Radiotherapy control method and related device
By combining an electrocardiograph and an optical positioning system, the tumor location can be accurately pinpointed during radiotherapy, solving the problem of treatment errors caused by respiratory movements and improving the accuracy of radiotherapy.
Patent Information
- Application Number
- CN202580002598.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2024-12-30
- Filing Date
- 2025-09-26
- Publication Date
- 2026-02-06
AI Technical Summary
During radiotherapy, the location of the tumor and vital organs can shift due to the patient's breathing movements, affecting the accuracy of the treatment.
By using the electrocardiogram wavebands acquired by the electrocardiograph and the position of the optical marker ball acquired by the optical positioning system, two-dimensional gating is achieved to ensure the consistency between the time corresponding to the delineated image and the time of treatment.
It improves the accuracy of radiotherapy, ensures that the timing of tumor target delineation is consistent with the treatment timing, and reduces errors caused by respiratory movements.
Smart Images
Figure CN121487782A_ABST
Abstract
Description
[0001] Cross-references to related applications
[0002] This application claims priority to Chinese Patent Application No. 202411970997.3, filed on December 30, 2024, entitled “A Control Method and Related Apparatus for Radiotherapy”, the disclosure of which is incorporated herein by reference. Technical Field
[0003] This application relates to the field of radiotherapy, and more specifically, to a method for controlling radiotherapy and related apparatus. Background Technology
[0004] Radiation therapy is a method of treating diseases using ionizing radiation. In the general process of radiation therapy, after the doctor provides a prescription and treatment plan, the operator needs to delineate the location of the tumor and vital organs to be treated based on the prescription and treatment plan, and then perform the corresponding radiation therapy according to the delineated area.
[0005] During radiotherapy, the location of the tumor and vital organs to be treated can shift due to the patient's breathing; for example, the displacement of the tumor within the respiratory cycle can often reach several centimeters. Therefore, ensuring accuracy during radiotherapy is a critical issue that needs to be addressed. Summary of the Invention
[0006] This application provides at least one method and related device for controlling radiotherapy, which achieves two-dimensional gating by using electrocardiogram bands acquired by an electrocardiograph and the position of an optical marker ball acquired by an optical positioning system, thereby ensuring the consistency between the time corresponding to the drawn image and the time of treatment, and thus ensuring the accuracy of radiotherapy.
[0007] In a first aspect, this application provides a method for controlling radiotherapy, comprising:
[0008] Obtain the cardiac motion model corresponding to the object to be radiotherapy. The cardiac motion model is used to represent the one-to-one correspondence between the positions and time phases of multiple medical images, electrocardiograms, and multiple optical marker balls corresponding to the object to be radiotherapy.
[0009] The image to be delineated is determined from multiple medical images, and the time corresponding to the image to be delineated is determined as the target treatment time, so that the operator can delineate the target area of the image to be delineated to obtain the corresponding delineated image.
[0010] Based on the cardiac motion model, the target electrocardiogram band and the position of the target optical marker ball corresponding to the delineated image are determined;
[0011] When the radiotherapy object is treated based on the target treatment time, if the deviation between the ECG wave segment collected by the ECG machine in real time and the target ECG wave segment is less than the first preset threshold and the deviation between the optical marker ball position collected by the optical positioning system in real time and the target optical marker ball position is less than the second preset threshold, the radiotherapy object is treated according to the delineation image.
[0012] In a second aspect, the present application further provides a radiotherapy control device, comprising:
[0013] an acquisition unit configured to acquire a heart motion model corresponding to the radiotherapy object, the heart motion model being configured to represent a one-to-one correspondence between a plurality of medical images, an ECG, a plurality of optical marker ball positions and a phase corresponding to the radiotherapy object;
[0014] a first determination unit configured to determine a to-be-delineation image from the plurality of medical images and determine a time corresponding to the to-be-delineation image as a target treatment time, so that an operator performs target delineation on the to-be-delineation image to obtain a corresponding delineation image;
[0015] a second determination unit configured to determine a target ECG wave segment and a target optical marker ball position corresponding to the delineation image based on the heart motion model;
[0016] a treatment unit configured to, when the radiotherapy object is treated based on the target treatment time, if the deviation between the ECG wave segment collected by the ECG machine in real time and the target ECG wave segment is less than the first preset threshold and the deviation between the optical marker ball position collected by the optical positioning system in real time and the target optical marker ball position is less than the second preset threshold, treat the radiotherapy object according to the delineation image.
