or implemented by processing device 140 of medical system 100 .

[0083] In 605, the collision detection module 420 may determine whether a collision may occur between a component of the medical device 110 and an object. If the collision detection module 420 determines that a collision may occur between a component of the medical device 110 and an object, the process 600 may proceed to step 610. On the other hand, if the detection module 420 determines that a collision may not occur between a component of the medical device 110 and an object, the process 600 may end. The object may include a patient, an organ, a tissue, a phantom, a workbench, a floor, a ceiling, etc. For the CBCT device 110-1, the components may include a detector 112, a scan source 115, etc. For the RT device 110-2, its components may include a treatment head 118, an EPID 119, etc. For the CBCT-RT device 110-3, its components may include a treatment head 122, a detector 123, a scan source 124, and an EPID 125. Treatment head 118 or treatment head 122 may include housing 905, target 901, primary grating 902, tungsten gate 903, multi-leaf collimator (MLC) 904. In some embodiments, MLC 904 may be outside the treatment head, such as Fig.11 In some embodiments, the MLC 904 may be located within the treatment head as shown in FIG. Figure 12 to Figure 14 When the MLC 904 is disposed outside the treatment head (i.e., outside the treatment head housing 905), the collision detection module 420 can determine whether the MLC 904 collides with an object (e.g., a patient or a workbench). When the MLC 904 is located inside the treatment head, the collision detection module 420 can determine whether the treatment head housing 905 collides with an object (e.g., a patient or a workbench).

[0084] In some embodiments, the collision detection module 420 may determine whether a collision may occur during imaging and / or treatment of the medical device 110, for example, whether a collision may occur during movement of a component of the medical device 110. In some embodiments, the collision detection module 420 may determine whether a collision may occur before imaging and / or treatment of the medical device 110. In some embodiments, the collision detection module 420 may determine whether a collision may occur after imaging and / or treatment of the medical device 110.

[0085] At 610, the trajectory update module 430 may initialize the distance between the component and the isocenter (e.g., isocenter 709) and the tilt angle of the component. The distance may be labeled D and the tilt angle may be labeled A.

[0086] In 615 , the trajectory update module 430 may set the iteration number N1 of the distance to “0”.

[0087] In 620, the trajectory update module 430 can update the distance between the component and the isocenter 709. The distance between the component and the isocenter 709 can be updated by increasing the distance increment (represented by i), that is, D1=D1+i. The distance increment can be set automatically by, for example, the trajectory update module 430 or manually by the user. The value of the distance increment can be any suitable value in the range of 0 to 5 cm or greater than 5 cm. In some embodiments, the distance increment can be a value from 0.1 cm to 1 cm, from 1.1 cm to 2 cm, from 2.1 cm to 3 cm, from 3.1 cm to 4 cm, and from 4.1 cm to 5 cm. Accordingly, the number of iterations N1 is updated by increasing "1", that is, N1=N1+1.

[0088] In some embodiments, the trajectory update module 430 may update the distance by updating the initial position of the component in the initial trajectory of the component. For a CBCT device, the trajectory update module 430 may update the initial position of the detector 112 and / or the scan source 115 in any direction, for example, along a straight line defined by the scan source 115, the isocenter and the detector 112 (radial direction), along a tangent direction of the initial trajectory of the detector 112 and / or the scan source 115, in a horizontal direction, or in a vertical direction.

