Target region tracking method and device and computer equipment

Abstract

The invention relates to a target area tracking method and device and computer equipment. The method comprises the following steps: acquiring a positioning image of an object through a magnetic resonance scanner, determining the centroid position of a target region in the positioning image, acquiring the spatial position of a treatment head in radiotherapy equipment, determining the position of a target layer on the positioning image according to the centroid position and the spatial position, and determining the position of the target layer on the positioning image according to the position of the target layer. Controlling the magnetic resonance scanner to scan the object to obtain a tracking image; the tracking image includes a target region. By adopting the method, the accuracy of target region tracking can be improved.

Description

Technical Field

[0001] This application relates to the field of radiotherapy technology, and in particular to a target tracking method, apparatus, and computer device. Background Technology

[0002] With the continuous advancement of radiotherapy technology, dynamic radiotherapy will become a key development direction in radiotherapy. Dynamic radiotherapy uses medical imaging equipment to track the target area and controls the movement of the grating in the treatment head based on the tracked target area, enabling the treatment head to follow the target area and deliver more accurate radiotherapy.

[0003] However, the accuracy of target tracking in dynamic radiotherapy is not high at present. Therefore, how to propose a more accurate target tracking method is a key research topic for researchers in this field. Summary of the Invention

[0004] Therefore, it is necessary to provide a target area tracking method, apparatus, and computer equipment that can improve accuracy in addressing the aforementioned technical problems.

[0005] In a first aspect, this application provides a target tracking method applied to a magnetic resonance-guided radiotherapy system. The magnetic resonance-guided radiotherapy system includes a magnetic resonance scanner and a radiotherapy device integrated with the magnetic resonance scanner, comprising:

[0006] The object's localization image is obtained using a magnetic resonance scanner, and the centroid of the target area is determined within the localization image.

[0007] Obtain the spatial position of the treatment head in the radiotherapy equipment;

[0008] Based on the centroid position and spatial position, determine the target's horizontal position on the positioning image;

[0009] Based on the target's location, the magnetic resonance scanner is controlled to scan the object to obtain a tracking image; the tracking image includes the target area.

[0010] In one embodiment, at least one target level of the object is affected by respiratory movements or heartbeat movements.

[0011] In one embodiment, the spatial location includes angular information of the treatment head based on the isocenter of the radiotherapy device; the target layer location includes the scanning angle and center position of the target layer on the localization image; determining the target layer location on the localization image based on the centroid location and the spatial location includes:

[0012] Determine the scanning angle based on the angle information;

[0013] The center position is determined based on the location of the centroid.

[0014] In one embodiment, determining the target plane position on the positioning image based on the centroid position and spatial position includes:

[0015] Determine the line connecting the centroid location and the spatial location;

[0016] Determine the tangential plane of the circle where the connection line and the treatment head gantry are located;

[0017] Based on the centroid position, the target layer position parallel to the circular tangent is determined on the positioning image.

[0018] In one embodiment, the method further includes:

[0019] The movement of the treatment head's grating is controlled based on the planned and tracked images of the target area.

[0020] In one embodiment, controlling the grating movement of the treatment head based on the planning and tracking images of the target area includes:

[0021] Identify the first target region in the planned imagery and the second target region in the tracking imagery;

[0022] Determine the offset between the first target area and the second target area;

[0023] The movement of the grating on the treatment head is controlled by the offset.

[0024] Secondly, this application also provides a target area tracking device, comprising:

[0025] The first determining module is used to acquire a localization image of the object through a magnetic resonance scanner and determine the centroid position of the target area in the localization image;

[0026] The acquisition module is used to acquire the spatial position of the treatment head in the radiotherapy equipment;

[0027] The second determining module is used to determine the target plane position on the positioning image based on the centroid position and spatial position.

[0028] The first control module is used to control the magnetic resonance scanner to scan the object and obtain a tracking image based on the target plane position; the tracking image includes the target area.

[0029] Thirdly, this application also provides a target tracking method applied to a magnetic resonance-guided radiotherapy system, the magnetic resonance-guided radiotherapy system including a magnetic resonance scanner and a radiotherapy device integrated with the magnetic resonance scanner, comprising:

[0030] A localization image of the object is obtained using a magnetic resonance scanner;

[0031] Obtain the spatial position of the treatment head in the radiotherapy equipment;

[0032] The imaging angle of the magnetic resonance scanner is determined based on the object's localization image and spatial location.

[0033] Based on the imaging angle of the magnetic resonance scanner, the magnetic resonance scanner is controlled to scan the object to obtain a tracking image; the tracking image includes the target area;

[0034] Based on the tracking images, the radiotherapy equipment is controlled to adjust the movement of the grating in the treatment head or to adjust the shape of the beam generated by the radiotherapy equipment.

[0035] Fourthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0036] The localization image of the object is acquired, and the centroid of the target area is determined in the localization image. The localization image is obtained by scanning with medical imaging equipment and can reflect the anatomical structure of the object.

[0037] Acquire the spatial position of the treatment head in the radiotherapy equipment, and integrate the radiotherapy equipment with the medical imaging equipment;

[0038] Based on the centroid position and spatial position, determine the target's horizontal position on the positioning image;

[0039] Based on the target's location, imaging instructions are generated to control the medical imaging equipment. These instructions are used to scan the object to obtain a tracking image, which includes the target area.

[0040] In one embodiment, the processor, when executing the computer program, also performs the following steps:

[0041] Based on the planned and tracked images of the target area, control commands for the radiotherapy equipment are generated. These control commands are used to control the movement of the grating in the treatment head or to control the shape of the beam generated by the radiotherapy equipment.

[0042] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above methods.

[0043] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above methods.