[0017] In a third aspect, the present application further provides an electronic device, comprising a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, and the machine readable instructions are executed by the processor to perform the radiotherapy control method provided by the present application.
[0018] In a fourth aspect, the present application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by the processor to perform the radiotherapy control method provided by the present application.
[0019] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, and the computer program is executed by the processor to perform the radiotherapy control method provided by the present application.
[0020] In summary, the present application provides a radiotherapy control method and related device, comprising: obtaining a heart motion model corresponding to a to-be-irradiated object, the heart motion model being used to represent a one-to-one correspondence between a plurality of medical images, an electrocardiogram, a plurality of optical marker ball positions and a time phase corresponding to the to-be-irradiated object; determining a to-be-delineated image from the plurality of medical images and determining a time corresponding to the to-be-delineated image as a target treatment time, so that an operator performs target delineation on the to-be-delineated image to obtain a corresponding delineated image; determining a target electrocardiogram wave band and a target optical marker ball position corresponding to the delineated image based on the heart motion model; when performing radiotherapy on the to-be-irradiated object based on the target treatment time, if a deviation between an electrocardiogram wave band collected by an electrocardiogram machine in real time and the target electrocardiogram wave band is less than a first preset threshold and a deviation between an optical marker ball position collected by an optical positioning system in real time and the target optical marker ball position is less than a second preset threshold, performing radiotherapy on the to-be-irradiated object according to the delineated image. Through the above method, the electrocardiogram wave band collected by the electrocardiogram machine and the optical marker ball position collected by the optical positioning system are used to realize two-dimensional gating, so as to ensure the consistency of the time corresponding to the delineated image and the time of treatment, and further ensure the accuracy of radiotherapy.
[0021] Other advantages of the present application will be described in more detail in conjunction with the following description and drawings.
[0022] It should be understood that the above description is only a summary of the technical solutions of the present application, so as to enable a general understanding of the technical means of the present application, and then implement it according to the content of the description. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS
[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced. The drawings incorporated into the specification and form part of the specification, which show the embodiments consistent with the present application, and together with the description used to illustrate the technical solutions of the present application. It should be understood that the drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope of protection, and for those skilled in the art, other related drawings can also be obtained without creative labor. Moreover, the same reference numerals are used to represent the same parts throughout the drawings. In the drawings:
[0024] Figure 1 A method flow chart of a radiotherapy control method provided by the embodiments of the present application;
[0025] Figure 2 A device schematic diagram of a radiotherapy control device provided by the embodiments of the present application. DETAILED DESCRIPTION
[0026] Exemplary embodiments of the present application will be described in detail with reference to the drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be embodied in various forms without being limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.
[0027] In the description of embodiments of the present application, it should be understood that terms such as "include" or "have" are intended to indicate that there is existence of the disclosed features, numbers, steps, actions, components, parts or combinations thereof in the specification, and do not exclude the possibility that one or more other features, numbers, steps, actions, components, parts or combinations thereof exist.
[0028] Unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" herein is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist together, and B exists alone.
[0029] The terms "first", "second", and the like are merely intended to distinguish similar or identical technical features, and cannot be understood as indicating or implying relative importance or quantity of the technical features. Therefore, the features defined by "first", "second", and the like can explicitly or implicitly include one or more such features. In the description of embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more than two.
[0030] During radiotherapy, the tumor position to be treated and important organs will move due to the patient's breathing, for example, the displacement of the tumor within the breathing cycle can be up to several centimeters. In view of this, how to ensure the accuracy during radiotherapy is a problem to be solved in radiotherapy.