[0089] For RT devices, the trajectory update module 430 can update the initial position of the treatment head and / or EPID in the initial trajectory corresponding to the treatment head and / or EPID. For CBCT-RT devices, the trajectory update module 430 can update the initial positions of the components of the corresponding scanning source, detector, treatment head, and / or EPID in the initial trajectory. For RT devices and / or CBCT-RT devices, the treatment head of the device may include a multi-leaf grating. In some embodiments, the MLC 904 can be configured on the outside of the treatment head (e.g., treatment head 118, treatment head 122) housing 905, such as Fig.11 As shown. Fig.11 In the embodiment, the target 901, the primary grating 902 and the tungsten gate 903 are arranged inside the housing 905, and the MLC 904 is arranged outside the housing 905. Fig.11 If a collision between the object and the treatment head is possible, the collision may occur between the object and the MLC 904. Therefore, the trajectory update module 430 can update the initial position of the MLC 904 in the initial trajectory of the MLC 904. Fig.11 ,contrast Fig.11 The left side and Fig.11 On the right side, only the position of MLC 904 is updated, while housing 905 and the components inside housing 905 maintain their initial positions. In some embodiments, when MLC is outside the housing, both the housing and MLC may collide with an object, so both the position of MLC and the position of the housing need to be updated to avoid collision.

[0090] In some embodiments, the MLC 904 can be disposed inside a housing 905 of a treatment head (eg, treatment head 118, treatment head 122), such as Figure 12 to Figure 14 As shown. Figure 12 to Figure 14 In the embodiment, the target 901 , the primary grating 902 , the tungsten gate 903 and the MLC 904 are arranged inside a housing 905 .

[0091] If a collision between the object and the treatment head is likely to occur, the collision is likely to occur between the object and the shell 905. Therefore, the trajectory update module 430 may update the initial position of the shell 905, while the positions of the components inside the shell 905 (e.g., the target 901, the primary grating 902, the tungsten gate 903, and the MLC 904) may or may not be updated. For example, when the space between the shell 905 and the MLC is large enough that the collision between the shell 905 and the object can be avoided by simply moving the shell, the trajectory update module 430 may only update a certain initial position in the initial trajectory of the shell 905 without updating the positions of the components inside the shell 905 (e.g., the target 901, the primary grating 902, the tungsten gate 903, and the MLC 904), such as Fig.12 As another example, the trajectory update module 430 may update a certain initial position in the initial trajectory of the housing 905 and update the position of at least one of the components (e.g., the target 901, the primary grating 902, the tungsten gate 903, and the MLC 904) inside the housing 905. Fig.13 , the position of the target 901 remains unchanged, and the trajectory update module 430 can update the initial positions of the housing 905, the primary grating 902, the tungsten gate 903 and the MLC 904 in the corresponding initial trajectory of the housing 905, the initial trajectory of the primary grating 902, the initial trajectory of the tungsten gate 903 and the initial trajectory of the MLC 904. The relative position between any two of the primary grating 902, the tungsten gate 903 and the MLC 904 can be changed or not. Fig.13 904. The position updates of the housing 905, the primary grating 902, the tungsten gate 903, and the MLC 904 are shown. It should be noted that this is exemplary only and is not intended to limit the present invention. In some embodiments, the trajectory update module 430 may only update the position of the housing 905 and the MLC 904. In some embodiments, the trajectory update module 430 may only update the position of the housing 905, the MLC 904, and the tungsten gate 903.

[0092] In some embodiments, the trajectory update module 430 can update the initial positions of the housing 905, the target 901, the primary grating 902, the tungsten gate 903, and the MLC 904, such as Fig.14The relative positions of the target 901, the primary grating 902, the tungsten gate 903 and the MLC 904 may or may not be changed. It should be noted that if the positions of the primary grating 902, the tungsten gate 903 and the MLC 904 are changed (e.g. Fig.13 and 14 As shown in FIG. 4 , the aperture defined by the primary grating 902, the tungsten gate 903 or the MLC 904 also needs to be proportionally changed accordingly so that the treatment is performed according to the previous treatment plan. For example, the trajectory update module 430 can change the field defined by the MLC 904.