[0044] The aforementioned target tracking method, apparatus, and computer equipment, because they can acquire a localization image of the object using a magnetic resonance scanner and determine the centroid position of the target area within that image, as well as the spatial position of the treatment head in the radiotherapy equipment, can determine the target layer position on the localization image based on the centroid position and spatial position. Thus, the target layer is not static, nor does it merely alternate between layers in three directions; rather, it can be determined based on the spatial position of the treatment head in the radiotherapy equipment. Therefore, the target layer can adaptively change based on the beam of the treatment head. Consequently, by controlling the magnetic resonance scanner to scan the object and obtain tracking images based on the target layer position, a more accurate tracking image including the target area can be obtained, improving the accuracy of target tracking. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A diagram illustrating the stitching distortion in the image;

[0047] Figure 2 This is a diagram illustrating the application environment of the target tracking method in one embodiment;

[0048] Figure 3 This is a flowchart illustrating a target tracking method in one embodiment;

[0049] Figure 4 This is a schematic diagram of a process for determining the location of a target layer in one embodiment;

[0050] Figure 5 This is a schematic diagram of another process for determining the target layer location in one embodiment;

[0051] Figure 6 This is a schematic diagram illustrating the process of determining the target layer location in one embodiment;

[0052] Figure 7 This is a schematic diagram of the grating motion in one embodiment;

[0053] Figure 8 This is a schematic diagram illustrating the process of a target tracking method in one embodiment;

[0054] Figure 9 This is a schematic diagram illustrating the operation of a target tracking method in one embodiment;

[0055] Figure 10 This is a flowchart illustrating another target tracking method in one embodiment;

[0056] Figure 11 This is a schematic diagram illustrating the target tracking effect in one embodiment;

[0057] Figure 12 This is a flowchart illustrating another target tracking method in one embodiment;

[0058] Figure 13 This is a structural block diagram of a target area tracking device in one embodiment;

[0059] Figure 14 This is a structural block diagram of yet another target tracking device in one embodiment;

[0060] Figure 15 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0062] With the continuous advancement of radiotherapy technology, it has evolved from conventional square-field radiotherapy to more advanced techniques such as three-dimensional conformal radiotherapy (3D-CRT), intensity-modulated radiotherapy (IMRT), image-guided radiotherapy (ARRT), and adaptive radiotherapy. 3D-CRT is a radiotherapy technique that uses three-dimensional imaging technology to acquire three-dimensional anatomical information of the patient's body parts and formulates a radiotherapy plan based on this information. IRT is a radiotherapy technique that distributes the dose layer by layer by controlling the shape and intensity of the radiotherapy beam. Image-guided radiotherapy is a radiotherapy technique that uses imaging equipment to guide the radiotherapy process before and during treatment. Adaptive radiotherapy is a radiotherapy technique that readjusts the radiotherapy plan based on the target area between multiple fractionated treatments.

[0063] In the future, dynamic radiotherapy technology that tracks target area changes in real time is becoming a key development direction for high-precision radiotherapy. Among these technologies, magnetic resonance imaging (MR) is increasingly becoming a crucial imaging aid due to its excellent imaging capabilities for soft tissues and its extremely high degree of imaging freedom.

[0064] Currently, the following imaging techniques exist for magnetic resonance imaging (MRI): (1) 2D same-slice high temporal resolution imaging technique; (2) 2D orthogonal plane alternating real-time imaging technique; (3) multi-layer stitching imaging technique; and (4) 3D volumetric real-time imaging technique.

[0065] Among them, 2D same-layer high temporal resolution imaging technology repeatedly acquires data from the same layer to ensure real-time updates of the target area position within that layer. However, due to the singularity of the 2D layer, it is difficult to acquire 3D motion information in this imaging technology. In other words, the resulting tracking image only has two dimensions and lacks third-dimensional information.

[0066] 2D orthogonal alternating real-time imaging technology acquires data alternately in sagittal, coronal, and transverse planes to locate the target area in three dimensions. However, alternating imaging can lead to crosshair artifacts in the tracking images, and there are imaging delays for different planes, resulting in a time delay between the later motion dimension and the previous two dimensions during the actual acquisition of three-dimensional information. Furthermore, the refresh rate of a single layer is fixed. For example, if acquiring a tracking image of a certain plane originally took 0.2 seconds, acquiring the same image using 2D orthogonal alternating real-time imaging technology would take 0.6 seconds. Therefore, tracking images in the same direction suffer from low temporal resolution.

[0067] Multi-layer stitching imaging technology keeps the acquisition direction constant, cyclically and alternately acquiring tracking images from different layers, and then stitching these images together. However, due to machine limitations, medical imaging equipment cannot precisely locate each layer. Therefore, some geometric distortions occur between different layers, resulting in stitching distortion in the generated image. Figure 1 To illustrate the stitching distortion in the image, please refer to the diagram. Figure 1 The white elliptical area in the middle.

[0068] Real-time 3D volumetric imaging technology can improve the localization accuracy of three-dimensional target areas and has no interlayer gap issues, providing the most comprehensive image coverage. However, given a fixed encoding efficiency, adding information in one dimension requires acquiring more two-dimensional layers, resulting in significant time consumption. Therefore, this imaging technology has a high number of imaging encoding steps, making it difficult to improve imaging speed and placing a heavy burden on the stable operation of magnetic resonance imaging equipment. Furthermore, this imaging technology is limited by imaging temporal resolution, requiring a certain sacrifice in image quality.

[0069] Therefore, it is necessary to provide a target tracking method to address the aforementioned technical problems, thereby achieving higher image quality while reducing the impact of image geometric deviations, and simultaneously achieving higher imaging speeds for target tracking. This target tracking method will be described below.

[0070] Figure 2 This is an application environment diagram of the target tracking method in one embodiment. The target tracking method provided in this application embodiment can be applied to, for example... Figure 2The application environment is shown. In this environment, computer device 201 is capable of communicating with radiotherapy system 202. Radiotherapy system 202 includes medical imaging equipment and radiotherapy equipment integrated with the medical imaging equipment. Medical imaging equipment includes, but is not limited to, magnetic resonance imaging (MRI) equipment, computed tomography (CT) equipment, ultrasound equipment, positron emission tomography (PET)-CT equipment, and PET-MR equipment.

[0071] The radiotherapy equipment may include a gantry 202a, a treatment head 202b on the gantry 202a, and a treatment bed 202c. The patient can lie in a fixed area of ​​the treatment bed 202c, so that the treatment bed carries the patient into the aperture of the gantry during movement, and then rotates the gantry to rotate the treatment head, and during the rotation, the beam is projected onto the target area for radiotherapy.