[0031] In view of this, the present application provides a control method and related device for radiotherapy, which realizes two-dimensional gating through electrocardiogram wave bands collected by an electrocardiograph and optical marker ball positions collected by an optical positioning system, so as to ensure the consistency of the time corresponding to the delineation image obtained by delineation and the time during treatment, and further ensure the accuracy of radiotherapy.
[0032] The radiotherapy control method provided in this application can be implemented using computer equipment, which can be a terminal device or a server. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. Terminal devices include, but are not limited to, mobile phones, computers, smart voice interaction devices, smart home appliances, vehicle terminals, and aircraft. Terminal devices and servers can be directly or indirectly connected via wired or wireless communication, and this application does not impose any limitations on this connection.
[0033] The following describes the radiotherapy control method provided in this application through method embodiments, such as... Figure 1 As shown, Figure 1 This application provides a flowchart of a method for controlling radiotherapy, wherein the aforementioned computer device can be a server, and the method includes:
[0034] S101. Obtain the cardiac motion model corresponding to the subject to be radiotherapy.
[0035] Patients awaiting radiotherapy are those who require radiation therapy.
[0036] The cardiac motion model is used to represent the one-to-one correspondence between the positions and time phases of multiple medical images, electrocardiograms, and multiple optical marker balls corresponding to the object to be radiotherapy. In practical applications, the two-dimensional images can be computed tomography (CT) images.
[0037] The server can obtain the cardiac motion model corresponding to the patient to be treated with radiotherapy, which will lay the foundation for subsequent delineation and treatment steps.
[0038] S102. Determine the image to be delineated from multiple medical images and determine the time corresponding to the image to be delineated as the target treatment time, so that the operator can delineate the target area of the image to be delineated to obtain the corresponding delineated image.
[0039] In practical applications, the server can compare multiple medical images in the cardiac motion model to determine the medical image suitable for radiotherapy as the image to be delineated, so that the operator can delineate the target area of the image to be delineated to obtain the corresponding delineated image.
[0040] The target treatment time refers to the time when the operator expects to perform radiotherapy on the patient. Based on the image to be delineated, the server can determine the time corresponding to the image to be delineated as the target treatment time based on the correspondence between multiple medical images and time phases.
[0041] In this embodiment, the specific content of the corresponding delineation image obtained by the operator performing target delineation on the to-be-delineated image includes: obtaining a corresponding three-dimensional organ region based on the plurality of medical images; in response to an organ selection operation of the operator, displaying the three-dimensional organ region corresponding to the selected organ on the three-dimensional delineation interface; in response to a three-dimensional delineation operation of the operator on the three-dimensional delineation interface, determining a three-dimensional delineation region in the three-dimensional organ region corresponding to the three-dimensional delineation operation; and determining a delineation image corresponding to the three-dimensional delineation region and the to-be-delineated image. That is, in this embodiment, the operator does not directly perform delineation on the two-dimensional to-be-delineated image, but first lets the operator perform three-dimensional delineation on the three-dimensional organ region, and then inversely analyzes the three-dimensional delineation region corresponding to the three-dimensional delineation to the to-be-delineated image, thereby directly obtaining the delineation image. In this way, when the number of to-be-delineated images is large, a plurality of to-be-delineated images corresponding to a plurality of to-be-delineated images can be obtained through one three-dimensional delineation, thereby improving the delineation efficiency while ensuring the accuracy of the delineation, and solving the problem of two-dimensional delineation difficulty of organs with cavities and irregular structure regions, or tissues that do not have differences in density with the surrounding normal tissues under CT and MR (such as the heart).
[0042] The foregoing determination of the delineation image corresponding to the three-dimensional delineation region and the to-be-delineated image specifically includes: performing a cutting operation on the three-dimensional delineation region along the z-axis plane of the to-be-delineated image, thereby determining the three-dimensional delineation region corresponding to the to-be-delineated image.