[0093] In 625, the trajectory update module 430 can determine whether the updated distance is greater than a first threshold (represented by thr1). The first threshold, thr1, can be determined based on the farthest position of the component from the isocenter that the component can reach. In some embodiments, the farthest position of the component from the isocenter can be determined based on the physical structure of the component. In some embodiments, the farthest position of the component from the isocenter can be manually determined by a user. In 625, the trajectory update module 430 can also determine whether the number of updated iterations of the distance, N1, is greater than a second threshold (represented by thr2). In some embodiments, the second threshold can be a predetermined value, for example, 5, 10, 15, 20. In some embodiments, the second threshold can be determined by the trajectory update module 430.

[0094] If it is determined that the updated distance D1 is not greater than the first threshold and the number of updated iterations of the distance N1 is not greater than the second threshold, the process 600 may proceed to step 630. In 630, the collision detection module 420 may determine whether the collision may still occur. If the collision detection module 420 determines that the collision may still occur, the process 600 may return to step 620 to update the distance between the component and the isocenter. For example, the process 600 may update the distance between the component and the isocenter by adding a distance increment. Therefore, the number of iterations of the distance is increased by 1. For ease of describing the process, in 620, the distance increments in different iterations are represented by the same "i", and it should be noted that in some embodiments, the distance increments added in each iteration may be the same. In some embodiments, the distance increments added in each iteration may be different. Then, the process 600 may perform the operations in steps 625 and 630. On the other hand, if the collision detection module 420 determines that the collision is not likely to occur, the process 600 may end at 665.

[0095] If it is determined that the updated distance D1 is greater than the first threshold or the distance update iteration number N1 is greater than the second threshold, the process 600 may proceed to step 635. In 635, the trajectory update module 430 may set the distance between the component and the isocenter 709 to the first threshold. In 635, the trajectory update module 430 may further set the tilt angle iteration number N2 to "0".

[0096] In 640, the collision detection module 420 can determine whether a collision is still possible. If the collision detection module 420 determines that a collision is not possible, the process 600 can end at 665. On the other hand, if the collision detection module 420 determines that a collision is still possible, the process 600 can proceed to step 645.

[0097] In 645, the trajectory update module 430 may determine the updated tilt angle of the component. The tilt angle refers to the tilt angle of the component relative to the tangent of the trajectory at the location of the component. The tilt angle may be updated by increasing the tilt angle increment (represented by j), i.e., A=A+j. The tilt angle increment j may be set automatically by, for example, the trajectory update module 430 or manually by a user. In some embodiments, the value of the tilt angle increment may be any suitable value in the range of 0 to 90 degrees. In some embodiments, the tilt angle increment may be any value from 0.1 degrees to 10 degrees, from 10.1 degrees to 20 degrees, from 20.1 degrees to 30 degrees, from 30.1 degrees to 40 degrees, from 40.1 degrees to 50 degrees, from 50.1 degrees to 60 degrees, from 60.1 degrees to 70 degrees, from 70.1 degrees to 80 degrees, from 80.1 degrees to 90 degrees. Therefore, the number of iterations of the tilt angle may be updated by increasing the number of iterations of the tilt angle by "1", i.e., N2=N2+1.

[0098] In 650, the trajectory update module 430 may determine whether the updated tilt angle is greater than a third threshold value (denoted by thr3). The third threshold value may be determined based on the maximum tilt angle of the component. In some embodiments, the maximum tilt angle of the component may be determined based on the physical structure of the component. Alternatively or in addition, the maximum tilt angle of the component may be manually determined by a user. For example, the third threshold value may be set to 90 degrees. In 650, the trajectory update module 430 may also determine whether the update iteration number N2 of the tilt angle is greater than a fourth threshold value (denoted by thr4). In some embodiments, the fourth threshold value may be a predetermined value, such as 5, 10, 15, or 20. In some embodiments, the fourth threshold value may be automatically determined by the trajectory update module 430.