[0072] The computer device 201 may be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server providing cloud computing services. In some embodiments, the computer device 201 may also include, but is not limited to, various personal computers, laptops, smartphones, tablets, etc.

[0073] Figure 3 This is a flowchart illustrating a target region tracking method in one embodiment. In an exemplary embodiment, such as... Figure 3 As shown, a target area tracking method is provided, which can be applied to... Figure 2 Taking the computer equipment, radiotherapy system (magnetic resonance-guided radiotherapy system), and medical imaging equipment (magnetic resonance scanner) as examples, the method includes the following steps S301 to S304. Wherein:

[0074] S301, acquires a localization image of the object using a magnetic resonance scanner, and determines the centroid position of the target area in the localization image.

[0075] In this embodiment, the target area is the region of the object requiring radiotherapy, which may include, but is not limited to, a tumor region. The magnetic resonance scanner first scans the object to obtain a localization image. It is understood that the localization image includes the target area, and subsequently, the computer device can determine the centroid location of the target area within the localization image.

[0076] The centroid position of the target area can be either the position information of the centroid of the target area in the image coordinate system where the positioning image is located, or the position information of the centroid of the target area in the real space coordinate system. Optionally, the computer device can calculate the centroid position of the target area based on the positioning image according to a preset algorithm, and the computer device can also receive the centroid position input by the user. In some embodiments, the computer device can also determine the centroid position of the target area according to the positioning image and the coordinate transformation relationship. The coordinate transformation relationship can be the transformation relationship between the real space coordinate system and the image coordinate system corresponding to the positioning image, but this embodiment is not limited thereto.

[0077] S302, Obtain the spatial position of the treatment head in the radiotherapy equipment.

[0078] In this embodiment, the spatial position of the treatment head in the radiotherapy device can represent the position information of the treatment head in a real spatial coordinate system. For example, a computer device can obtain the spatial position of the treatment head through a position sensor, such as an encoder.

[0079] S303, determine the target's position on the positioning image based on the centroid position and spatial position.

[0080] In this embodiment, the target layer location is used to indicate the position of the target layer. The target layer is the layer that needs to be scanned by medical imaging equipment. Optionally, the target layer can be a two-dimensional layer.

[0081] The target plane position can be the plane equation of the target plane, or the scanning angle and center position of the target plane. This embodiment does not impose any restrictions.

[0082] It should be noted that because the position of the treatment head changes during radiotherapy, the target plane position also changes accordingly. Optionally, the computer device can periodically update the spatial position to periodically determine the target plane position based on the centroid position and the spatial position.

[0083] Since the subject's breathing or heartbeat occurs during radiotherapy, in one exemplary embodiment, optionally, at least one target layer of the subject is affected by the breathing or heartbeat.

[0084] Furthermore, due to clinical application requirements, actual conformal therapy often requires the projected area of ​​the target region. Therefore, in an exemplary embodiment, optionally, the target layer can be determined based on the projection plane of the beam in the treatment head. Further optionally, the angle between the target layer and the beam direction of the treatment head is a preset value, which can be a value close to 90°, for example, any angle between 80° and 110°. Exemplarily, a computer device can determine the projection plane of the beam in the treatment head based on the spatial position of the treatment head, and take the plane position passing through the centroid and parallel to the projection plane as the target layer position.

[0085] Furthermore, during radiotherapy, only respiratory or cardiac movements perpendicular to the beam are meaningful; the beam cannot cover target area movements in other directions. For example, if the beam is vertical from top to bottom, vertical movement of the target area does not affect its projected area in the vertical direction, but horizontal movement does. Based on this, tracking the target area in the direction perpendicular to the beam is sufficient. Therefore, the angle between the target layer and the beam direction of the treatment head can be 90 degrees. This allows for adaptive scanning of the optimal target layer perpendicular to the beam direction to extract the optimal trajectory for current beam tracking.

[0086] S304, based on the target layer location, controls the magnetic resonance scanner to scan the object to obtain a tracking image; the tracking image includes the target area.

[0087] Furthermore, after determining the target plane location, the magnetic resonance scanner can be controlled to scan the object to obtain a tracking image including the target area. In other words, the computer device can control the magnetic resonance scanner to scan based on the target plane to obtain a tracking image. Optionally, the computer device can control the magnetic resonance scanner to scan based on the target plane by controlling the excitation angle of the radio frequency pulse and the emission timing of the gradient pulse. The tracking image may include at least one two-dimensional image.

[0088] For example, a computer device can send an instruction to a magnetic resonance scanner, including the location of the target layer. After receiving the instruction, the magnetic resonance scanner can switch to the target layer of the object to scan and obtain a tracking image.

[0089] It is understandable that the computer device will obtain different tracking images at different target layer locations. For example, when the treatment head moves to spatial position A, the computer device determines the target layer position A and scans based on target layer position A to obtain tracking image A of the target area. When the treatment head moves to spatial position B, the computer device determines the target layer position B and scans based on target layer position B to obtain tracking image B of the target area, and so on. It should be noted that the letters mentioned above are only for distinction and do not limit the number of tracking images. In this way, the target area can be periodically tracked during radiotherapy. Furthermore, in some embodiments, since the target layer is a two-dimensional layer, the tracking efficiency is higher than that of 3D volumetric real-time imaging technology.

[0090] Furthermore, tracking images can be used to determine the radiation field. For example, after acquiring tracking image A corresponding to spatial location A, the radiation field can be adaptively adjusted based on tracking image A to reduce the image of respiratory motion, thereby improving the accuracy of radiotherapy.