[0043] S103, determining a target electrocardiogram wave band and a target optical marker ball position corresponding to the delineation image based on the heart motion model.
[0044] Since the heart motion model is used to represent the one-to-one correspondence between the plurality of medical images, the electrocardiogram, the plurality of optical marker ball positions and the phase corresponding to the to-be-irradiated object, the server can determine the target electrocardiogram wave band corresponding to the delineation image based on the correspondence between the plurality of medical images and the electrocardiogram, and can determine the target optical marker ball position corresponding to the delineation image based on the correspondence between the plurality of medical images and the plurality of optical marker ball positions.
[0045] S104, when performing radiotherapy on the to-be-irradiated object based on the target treatment time, if the deviation between the electrocardiogram wave band collected by the electrocardiograph in real time and the target electrocardiogram wave band is less than a first preset threshold and the deviation between the optical marker ball position collected by the optical positioning system in real time and the target optical marker ball position is less than a second preset threshold, performing radiotherapy on the to-be-irradiated object according to the delineation image.
[0046] After the target treatment time corresponding to the delineation image is determined in S103 and the target ECG wave band and the target optical marker ball position corresponding to the delineation image are determined in S104, the first preset threshold and the second preset threshold can be preset by an operator.
[0047] When the radiotherapy object is treated based on the target treatment time, if the deviation between the ECG wave band collected by the ECG machine in real time and the target ECG wave band is less than the first preset threshold and the deviation between the optical marker ball position collected by the optical positioning system in real time and the target optical marker ball position is less than the second preset threshold, it indicates that the deviation between the ECG wave band collected by the ECG machine in real time and the target ECG wave band is small and the deviation between the optical marker ball position collected by the optical positioning system in real time and the target optical marker ball position is small, which means that the time corresponding to the delineation image obtained by delineation is consistent with the time at which treatment is performed, i.e., the treatment time at which treatment is performed is the target treatment time at which delineation is performed. The server can perform radiotherapy on the radiotherapy object according to the delineation image, thereby ensuring the accuracy of radiotherapy.
[0048] It should be noted that in this embodiment, the server can realize two-dimensional gating through the ECG wave band collected by the ECG machine and the optical marker ball position collected by the optical positioning system. The ECG wave band collected by the ECG machine can reflect the related information of the ECG signal of the object to be treated, and the optical marker ball position collected by the optical positioning system can reflect the related information of the respiration signal of the object to be treated, i.e., the server ensures the consistency of the time corresponding to the delineation and the time corresponding to the treatment in multiple dimensions through gating in two different dimensions, thereby ensuring the accuracy of radiotherapy.
[0049] In a possible implementation, when the radiotherapy object is treated based on the target treatment time, if the deviation between the ECG wave band collected by the ECG machine in real time and the target ECG wave band is not less than the first preset threshold or the deviation between the optical marker ball position collected by the optical positioning system in real time and the target optical marker ball position is not less than the second preset threshold, it indicates that the deviation between the ECG wave band collected by the ECG machine in real time and the target ECG wave band is large or the deviation between the optical marker ball position collected by the optical positioning system in real time and the target optical marker ball position is large, which means that the time corresponding to the delineation image obtained by delineation is not consistent with the time at which treatment is performed, i.e., the treatment time at which treatment is performed is not the target treatment time at which delineation is performed. Therefore, the server can not perform radiotherapy on the radiotherapy object at the target treatment time.
[0050] In a possible implementation, the server can determine the cardiac motion model in the following manner:
[0051] The plurality of medical images corresponding to the subject to be treated and the plurality of respiratory images corresponding to the first time axis are acquired by 4DCT, and the correspondence between the plurality of medical images and the first time axis is determined;
[0052] The electrocardiogram corresponding to the second time axis of the subject to be treated is acquired by an electrocardiogram machine;
[0053] The plurality of optical marker ball positions corresponding to the third time axis of the subject to be treated are acquired by an optical positioning system;
[0054] Based on the plurality of medical images corresponding to the first time axis, the electrocardiogram corresponding to the second time axis, and the plurality of optical marker ball positions corresponding to the third time axis, a heart motion model is determined.