[0099] If it is determined that the updated tilt angle is not greater than the third threshold value, and the number of updated iterations of the tilt angle is not greater than the fourth threshold value, the process 600 can proceed to step 655 and determine whether the collision is still likely to occur. If the collision detection module 420 determines that the collision is still likely to occur, the process 600 can loop back to step 645 to update the tilt angle of the component. For example, the process 600 can update the tilt angle of the component by increasing the tilt angle increment. Accordingly, the number of iterations for the tilt angle can be added by "1". For the convenience of describing the process, in 645, the tilt angle increments in different iterations are represented by the same "j", and it should be noted that in some embodiments, the increase in the tilt angle increment in each iteration can be the same. In some embodiments, the increase in the tilt angle increment in each iteration can be different. The process 600 can perform the operations in steps 650 and 655. On the other hand, if the collision detection module 420 determines that the collision is likely not to occur, the process 600 ends at step 665.

[0100] If it is determined that the updated tilt angle is greater than the third threshold and / or the number of update iterations of the tilt angle is greater than the fourth threshold, process 600 may jump to step 660. In 660, trajectory update module 430 may set the tilt angle to the third threshold. Process 600 then proceeds to step 665 and ends.

[0101] It should be noted that the above description is for illustrative purposes only and is not intended to limit the scope of the present invention. For a person of ordinary skill in the art, various changes or modifications may be made under the guidance of the present invention. However, these changes and modifications do not deviate from the scope of the present invention. For example, in 635, the trajectory update module 430 may not set the distance between the component and the isocenter to the first threshold. The trajectory update module 430 may set the distance between the component and the isocenter to the initial distance. As another example, in 660, the trajectory update module 430 may not set the tilt angle of the component to the third threshold. The trajectory update module 430 may set the tilt angle to the initial tilt angle of the component. In some embodiments, the trajectory update module 430 first adjusts the tilt angle of the component and then adjusts the distance between the component and the isocenter. In some embodiments, the trajectory update module 430 may simultaneously adjust the tilt angle of the component and the distance between the component and the isocenter. In some embodiments, steps 610 and 615 may be performed before step 605.

[0102] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of the present invention. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present invention. Such modifications, improvements and amendments are suggested in the present invention, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of the present invention.

[0103] At the same time, the present invention uses specific words to describe the embodiments of the present invention. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present invention. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in at least one embodiment of the present invention can be appropriately combined.

[0104] In addition, it will be appreciated by those skilled in the art that various aspects of the present invention may be illustrated and described by a number of patentable categories or situations, including any new and useful process, machine, product or combination of substances, or any new and useful improvements thereto. Accordingly, various aspects of the present invention may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "units", "modules" or "systems". In addition, various aspects of the present invention may be represented as a computer product located in at least one computer-readable medium, the product including computer-readable program code.

[0105] A computer readable signal medium may include a propagated data signal containing a computer program code, such as on a baseband or as part of a carrier wave. The propagated signal may have a variety of manifestations, including electromagnetic, optical, etc., or a suitable combination. A computer readable signal medium may be any computer readable medium other than a computer readable storage medium, which may be connected to an instruction execution system, device or device to communicate, propagate or transmit a program for use. The program code on the computer readable signal medium may be propagated through any suitable medium, including radio, cable, fiber optic cable, RF, or similar medium, or a combination of any of the above mediums.

[0106] The computer program codes required for the operation of each part of the present invention can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, etc., conventional procedural programming languages ​​such as C programming language, Visual Basic, Fortran2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages ​​such as Python, Ruby and Groovy, or other programming languages, etc. The programming code can be run entirely on the user's computer, or run on the user's computer as an independent software package, or run partly on the user's computer and partly on the remote computer, or run entirely on the remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any network form, such as a local area network (LAN) or a wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as software as a service (SaaS).