[0091] In the aforementioned target tracking method, since a positioning image of the object can be acquired using a magnetic resonance scanner, and the centroid position of the target area can be determined within this image, along with the spatial position of the treatment head in the radiotherapy equipment, the target layer position can be determined on the positioning image based on the centroid position and spatial position. Thus, the target layer is not static, nor does it merely alternate between layers in three directions; rather, it can be determined based on the spatial position of the treatment head in the radiotherapy equipment. Therefore, the target layer can adaptively change based on the beam of the treatment head. Consequently, by controlling the magnetic resonance scanner to scan the object and obtain tracking images based on the target layer position, a more accurate tracking image including the target area can be obtained, improving the accuracy of target tracking.

[0092] Figure 4 This is a schematic diagram of a process for determining the location of a target plane in one embodiment. In an exemplary embodiment, such as... Figure 4 As shown, the spatial position includes the angle information of the treatment head based on the isocenter point of the radiotherapy equipment; the target layer position includes the scanning angle and center position of the target layer on the localization image; S302 includes steps S401 to S402. Wherein:

[0093] S401, determine the scanning angle based on the angle information.

[0094] In this embodiment, the spatial position includes the angle information of the treatment head relative to the isocenter of the radiotherapy equipment. The isocenter of the radiotherapy equipment can be understood as the rotation center of the gantry, and the treatment head rotates relative to the gantry. The angle information of the treatment head can be used to indicate the current rotation angle of the treatment head. This rotation angle can be the angle between a first line and a second line. The first line is the line connecting the isocenter and the treatment head. The second line is a horizontal line passing through the isocenter. For example, taking a 360° rotation as an example, in the initial state, the angle information of the treatment head can be 0°; after rotating clockwise by 1 / 8, the angle information of the treatment head is 45°.

[0095] Furthermore, based on the angle information, the computer device can determine the scanning angle (fov) of the target layer on the positioning image. Optionally, the computer device can post-process the angle information to obtain the scanning angle of the target layer, or the computer device can use the angle information as the scanning angle of the target layer.

[0096] For example, assuming the angle information of the treatment head is 45°, the computer device can determine that the scanning angle of the target layer is also 45°.

[0097] S402, determine the center position based on the position of the centroid.

[0098] Furthermore, the computer equipment will determine the center position of the target layer on the localization image based on the centroid position of the target area. Optionally, the computer equipment can obtain the center position of the target layer by post-processing the centroid position, or it can directly use the centroid position as the center position of the target layer.

[0099] The target layer location includes the scanning angle and the center position. Therefore, the target layer location can be uniquely determined based on the scanning angle and the center position. In other words, the spatial position of the treatment head can be used to determine the scanning angle, and the centroid position of the target area can be used to determine the rotation point, i.e., the center position, of the target layer where the target area is located, to ensure that the target area remains within the radiation range during the rotation of the treatment head. Subsequently, the computer equipment can rotate the corresponding scanning angle based on the center position of the target layer, thereby scanning based on the target layer to obtain tracking images.

[0100] In the above embodiments, since the scanning angle of the target layer on the positioning image can be determined based on the angle information, and the center position of the target layer on the positioning image can be determined based on the centroid position, and the target layer position includes the scanning angle and the center position, the target layer position can be determined efficiently and accurately based on the centroid position and the spatial position.

[0101] Figure 5This is a schematic diagram of another process for determining the target layer location in one embodiment. In an exemplary embodiment, such as... Figure 5 As shown, S302 includes S501 to S503. Wherein:

[0102] S501, determine the line connecting the centroid position and the spatial position.

[0103] To explain more clearly Figure 6 The method for determining the target level location is combined here. Figure 6 illustrate. Figure 6 This is a schematic diagram illustrating the process of determining the target layer location in one embodiment. After the computer device determines the spatial location of the treatment head and the centroid location of the target area, it can determine the line connecting the centroid location and the spatial location, such as... Figure 6 As shown by the dashed line in the image.

[0104] S502, determine the tangential plane of the connection line and the gantry of the treatment head.

[0105] Please continue to refer to this. Figure 6 The computer equipment can be connected to the tangential plane of the circle where the treatment head's gantry is located. In other words, the connection described above is the normal vector of the tangential plane.

[0106] S503, based on the centroid position, determines the target layer position parallel to the circular tangent on the positioning image.

[0107] Furthermore, based on the centroid location, the computer device can determine the target layer location parallel to the circular tangent. For example, the computer device can use a plane location passing through the centroid and parallel to the circular tangent as the target layer location.

[0108] In the above embodiments, since the line connecting the centroid position and the spatial position can be determined, and the circular tangent of the line and the gantry of the treatment head is determined, after determining the target layer position parallel to the circular tangent on the positioning image based on the centroid position, a relatively accurate target layer position can be determined based on the centroid position and the spatial position.

[0109] In an exemplary embodiment, optionally, the target region tracking method described above further includes the following steps:

[0110] The movement of the treatment head's grating is controlled based on the planned and tracked images of the target area.

[0111] In this embodiment, the computer device is capable of acquiring planning images of the target area. For example, a medical imaging device can scan the target area before surgery and send the resulting planning images to the computer device.

[0112] Furthermore, the computer equipment can control the movement of the grating in the treatment head based on the planning and tracking images. The grating in the treatment head can be, but is not limited to, a multi-leave collimator (MLC) system.

[0113] Continuing the example above, in the case of spatial position A of the treatment head movement, the computer device can control the grating movement of the treatment head based on the planning image and the tracking image A. In the case of spatial position B of the treatment head movement, the computer device can control the grating movement of the treatment head based on the planning image and the tracking image B, and so on.

[0114] Optionally, the computer device inputs planning and tracking images into a trained model, which outputs motion parameters of the grating in the treatment head. The computer device then controls the grating movement based on these motion parameters to achieve dynamic radiotherapy. For example, the computer device can input planning and tracking images A into the model and control the grating movement based on the motion parameters A output by the model, enabling more accurate conformal radiotherapy when the treatment head is at spatial position A.

[0115] In the above embodiments, by controlling the grating movement of the treatment head based on the planned and tracked images of the target area, the accuracy of the grating movement can be improved, thereby determining the accurate radiation field during radiotherapy.

[0116] Figure 7 This is a schematic diagram of the grating motion process in one embodiment. In an exemplary embodiment, such as... Figure 7 As shown, the aforementioned "controlling the grating movement of the treatment head based on the planning and tracking images of the target area" includes S701 to S703. Among them:

[0117] S701, identify the first target area in the planned image and the second target area in the tracking image.