[0055] Specifically, since the medical images acquired by the ordinary CT machine do not have a corresponding relationship with the phase, in this embodiment, the plurality of medical images corresponding to the subject to be treated and the plurality of respiratory images corresponding to the first time axis are acquired by 4DCT, thereby determining the correspondence between the plurality of medical images and the first time axis.
[0056] After acquiring the electrocardiogram corresponding to the second time axis of the subject to be treated by the electrocardiogram machine, and acquiring the plurality of optical marker ball positions corresponding to the third time axis of the subject to be treated by the optical positioning system, the server can determine a heart motion model representing the one-to-one correspondence between the plurality of medical images corresponding to the subject to be treated, the electrocardiogram, the plurality of optical marker ball positions, and the phase through the first time axis, the second time axis, and the third time axis.
[0057] It should be noted that, based on the fact that 4DCT also includes an optical camera for acquiring respiratory images, in this embodiment, the plurality of optical marker ball positions corresponding to the subject to be treated are still acquired by an additional optical positioning system, so as to separately reflect the related information of the respiratory signal of the subject to be treated through the plurality of additional optical marker ball positions. Compared with the plurality of respiratory images acquired by the optical camera included in the 4DCT, the plurality of optical marker ball positions acquired separately can play a gating role, thereby better ensuring the consistency of the corresponding time and the time corresponding to the treatment.
[0058] In a possible implementation, the 4DCT includes a CT machine and an optical camera that are linked, the plurality of medical images corresponding to the subject to be treated and the plurality of respiratory images corresponding to the first time axis are acquired by the 4DCT, and the correspondence between the plurality of medical images and the first time axis includes:
[0059] The plurality of medical images of the subject to be treated are acquired by the CT machine in the 4DCT; the plurality of respiratory images corresponding to the first time axis are acquired by the optical camera in the 4DCT;
[0060] Based on the linkage between the CT machine and the optical camera in the 4D CT, a correspondence between the plurality of medical images and the first time axis is determined.
[0061] To sum up, the present application provides a control method of radiotherapy, comprising: obtaining a heart motion model corresponding to a to-be-irradiated object, the heart motion model being used to represent a one-to-one correspondence between a plurality of medical images, an electrocardiogram, a plurality of optical marker ball positions and time phases corresponding to the to-be-irradiated object; determining a to-be-delineated image from the plurality of medical images and determining a time corresponding to the to-be-delineated image as a target treatment time, so that an operator performs target delineation on the to-be-delineated image to obtain a corresponding delineated image; determining a target electrocardiogram wave band and a target optical marker ball position corresponding to the delineated image based on the heart motion model; and when radiotherapy is performed on the to-be-irradiated object based on the target treatment time, if a deviation between an electrocardiogram wave band collected in real time by an electrocardiogram machine and the target electrocardiogram wave band is less than a first preset threshold and a deviation between an optical marker ball position collected in real time by an optical positioning system and the target optical marker ball position is less than a second preset threshold, performing radiotherapy on the to-be-irradiated object according to the delineated image. Through the above method, two-dimensional gating is realized through the electrocardiogram wave band collected by the electrocardiogram machine and the optical marker ball position collected by the optical positioning system, so as to ensure the consistency of the time corresponding to the delineated image and the time at which treatment is performed, and further ensure the accuracy of radiotherapy.
[0062] In the description of the present specification, the description with reference to the terms "some possible embodiments", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application, and the above terms do not necessarily represent the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.
[0063] Regarding the method flowchart of the embodiments of the present application, some operations are described as different steps executed in a certain order. Such flowcharts are illustrative rather than limiting. Some steps described herein can be grouped together and executed in a single operation, or some steps can be divided into multiple sub-steps, and some steps can be executed in an order different from that shown herein. Each step shown in the flowchart can be implemented in any way by any circuit structure and / or tangible mechanism (for example, by software running on a computer device, hardware (for example, processor or chip implemented logic function) and the like, and / or any combination thereof) in any manner.