[0107] In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in the present invention, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of the present invention. Although the above disclosure discusses some of the invention embodiments currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of the present invention. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0108] Similarly, it should be noted that in order to simplify the description of the disclosure of the present invention and thus facilitate the understanding of at least one embodiment of the invention, in the above description of the embodiments of the present invention, multiple features are sometimes combined into one embodiment, drawing or description thereof. However, this disclosure method does not mean that the subject matter of the present invention requires more features than those mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0109] In some embodiments, it is understood that the quantities or properties expressed numerically are modified in some cases as "approximately," "approximately," or "substantially" to describe and claim specific implementation cases in the specification. For example, "approximately," "approximately," or "substantially" may indicate a ±20% variation of the numerical value it represents, unless otherwise specified. Therefore, in some embodiments, the numerical parameters described in the written description and the attached claims are approximate, which vary depending on the desired properties of the specific embodiment. In some embodiments, the numerical parameters should be interpreted based on the number of reported significant digits and applying ordinary rounding techniques. Although the numerical ranges and parameters setting out the broad scope of some embodiments of the application are approximate, the numerical values ​​described in the specific examples are reported accurately as actual conditions.

[0110] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, articles, and / or the like, that is incorporated herein by reference in its entirety, except for any prosecution record associated with that document, to the fullest extent of any present or future claims associated with that document. For example, if there is any inconsistency or conflict between the description and definition, and / or use of a term, and any registration material, and the prior document, the description, definition, and / or use of that term in this document shall prevail.

[0111] Finally, it should be understood that the examples disclosed herein illustrate the principles of the embodiments of the present invention. Other modifications that may be used are within the scope of the invention. Therefore, by way of example, but not limitation, alternative configurations of the embodiments of the present invention may be used according to the guidance herein. Therefore, the embodiments of the present invention are not limited to those shown and described.

Claims

1. A system for automatically adjusting the motion trajectory of a medical device, comprising: A storage device for storing a set of instruction sets; as well as at least one processor in communication with the storage device, wherein when executing the set of instructions, the at least one processor is configured to cause the system to: obtaining an initial trajectory of a component of a medical device, wherein the initial trajectory of the component includes a plurality of initial positions; At least one of the plurality of initial positions is disposed at an initial distance from an isocenter, and the isocenter is configured to be aligned with a center of a region of interest of the patient; and determining whether a collision between an object and the component is likely to occur based on the initial trajectory of the component; and When it is determined that a collision may occur between the object and the component, the initial trajectory of the component is updated by updating the initial position of the component in the initial trajectory or updating the initial tilt angle of the component in the initial trajectory to determine an updated trajectory of the component.

2. The system according to claim 1, characterized in that The at least one processor is configured to cause the system to: generating a virtual projection image at the first position based on the ray information and scale transformation corresponding to the second position; as well as reconstructing a target image based on the virtual projection image, wherein the target image includes a three-dimensional image; The first position is one of the multiple initial positions corresponding to the initial trajectory, and the second position refers to a position in the updated trajectory corresponding to the first position, which is obtained by updating the first position.

3. The system according to claim 1, characterized in that The initial trajectory is selected from at least two existing trajectories or is a default trajectory; wherein the at least two existing trajectories are determined according to a machine learning technique, or the at least two existing trajectories are a set of trajectories of previous movements of the component; The default trajectory refers to a default trajectory of the component when it is in an initial geometric state, and the initial geometric state is determined according to an initial setting of the medical device.

4. The system according to claim 1, characterized in that To update the initial position of the component in the initial trajectory, the at least one processor is configured to cause the system to: By updating the initial position, an updated position is obtained; determining an updated distance of the component between the updated position and the isocenter; It is determined whether the updated distance is greater than a first threshold, and the response is: The distance between the component and the isocenter is updated and set to the first threshold.

5. The system according to claim 1, wherein: The initial tilt angle refers to the tilt angle of the component relative to the tangent direction of the initial trajectory when the component is in the initial position, and To update the initial tilt angle of the component in the initial trajectory, the at least one processor is configured to cause the system to: Updating an initial tilt angle corresponding to the initial position of the component to obtain an updated tilt angle; It is determined whether the updated tilt angle is greater than a third threshold, and the response is: The updated tilt angle is set as the third threshold.