[0118] In this embodiment, the computer device identifies a target area in the planned image as the first target area and a target area in the tracking image as the second target area. The computer device can determine the first and second target areas using a threshold segmentation algorithm, or it can determine them using a trained recognition model. The computer device can also determine the first and second target areas in response to a user's drawing operation; this embodiment is not limited to these methods. Optionally, the methods for determining the first and second target areas can be different. For example, the first target area in the planned image can be determined using a threshold segmentation algorithm, and the second target area in the tracking image can be determined using a recognition model.

[0119] S702, determine the offset between the first target area and the second target area.

[0120] Furthermore, the first target area in the planned image can be used as a reference. By using the first and second target areas, the offset between the two target areas can be determined. This offset includes both the magnitude and direction of the offset. For example, computer equipment can determine that the second target area is offset 1 centimeter (cm) to the right relative to the first target area.

[0121] S703 controls the grating movement of the treatment head based on the offset.

[0122] In this embodiment, the offset can indicate the direction of movement of the target area, and thus, the computer device can control the grating target area of ​​the treatment head according to the offset. For example, the computer device can obtain the motion parameters of the grating based on the offsets of the first and second target areas and this correspondence, according to different offsets and motion parameters, and control the movement of the grating according to the motion parameters. The motion parameters of the grating can be used to indicate the movement of the grating blades. In other words, the motion parameters of the grating can be used to indicate which blades are open in the grating and at what position.

[0123] In the above embodiments, since the first target area in the planning image and the second target area in the tracking image can be determined, and the offset between the first target area and the second target area can be determined, the grating movement of the treatment head can be efficiently controlled according to the offset, thereby improving the tracking efficiency during radiotherapy.

[0124] To more clearly illustrate the target tracking method of this application, this paper combines... Figure 8 and Figure 9 Please provide an explanation. Figure 8 This is a schematic diagram of a target area tracking method in one embodiment. A computer device can execute the method according to the following process.

[0125] S801 acquires a localization image of the object using a magnetic resonance scanner and determines the centroid position of the target area within the localization image.

[0126] S802, Obtain the spatial position of the treatment head in the radiotherapy device. The spatial position includes the angle information of the treatment head relative to the isocenter point of the radiotherapy device.

[0127] S803 determines the scanning angle based on the angle information.

[0128] S804, determine the center position based on the centroid position. The target plane position includes the scanning angle and center position of the target plane on the positioning image.

[0129] S805 controls the magnetic resonance scanner to scan the target area and obtain a tracking image based on the target layer location. The tracking image includes the target area, and the target layer can be determined based on the projection plane of the beam in the treatment head; the preset value can be 90 degrees.

[0130] S806, identify the first target area in the planned image and the second target area in the tracking image.

[0131] S807, determine the offset between the first target area and the second target area.

[0132] S808 controls the grating movement of the treatment head based on the offset.

[0133] The processes S801~S808 can be referred to in the above embodiments and will not be repeated here. In this way, the vertical cross-sectional image of the beam can be obtained through MRI multi-angle real-time imaging technology to accurately track the maximum motion direction of the current beam. While ensuring tracking accuracy, this reduces the number of encoding steps required for imaging, increases imaging speed, reduces the imaging pressure on the MRI equipment, and improves machine stability. Compared to 2D orthogonal plane alternating real-time imaging technology and 3D volumetric real-time imaging technology, it is still a low-slice two-dimensional imaging method, which is beneficial for improving the spatial and temporal resolution of the image. Furthermore, it can reduce the computational pressure on image and trajectory coordinates, improve the real-time performance of the algorithm, and achieve a low-latency, high-accuracy target tracking function.

[0134] Figure 9 This is a schematic diagram illustrating the operation of a target tracking method in one embodiment, such as... Figure 9 As shown, under different beams, specific target-level acquisition can be performed on the target area. For example, under the action of the beam limiting device 903, if the treatment head emits a 90° beam as shown in 902a, the tracking image of the target area 901 is shown in 904a; if the treatment head emits a 180° beam as shown in 902b, the tracking image of the target area 901 is shown in 904b. It can be seen that, based on the tracked image, two adaptations can be performed on the radiotherapy setup. On the one hand, adjusting the beam shape corresponding to 901 can achieve conformal adaptation to the tumor morphology; on the other hand, adjusting the movement of the multi-leaf grating in 903, such as adjusting the spacing between adjacent leaves, can achieve follow-up adjustment of the multi-leaf grating as the tumor moves. Therefore, the target area tracking method provided in this embodiment can better acquire the target area movement state to perform radiotherapy methods such as monitoring, gating, and tracking.

[0135] Figure 10 This is a flowchart illustrating another target tracking method in one embodiment. In an exemplary embodiment, such as... Figure 10 As shown, a target area tracking method is provided, and this method is then applied to... Figure 2 Taking the computer equipment, radiotherapy system (magnetic resonance-guided radiotherapy system), and medical imaging equipment (magnetic resonance scanner) as examples, the method includes the following steps S1001 to S1005. Wherein:

[0136] S1001, acquires the localization image of the object using a magnetic resonance scanner.

[0137] In this embodiment, the magnetic resonance scanner first scans the object to obtain a localization image of the object. The localization image of the object includes the target area.

[0138] S1002, Obtain the spatial position of the treatment head in the radiotherapy equipment.

[0139] The process of S1002 can be referred to S302, and will not be repeated here.

[0140] S1003, determine the imaging angle of the magnetic resonance scanner based on the object's localization image and spatial position.

[0141] In this embodiment, after the computer device acquires the positioning image of the object and the spatial position of the treatment head, it can determine the imaging angle of the magnetic resonance scanner based on the positioning image and the spatial position. It can be understood that determining the imaging angle also determines the target layer of the magnetic resonance scanner.

[0142] Optionally, the computer device can determine an imaging angle that ensures the target area is always within the irradiation range of the beam and is perpendicular to the beam direction of the treatment head, based on the object's positioning image and spatial location.