[0064] Those skilled in the art can understand that, in the method described in the above specific embodiments, the writing order of each step does not mean a strict execution order, and the specific execution order of each step should be determined according to its function and possible internal logic.
[0065] Based on the foregoing Figure 1 , the following will describe a radiotherapy control device provided by the present application through device embodiments. As shown in Figure 2 , the radiotherapy control device 200 comprises:
[0066] An acquisition unit 201 is configured to acquire a heart motion model corresponding to a to-be-irradiated object, the heart motion model being configured to represent a one-to-one correspondence between a plurality of medical images, an electrocardiogram, a plurality of optical marker ball positions and a time phase corresponding to the to-be-irradiated object.
[0067] A first determination unit 202 is configured to determine a to-be-delineated image from the plurality of medical images and determine a time point corresponding to the to-be-delineated image as a target treatment time point, so that an operator performs target delineation on the to-be-delineated image to obtain a corresponding delineated image.
[0068] A second determination unit 203 is configured to determine a target electrocardiogram wave band and a target optical marker ball position corresponding to the delineated image based on the heart motion model.
[0069] A treatment unit 204 is configured to, when performing radiotherapy on the to-be-irradiated object based on the target treatment time point, perform radiotherapy on the to-be-irradiated object according to the delineated image if a deviation between an electrocardiogram wave band collected in real time by an electrocardiogram machine and the target electrocardiogram wave band is less than a first preset threshold and a deviation between an optical marker ball position collected in real time by an optical positioning system and the target optical marker ball position is less than a second preset threshold.
[0070] In a possible implementation, the treatment unit 204 is further configured to:
[0071] When performing radiotherapy on the to-be-irradiated object based on the target treatment time point, if the deviation between the electrocardiogram wave band collected in real time by the electrocardiogram machine and the target electrocardiogram wave band is not less than the first preset threshold or the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is not less than the second preset threshold, the to-be-irradiated object is not subjected to radiotherapy at the target treatment time point.
[0072] In a possible implementation, the radiotherapy control device 200 further comprises a third determination unit configured to:
[0073] acquire, by 4DCT, a plurality of medical images corresponding to the to-be-irradiated object and a plurality of breathing images corresponding to a first time axis, and determine a correspondence between the plurality of medical images and the first time axis.
[0074] acquire, by an electrocardiograph, electrocardiograms of the subject to be irradiated corresponding to the second time axis;
[0075] acquire, by an optical positioning system, a plurality of positions of the breathing ball of the subject to be irradiated corresponding to the third time axis;
[0076] determine a heart motion model based on the plurality of medical images corresponding to the first time axis, the electrocardiograms corresponding to the second time axis, and the plurality of positions of the optical marker ball corresponding to the third time axis. In one possible implementation, the third determination unit is configured to:
[0077] The 4DCT includes a linked CT machine and an optical camera. The plurality of medical images of the subject to be irradiated are acquired by the CT machine in the 4DCT. The breathing cycle images corresponding to the first time axis are acquired by the optical camera in the 4DCT.
[0078] The correspondence between the plurality of medical images and the first time axis is determined based on the linkage relationship between the CT machine and the optical camera in the 4DCT.
[0079] It should be noted that the apparatus in the embodiments of the present application can implement each process of the embodiments of the foregoing method, and achieve the same effects and functions, which will not be described here.