6. A system for automatically adjusting the motion trajectory of a cone beam computed tomography (CBCT) device, characterized in that: include: A storage device for storing a set of instruction sets; as well as at least one processor, the at least one processor being in communication with the storage device, wherein when executing the set of instructions, the at least one processor is configured to cause the system to: Acquiring an initial trajectory of a component in a CBCT device, the component comprising a detector or a scanning source, wherein the initial trajectory of the component comprises a plurality of initial positions; At least one of the plurality of initial positions is disposed at an initial distance from an isocenter, and the isocenter is configured to be aligned with a center of a region of interest of the patient; and determining whether a collision between an object and the component is likely to occur based on the initial trajectory of the component; and When it is determined that a collision may occur between the object and the component, the initial trajectory of the component is updated by updating the initial position of the component in the initial trajectory or updating the initial tilt angle of the component in the initial trajectory to determine an updated trajectory of the component.

7. A system for automatically adjusting the motion trajectory of a radiotherapy RT device, characterized in that: include: A storage device for storing a set of instruction sets; as well as at least one processor, the at least one processor being in communication with the storage device, wherein when executing the set of instructions, the at least one processor is configured to cause the system to: Acquiring an initial trajectory of a component in the RT device, the component comprising a treatment head or an electronic portal imaging device (EPID), wherein the initial trajectory of the component comprises a plurality of initial positions; At least one of the plurality of initial positions is disposed at an initial distance from an isocenter, and the isocenter is configured to be aligned with a center of a region of interest of the patient; and determining whether a collision between an object and the component is likely to occur based on the initial trajectory of the component; and When it is determined that a collision may occur between the object and the component, the initial trajectory of the component is updated by updating the initial position of the component in the initial trajectory or updating the initial tilt angle of the component in the initial trajectory to determine an updated trajectory of the component.

8. The system according to claim 7, characterized in that The treatment head comprises a housing, a target, a primary collimator, a tungsten gate and a multi-leaf grating, wherein the multi-leaf grating is arranged inside or outside the housing of the treatment head, and the at least one processor is configured to enable the system to: When the multi-leaf grating is arranged inside the treatment head housing: updating at least the initial trajectory of the housing to update the initial trajectory of the treatment head; When the multi-leaf grating is arranged outside the treatment head housing: At least updating the initial trajectory of the multileaf grating and adjusting the radiation field defined by the multileaf grating to update the initial trajectory of the treatment head; as well as A determination is made as to whether a collision between the object and the multileaf collimator is likely to occur to determine whether a collision is likely to occur.

9. A method for automatically adjusting the motion trajectory of a medical device, characterized in that: include: Acquire an initial trajectory of a component in a medical device, wherein the initial trajectory of the component includes a plurality of initial positions; At least one of the plurality of initial positions is disposed at an initial distance from an isocenter, and the isocenter is configured to be aligned with a center of a region of interest of the patient; and determining whether a collision between an object and the component is likely to occur based on the initial trajectory of the component; and When it is determined that a collision may occur between the object and the component, the initial trajectory of the component is updated by updating the initial position of the component in the initial trajectory or updating the initial tilt angle of the component in the initial trajectory to determine an updated trajectory of the component.

10. A non-transitory computer-readable medium, characterized in that A computer program product is included, the computer program product comprising a set of instructions, the set of instructions being configured to cause the computer system to: Acquire an initial trajectory of a component in a medical device, wherein the initial trajectory of the component includes a plurality of initial positions; At least one of the plurality of initial positions is disposed at an initial distance from an isocenter, and the isocenter is configured to be aligned with a center of a region of interest of the patient; and determining whether a collision between an object and the component is likely to occur based on the initial trajectory of the component; and When it is determined that a collision may occur between the object and the component, the component is updated in the initial trajectory. The initial trajectory of the component is updated by updating the initial position of the component or updating the initial tilt angle of the component in the initial trajectory, To determine the update trajectory of the component.

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