[0143] S1004 controls the magnetic resonance scanner to scan the object and obtain a tracking image based on the imaging angle of the magnetic resonance scanner; the tracking image includes the target area.

[0144] In this embodiment, the imaging angle can be determined based on the excitation angle of the radio frequency pulse and the emission timing of the gradient pulse. Furthermore, the computer device can control the magnetic resonance scanner to scan the object based on the imaging angle to obtain a tracking image including the target area by controlling the excitation angle of the radio frequency pulse and the emission timing of the gradient pulse.

[0145] S1005, based on the tracking images, controls the radiotherapy equipment to adjust the grating movement of the treatment head or adjust the shape of the beam generated by the radiotherapy equipment.

[0146] In this embodiment, the adjustment of the grating movement of the treatment head by controlling the radiotherapy equipment according to the tracking image can be referred to the above embodiment, and will not be repeated here.

[0147] In some embodiments, similarly, the computer device can adjust the shape of the beam generated by the radiotherapy device based on the offset. Optionally, the computer device can adjust the collimator of the radiotherapy device based on tracking images to adjust the shape of the beam generated by the radiotherapy device.

[0148] In the above embodiments, since a positioning image of the object can be acquired through a magnetic resonance scanner, and the spatial position of the treatment head in the radiotherapy device can be obtained, the imaging angle of the magnetic resonance scanner can be determined based on the positioning image and spatial position of the object. Therefore, the imaging angle is not constant, nor does it simply change alternately in three directions. Instead, it can be determined based on the positioning image and the spatial position of the treatment head in the radiotherapy device, thus allowing for adaptive changes based on the beam of the treatment head, resulting in a relatively accurate imaging angle. Furthermore, by controlling the magnetic resonance scanner to scan the object and obtain target area tracking images based on the imaging angle of the magnetic resonance scanner, the accuracy of target area tracking can be improved. Even further, by controlling the radiotherapy device to adjust the grating movement of the treatment head or the shape of the beam generated by the radiotherapy device based on the tracking images, the accuracy of radiotherapy can be improved.

[0149] Figure 11 This is a schematic diagram illustrating the target tracking effect in one embodiment. Figure 11 The tracking images are shown from two imaging angles. Figure 11 (a) and Figure 11 The white arrow in (c) indicates the beam direction of the treatment head, i.e., the beam angle. Figure 11 (a) and Figure 11 (c) The white dashed line represents the imaging plane of the magnetic resonance scanner, that is, the target plane.

[0150] Please refer to Figure 11 (a) and Figure 11 (b) In Figure 11 (a) Under the beam direction shown, the magnetic resonance scanner will... Figure 11 (a) illustrates the imaging surface scanning the object, resulting in a tracking image. Figure 11 As shown in (b).

[0151] please Figure 11 (c) and Figure 11 (d), in Figure 11 (c) Under the beam direction shown, the magnetic resonance scanner will... Figure 11 (c) illustrates the imaging surface scanning the object, resulting in a tracking image. Figure 11 As shown in (d).

[0152] The above describes the application of the target tracking method in a magnetic resonance-guided radiotherapy system. It is understood that the target tracking method provided in this application can also be applied to other types of guided radiotherapy systems, which will be described in detail below.

[0153] Figure 12 This is a flowchart illustrating another target tracking method in one embodiment. In an exemplary embodiment, such as... Figure 12As shown, a target area tracking method is provided, which can be applied to... Figure 2 The computer equipment described herein includes the following steps S1201 to S1204. Wherein:

[0154] S1201, acquire a localization image of the object and determine the centroid position of the target area in the localization image. The localization image is obtained by scanning with medical imaging equipment and can reflect the anatomical structure of the object.

[0155] In this embodiment, the medical imaging equipment may include, but is not limited to, CT scanners, ultrasound scanners, and other imaging devices capable of acquiring the anatomical structure of an object. Furthermore, the computer device can obtain a localization image of the object by scanning it with the medical imaging equipment, and this localization image reflects the anatomical structure of the object. Further, the localization image includes a target area; that is, the localization image is an image that reflects the anatomical structure of the target area.

[0156] S1202, Obtain the spatial position of the treatment head in the radiotherapy equipment, and integrate the radiotherapy equipment with the medical imaging equipment.

[0157] S1203, determine the target's position on the positioning image based on the centroid position and spatial position.

[0158] In this embodiment, the process of S1202 can be referred to as S302, and the process of S1203 can be referred to as S303, which will not be repeated here.

[0159] S1204, Based on the target layer location, generate imaging instructions to control the medical imaging equipment. The imaging instructions are used to scan the object to obtain a tracking image, which includes the target area.

[0160] In this embodiment, after the computer device determines the location of the target plane, it can generate imaging instructions to control the medical imaging device to scan the object based on the target plane, thereby obtaining a tracking image including the target area. Taking a CT scanner as an example, the computer device can send an imaging instruction including the location of the target plane to the CT scanner. After receiving the imaging instruction, the CT scanner can scan the object based on the target plane to obtain a tracking image.

[0161] In the above embodiments, a positioning image of the object can be acquired, and the centroid position of the target area can be determined in the positioning image, as well as the spatial position of the treatment head in the radiotherapy device. Since the radiotherapy device is integrated with the medical imaging equipment, and the positioning image is obtained through scanning by the medical imaging equipment and reflects the anatomical structure of the object, the target layer position can be determined on the positioning image based on the centroid position and spatial position. Thus, the target layer is not static, nor does it merely alternate between layers in three directions; rather, it can be determined based on the spatial position of the treatment head in the radiotherapy device. Therefore, the target layer can adaptively change based on the beam of the treatment head. Furthermore, since the imaging command is used to scan the object to obtain a tracking image, which includes the target area, after generating the imaging command to control the medical imaging equipment based on the target layer position, a more accurate tracking image including the target area can be obtained, improving the accuracy of target area tracking.