[0080] The electronic device provided in the embodiments of the present application includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the following processing is performed:
[0081] acquire a heart motion model corresponding to the subject to be irradiated, the heart motion model being used to represent a one-to-one correspondence between a plurality of medical images corresponding to the subject to be irradiated, electrocardiograms, a plurality of positions of optical marker balls, and time phases;
[0082] determine a to-be-delineated image from the plurality of medical images, and determine a time corresponding to the to-be-delineated image as a target treatment time, so that an operator performs target delineation on the to-be-delineated image to obtain a corresponding delineated image;
[0083] determine a target electrocardiogram wave band and a target position of the optical marker ball corresponding to the delineated image based on the heart motion model;
[0084] When performing radiotherapy on the subject to be irradiated based on the target treatment time, if a deviation between an electrocardiogram wave band acquired in real time by the electrocardiograph and the target electrocardiogram wave band is less than a first preset threshold, and a deviation between a position of the optical marker ball acquired in real time by the optical positioning system and the target position of the optical marker ball is less than a second preset threshold, perform radiotherapy on the subject to be irradiated according to the delineated image.
[0085] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. When the computer program is run by a processor, the steps of the control method of radiotherapy described in the method embodiment are executed. The storage medium can be a volatile or non-volatile computer readable storage medium.
[0086] The embodiment of the present application further provides a computer program product, which comprises a computer program. The computer program product carries program codes. The instructions included in the program codes can be used to execute the steps of the control method of radiotherapy described in the method embodiment. For details, refer to the method embodiment, which will not be described here.
[0087] The computer program product can be specifically implemented by means of hardware, software or combination thereof. In an optional embodiment, the computer program product is specifically embodied as a computer storage medium. In another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.
[0088] Each of the embodiments in the present application is described in a progressive manner. The same or similar parts of each of the embodiments can be referred to each other. Each of the embodiments mainly describes the differences from other embodiments. Especially, the device, equipment and computer readable storage medium embodiments are basically similar to the method embodiments, so the description is simplified, and the relevant parts can refer to the description of the method embodiment.
[0089] The device, equipment and computer readable storage medium provided by the embodiments of the present application correspond to the method one by one. Therefore, the device, equipment and computer readable storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the device, equipment and computer readable storage medium will not be described here.
[0090] Although the spirit and principles of the present application have been described with reference to several specific embodiments, it should be understood that the present application is not limited to the disclosed specific embodiments, and the division of aspects does not mean that the features in these aspects cannot be combined. The present application is intended to cover various modifications and equivalent arrangements included in the spirit and scope of the appended claims.
Claims
1. A method for controlling radiotherapy, characterized in that, The method includes: Obtain the cardiac motion model corresponding to the radiotherapy target, wherein the cardiac motion model is used to represent the one-to-one correspondence between the positions and time phases of multiple medical images, electrocardiograms, and multiple optical marker balls corresponding to the radiotherapy target; The image to be delineated is determined from the plurality of medical images, and the time corresponding to the image to be delineated is determined as the target treatment time, so that the operator can delineate the target area of the image to be delineated to obtain the corresponding delineated image. Based on the cardiac motion model, the target electrocardiogram band and the position of the target optical marker ball corresponding to the outlined image are determined; When radiotherapy is performed on the subject to be radiotherapy based on the target treatment time, if the deviation between the electrocardiogram waveband acquired in real time by the electrocardiograph and the target electrocardiogram waveband is less than a first preset threshold and the deviation between the position of the optical marker ball acquired in real time by the optical positioning system and the position of the target optical marker ball is less than a second preset threshold, radiotherapy is performed on the subject to be radiotherapy according to the delineated image.
2. The method according to claim 1, characterized in that, The method further includes: When radiotherapy is performed on the subject at the target treatment time, if the deviation between the electrocardiogram waveband acquired in real time by the electrocardiograph and the target electrocardiogram waveband is not less than a first preset threshold or the deviation between the position of the optical marker ball acquired in real time by the optical positioning system and the position of the target optical marker ball is not less than a second preset threshold, radiotherapy will not be performed on the subject at the target treatment time.