[0162] In one embodiment, optionally, the target area tracking method described above further includes the following steps:

[0163] Based on the planned and tracked images of the target area, control commands for the radiotherapy equipment are generated. These control commands are used to control the movement of the grating in the treatment head or to control the shape of the beam generated by the radiotherapy equipment.

[0164] In this embodiment, the computer device is capable of acquiring planning images of the target area. For example, a medical imaging device can scan the target area before surgery and send the resulting planning images to the computer device.

[0165] Furthermore, based on the planning and tracking images of the target area, control commands for the radiotherapy equipment can be generated. For example, when the treatment head is in spatial position A, the computer equipment can generate control command A based on the planning and tracking images A. When the treatment head is in spatial position B, the computer equipment can generate control command B based on the planning and tracking images B.

[0166] Optionally, the computer equipment can determine the offset between the first target region and the second target region in the planning image and the tracking image, and generate control commands for the radiotherapy equipment based on the offset. Alternatively, the computer equipment can determine the target beam shape based on the difference between the planning image and the tracking image, and generate control commands for the radiotherapy equipment based on the target beam shape.

[0167] Furthermore, the computer device can control the movement of the optical grating in the treatment head or the shape of the beam generated by the radiotherapy equipment through control commands. For example, the computer device sends control commands to the radiotherapy equipment to control the movement of the optical grating in the treatment head or the shape of the beam generated by the radiotherapy equipment according to the control commands.

[0168] In the above embodiments, since control commands for the radiotherapy equipment can be generated based on the planned and tracked images of the target area to control the grating movement of the treatment head or the shape of the beam generated by the radiotherapy equipment, the tracking accuracy during the radiotherapy process is improved.

[0169] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0170] Based on the same inventive concept, this application also provides a target region tracking device for implementing the target region tracking method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more target region tracking device embodiments provided below can be found in the limitations of the target region tracking method described above, and will not be repeated here.

[0171] Figure 13 This is a structural block diagram of a target area tracking device in one embodiment. In an exemplary embodiment, such as... Figure 13 As shown, a target tracking device 1300 is provided for use in a magnetic resonance-guided radiotherapy system. The magnetic resonance-guided radiotherapy system includes a magnetic resonance scanner and a radiotherapy device integrated with the magnetic resonance scanner. The target tracking device 1300 includes: a first determination module 1301, an acquisition module 1302, a second determination module 1303, and a first control module 1304, wherein:

[0172] The first determining module 1301 is used to acquire a positioning image of the object through a magnetic resonance scanner and determine the centroid position of the target area in the positioning image.

[0173] The acquisition module 1302 is used to acquire the spatial position of the treatment head in the radiotherapy device.

[0174] The second determining module 1303 is used to determine the target plane position on the positioning image based on the centroid position and spatial position.

[0175] The first control module 1304 is used to control the magnetic resonance scanner to scan the object to obtain a tracking image based on the target plane position; the tracking image includes the target area.

[0176] In the aforementioned target tracking device, since a positioning image of the object can be acquired via a magnetic resonance scanner, and the centroid position of the target area can be determined within this image, as well as the spatial position of the treatment head within the radiotherapy equipment, the target layer position can be determined on the positioning image based on the centroid position and the spatial position. Thus, the target layer is not static, nor does it merely alternate between layers in three directions; rather, it can be determined based on the spatial position of the treatment head within the radiotherapy equipment. Therefore, the target layer can adaptively change based on the beam of the treatment head. Consequently, by controlling the magnetic resonance scanner to scan the object and obtain tracking images based on the target layer position, a more accurate tracking image including the target area can be obtained, improving the accuracy of target tracking.

[0177] Optionally, at least one target level of the object is affected by respiratory or heartbeat movements.

[0178] Optionally, the spatial location includes the angle information of the treatment head based on the isocenter point of the radiotherapy equipment; the target plane location includes the scanning angle and center position of the target plane on the localization image; the second determining module 1303 includes:

[0179] The first determining unit is used to determine the scanning angle based on the angle information.

[0180] The second determining unit is used to determine the center position based on the position of the centroid.

[0181] Optionally, the second determining module 1303 includes:

[0182] The third determining unit is used to determine the line connecting the centroid position and the spatial position.

[0183] The fourth determining unit is used to determine the circular tangent of the connection line and the gantry of the treatment head.

[0184] The fifth determining unit is used to determine the position of the target layer parallel to the circular tangent on the positioning image based on the position of the centroid.

[0185] Optionally, the target tracking device 1300 also includes:

[0186] The second control module is used to control the grating movement of the treatment head based on the planned and tracked images of the target area.

[0187] Optionally, the second control module includes:

[0188] The sixth determining unit is used to determine the first target area in the planned image and the second target area in the tracking image.

[0189] The seventh determining unit is used to determine the offset between the first target area and the second target area.

[0190] The control unit is used to control the grating movement of the treatment head according to the offset.

[0191] Figure 14 This is a structural block diagram of another target area tracking device in one embodiment. In an exemplary embodiment, such as... Figure 14 As shown, a target tracking device 1400 is provided for use in a magnetic resonance-guided radiotherapy system. The magnetic resonance-guided radiotherapy system includes a magnetic resonance scanner and a radiotherapy device integrated with the magnetic resonance scanner. The target tracking device 1400 includes: a first acquisition module 1401, a second acquisition module 1402, a determination module 1403, a first control module 1404, and a second control module 1405, wherein:

[0192] The first acquisition module 1401 is used to acquire a localization image of an object using a magnetic resonance scanner.

[0193] The second acquisition module 1402 is used to acquire the spatial position of the treatment head in the radiotherapy device.

[0194] The determination module 1403 is used to determine the imaging angle of the magnetic resonance scanner based on the object's positioning image and spatial position.

[0195] The first control module 1404 controls the magnetic resonance scanner to scan the object and obtain a tracking image based on the imaging angle of the magnetic resonance scanner; the tracking image includes the target area.

[0196] The second control module 1405 controls the radiotherapy equipment to adjust the grating movement of the treatment head or the shape of the beam generated by the radiotherapy equipment, based on the tracking images.