3. The method according to claim 1, characterized in that, The cardiac motion model was determined in the following manner: Multiple medical images corresponding to the radiotherapy target and multiple respiratory images corresponding to the first time axis are acquired by 4DCT, and the correspondence between the multiple medical images and the first time axis is determined. The electrocardiogram of the subject to radiotherapy is acquired using an electrocardiograph and corresponds to the second time axis. The positions of multiple optical marker spheres corresponding to the third time axis of the radiotherapy target are acquired using an optical positioning system. The cardiac motion model is determined based on multiple medical images corresponding to the first time axis, electrocardiograms corresponding to the second time axis, and the positions of multiple optical marker balls corresponding to the third time axis.
4. The method according to claim 3, characterized in that, The 4DCT includes a linked CT scanner and an optical camera. The process of acquiring multiple medical images corresponding to the subject to radiotherapy and multiple respiratory images corresponding to a first time axis using the 4DCT, and determining the correspondence between the multiple medical images and the first time axis, includes: Multiple medical images of the subject to radiotherapy are acquired by the CT scanner in the 4DCT; multiple respiratory images corresponding to the first time axis are acquired by the optical camera in the 4DCT; Based on the linkage between the CT scanner and the optical camera in the 4DCT, the correspondence between the multiple medical images and the first time axis is determined.
5. A control device for radiotherapy, characterized in that, The device includes: The acquisition unit is used to acquire the cardiac motion model corresponding to the radiotherapy target, wherein the cardiac motion model is used to represent the one-to-one correspondence between the positions and time phases of multiple medical images, electrocardiograms, and multiple optical marker balls corresponding to the radiotherapy target; The first determining unit is used to determine the image to be delineated from the plurality of medical images and determine the time corresponding to the image to be delineated as the target treatment time, so that the operator can delineate the target area of the image to be delineated to obtain the corresponding delineated image. The second determining unit is used to determine the target electrocardiogram band and the position of the target optical marker ball corresponding to the outlined image based on the cardiac motion model. The treatment unit is configured to perform radiotherapy on the subject to be radiotherapy based on the delineated image when radiotherapy is performed on the subject based on the target treatment time, provided that the deviation between the electrocardiogram waveband acquired in real time by the electrocardiograph and the target electrocardiogram waveband is less than a first preset threshold and the deviation between the position of the optical marker ball acquired in real time by the optical positioning system and the position of the target optical marker ball is less than a second preset threshold.
6. The apparatus according to claim 5, characterized in that, The treatment unit is also used for: When radiotherapy is performed on the subject at the target treatment time, if the deviation between the electrocardiogram waveband acquired in real time by the electrocardiograph and the target electrocardiogram waveband is not less than a first preset threshold or the deviation between the position of the optical marker ball acquired in real time by the optical positioning system and the position of the target optical marker ball is not less than a second preset threshold, radiotherapy will not be performed on the subject at the target treatment time.
7. The apparatus according to claim 5, characterized in that, The device further includes a third determining unit, used for: Multiple medical images corresponding to the radiotherapy target and multiple respiratory images corresponding to the first time axis are acquired by 4DCT, and the correspondence between the multiple medical images and the first time axis is determined. The electrocardiogram of the subject to radiotherapy is acquired using an electrocardiograph and corresponds to the second time axis. The positions of multiple optical marker spheres corresponding to the third time axis of the radiotherapy target are acquired using an optical positioning system. The cardiac motion model is determined based on multiple medical images corresponding to the first time axis, electrocardiograms corresponding to the second time axis, and the positions of multiple optical marker balls corresponding to the third time axis.
8. The apparatus according to claim 7, characterized in that, The third determining unit is used for: The 4DCT includes a linked CT scanner and an optical camera. The CT scanner in the 4DCT acquires multiple medical images of the subject to radiotherapy; the optical camera in the 4DCT acquires multiple respiratory images corresponding to the first time axis. Based on the linkage between the CT scanner and the optical camera in the 4DCT, the correspondence between the multiple medical images and the first time axis is determined.
9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the radiotherapy control method as described in any one of claims 1 to 4 is performed.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the radiotherapy control method as described in any one of claims 1 to 4.
11. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, performs the radiotherapy control method as described in any one of claims 1 to 4.