[0197] In the above embodiments, since a positioning image of the object can be acquired through a magnetic resonance scanner, and the spatial position of the treatment head in the radiotherapy device can be obtained, the imaging angle of the magnetic resonance scanner can be determined based on the positioning image and spatial position of the object. Therefore, the imaging angle is not constant, nor does it simply change alternately in three directions. Instead, it can be determined based on the positioning image and the spatial position of the treatment head in the radiotherapy device, thus allowing for adaptive changes based on the beam of the treatment head, resulting in a relatively accurate imaging angle. Furthermore, by controlling the magnetic resonance scanner to scan the object and obtain target area tracking images based on the imaging angle of the magnetic resonance scanner, the accuracy of target area tracking can be improved. Even further, by controlling the radiotherapy device to adjust the grating movement of the treatment head or the shape of the beam generated by the radiotherapy device based on the tracking images, the accuracy of radiotherapy can be improved.

[0198] Each module in the aforementioned target tracking device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0199] Figure 15 This is an internal structure diagram of a computer device in one embodiment. In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown below. Figure 15 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores relevant data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When executed by the processor, the computer program implements a target tracking method.

[0200] Those skilled in the art will understand that Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0201] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0202] The localization image of the object is acquired, and the centroid of the target area is determined in the localization image. The localization image is obtained by scanning with medical imaging equipment and can reflect the anatomical structure of the object.

[0203] Acquire the spatial position of the treatment head in the radiotherapy equipment, and integrate the radiotherapy equipment with the medical imaging equipment;

[0204] Based on the centroid position and spatial position, determine the target's horizontal position on the positioning image;

[0205] Based on the target's location, imaging instructions are generated to control the medical imaging equipment. These instructions are used to scan the object to obtain a tracking image, which includes the target area.

[0206] In one embodiment, the processor further performs the following steps when executing a computer program:

[0207] Based on the planned and tracked images of the target area, control commands for the radiotherapy equipment are generated. These control commands are used to control the movement of the grating in the treatment head or to control the shape of the beam generated by the radiotherapy equipment.

[0208] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0209] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0210] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0211] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0212] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A target tracking method applied to a magnetic resonance-guided radiotherapy system, the magnetic resonance-guided radiotherapy system comprising a magnetic resonance scanner and a radiotherapy device integrated with the magnetic resonance scanner, characterized in that, The method includes: The magnetic resonance scanner is used to acquire a localization image of the object, and the centroid of the target area is determined in the localization image. Obtain the spatial position of the treatment head in the radiotherapy device; Based on the centroid position and the spatial position, determine the target layer position on the positioning image; Based on the target plane location, the magnetic resonance scanner is controlled to scan the object to obtain a tracking image; the tracking image includes the target area.

2. The method according to claim 1, characterized in that, At least one target level of the object is affected by respiratory or heartbeat movements.

3. The method according to claim 1, characterized in that, The spatial position includes the angle information of the treatment head based on the isocenter point of the radiotherapy device; the target layer position includes the scanning angle and center position of the target layer on the positioning image; determining the target layer position on the positioning image based on the centroid position and the spatial position includes: The scanning angle is determined based on the angle information; The center position is determined based on the centroid position.

4. The method according to claim 1, characterized in that, Determining the target plane position on the positioning image based on the centroid position and the spatial position includes: Determine the line connecting the centroid location and the spatial location; Determine the tangential surface of the circle where the connecting line and the frame of the treatment head are located; Based on the centroid position, the target layer position parallel to the circular sectional plane is determined on the positioning image.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: The grating movement of the treatment head is controlled based on the planned image of the target area and the tracking image.

6. The method according to claim 5, characterized in that, The step of controlling the grating movement of the treatment head based on the planned image of the target area and the tracking image includes: Identify the first target region in the planned image and the second target region in the tracking image; Determine the offset between the first target area and the second target area; The grating movement of the treatment head is controlled according to the offset.

7. A target area tracking device, characterized in that, An apparatus for use in a magnetic resonance-guided radiotherapy system, the magnetic resonance-guided radiotherapy system comprising a magnetic resonance scanner and a radiotherapy device integrated with the magnetic resonance scanner, the apparatus comprising: The first determining module is used to acquire a positioning image of the object through the magnetic resonance scanner and determine the centroid position of the target area in the positioning image; The acquisition module is used to acquire the spatial position of the treatment head in the radiotherapy device; The second determining module is used to determine the target layer position on the positioning image based on the centroid position and the spatial position. The first control module is used to control the magnetic resonance scanner to scan the object to obtain a tracking image based on the target plane position; the tracking image includes the target area.

8. A target tracking method applied to a magnetic resonance-guided radiotherapy system, the magnetic resonance-guided radiotherapy system comprising a magnetic resonance scanner and a radiotherapy device integrated with the magnetic resonance scanner, characterized in that, The method includes: The magnetic resonance scanner is used to acquire a localization image of the object; Obtain the spatial position of the treatment head in the radiotherapy device; The imaging angle of the magnetic resonance scanner is determined based on the positioning image of the object and its spatial position. Based on the imaging angle of the magnetic resonance scanner, the magnetic resonance scanner is controlled to scan the object to obtain a tracking image; the tracking image includes the target area; Based on the tracking images, the radiotherapy device is controlled to adjust the grating movement of the treatment head or to adjust the shape of the beam generated by the radiotherapy device.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it performs the following steps: A localization image of the object is acquired, and the centroid of the target area is determined in the localization image. The localization image is obtained by scanning with medical imaging equipment and can reflect the anatomical structure of the object. The spatial position of the treatment head in the radiotherapy device is obtained, wherein the radiotherapy device is integrated with the medical imaging device. Based on the centroid position and the spatial position, determine the target layer position on the positioning image; Based on the target area location, an imaging command is generated to control the medical imaging device. The imaging command is used to scan the object to obtain a tracking image, which includes the target area.

10. The computer device according to claim 9, characterized in that, When the processor executes the computer program, it also performs the following steps: Based on the planned image of the target area and the tracking image, control commands for the radiotherapy device are generated. These control commands are used to control the grating movement of the treatment head or to control the shape of the beam generated by the radiotherapy device.

Images