Method, device and computer equipment for determining target area position

Abstract

The present application discloses a method, device and computer equipment for determining the position of a target area, and relates to the field of radiotherapy technology. The method can determine the position movement information of the target object based on the body surface image of the target object acquired in real time by the body surface imaging device, and the reference contour image. Afterwards, the real-time target area coordinates can be determined based on the position movement information and the target area image. Since the working frequency of the body surface imaging device is relatively high, the computer equipment can determine the target area coordinates in real time based on the body surface image of the target object acquired in real time by the body surface imaging device. Thus, real-time tracking of the position of the target area is achieved, and the accuracy of the determined position of the target area is ensured.

Description

Technical Field

[0001] The present application relates to the field of radiotherapy technology, and in particular to a method, device and computer equipment for determining the position of a target area. Background Art

[0002] In the process of using a radiotherapy system to perform radiotherapy on a patient, it is necessary to determine the position of the patient's target area in order to perform radiotherapy on the patient.

[0003] In the related art, the radiotherapy system includes a medical imaging device, a radiotherapy device and a host computer. The medical imaging device includes a tube and a detector. During the radiotherapy process, the rays emitted by the tube can pass through the target area of ​​the patient and be received by the detector, so that the medical imaging device can acquire an image of the target area of ​​the patient. The host computer can control the radiotherapy device to perform radiotherapy on the target area based on the image of the target area acquired by the medical imaging device.

[0004] However, due to the low refresh rate of medical imaging equipment, the position of the target area cannot be tracked in real time. Summary of the invention

[0005] The present application provides a method, device and computer equipment for determining the location of a target area, which can solve the problem in the related art that the location of the target area cannot be tracked in real time. The technical solution is as follows:

[0006] In one aspect, a method for determining a position of a target area is provided, the method comprising:

[0007] Collecting the body surface image of the target object in real time based on the body surface imaging device;

[0008] Determine the position movement information of the target object according to the body surface image and the reference contour image; the reference contour image is the contour image of the target object in the image captured by the medical imaging device;

[0009] The real-time target area coordinates are determined according to the position movement information and the target area image; the target area image is the target area image of the target object in the image captured by the medical imaging device.

[0010] Optionally, determining the position movement information of the target object according to the body surface image and the reference contour image includes:

[0011] Obtaining a real-time contour image of a target object in the body surface image according to the body surface image;

[0012] The position movement information of the target object is determined according to the real-time contour image and the reference contour image.

[0013] Optionally, the reference contour image is an image in a device coordinate system of a radiotherapy device; and determining the position movement information of the target object according to the real-time contour image and the reference contour image includes:

[0014] Obtaining the correspondence between the image coordinate system of the body surface imaging device and the device coordinate system of the radiotherapy device;

[0015] According to the corresponding relationship, the real-time contour image is converted from the image coordinate system of the body surface imaging device to the device coordinate system of the radiotherapy device;

[0016] The position movement information of the target object is determined according to the real-time contour image after the coordinate system is converted and the reference contour image.

[0017] Optionally, the method further includes:

[0018] Acquire the actual phantom coordinates of the target point of the phantom when it is at the isocenter position of the radiotherapy device;

[0019] Acquiring a phantom image of the target of the phantom at the isocenter position of the radiotherapy device based on a body surface imaging device;

[0020] Determining image phantom coordinates of the phantom in the phantom image according to the phantom image;

[0021] The corresponding relationship between the image coordinate system and the device coordinate system is determined according to the image phantom coordinates and the actual phantom coordinates.

[0022] Optionally, before acquiring the actual phantom coordinates of the target point of the phantom at the isocenter position of the radiotherapy device, the method further includes:

[0023] When the target point of the phantom is located at the isocenter position of the radiotherapy device, scanning the phantom based on the medical imaging device to obtain a reference phantom image;

[0024] Scanning the phantom based on a medical imaging device to obtain a real-time phantom image;

[0025] Based on the reference phantom image and the real-time phantom image, the target point of the phantom is positioned to the isocenter position of the radiotherapy device.

[0026] Optionally, when the phantom has at least three special points, determining the correspondence between the image coordinate system and the device coordinate system according to the image phantom coordinates and the actual phantom coordinates includes:

[0027] Based on the image phantom coordinates of at least three of the special points acquired by the body surface imaging device and the actual phantom coordinates of at least three of the special points, the corresponding relationship between the image coordinate system and the device coordinate system is determined.

[0028] Optionally, when the phantom has less than three special points, the method further comprises:

[0029] When the target point of the phantom is located at the isocenter position of the radiotherapy device, controlling the treatment bed of the radiotherapy device to move at least three times, recording the moving distance each time, and collecting the marked image of the phantom through the body surface imaging device after each movement to obtain at least three marked images;

[0030] Determining the image phantom coordinates of the target point of the phantom in the at least three marked images according to the at least three marked images;

[0031] Determining at least three actual phantom coordinates of the target point of the phantom according to at least three movement distances;

[0032] The corresponding relationship between the image coordinate system and the device coordinate system is determined according to the image phantom coordinates in at least three of the marked images and at least three of the actual phantom coordinates.

[0033] On the other hand, a device for determining the position of a target area is provided, the device for determining the position of a target area comprising:

[0034] An acquisition module, used for acquiring a body surface image of a target object in real time based on a body surface imaging device;

[0035] A movement determination module, used to determine the position movement information of the target object according to the body surface image and the reference contour image; the reference contour image is the contour image of the target object in the image captured by the medical imaging device;

[0036] The coordinate determination module is used to determine the real-time target area coordinates according to the position movement information and the target area image; the target area image is the target area image of the target object in the image captured by the medical imaging device.

[0037] On the other hand, a computer device is provided, comprising: a processor and a memory, wherein the memory is used to store instructions executed by the processor, and the processor implements the method for determining the position of the target area described in the above aspect by executing the instructions stored in the memory.

[0038] On the other hand, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the instructions are executed on a computer, the computer executes the method for determining the position of the target area described in the above aspects.

[0039] The beneficial effects of the technical solution provided by this application include at least:

[0040] The present application provides a method, device and computer equipment for determining the position of a target area. The method can determine the position movement information of the target object based on the surface image of the target object acquired in real time by a surface imaging device and a reference contour image. Afterwards, the real-time target area coordinates can be determined based on the position movement information and the target area image. Since the operating frequency of the surface imaging device is relatively high, the computer equipment can determine the target area coordinates in real time based on the surface image of the target object acquired in real time by the surface imaging device. Thus, real-time tracking of the position of the target area is achieved, ensuring the accuracy of the determined position of the target area. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 is a structural schematic diagram of a radiotherapy system provided in an embodiment of the present application;

[0043] Figure 2 is a flow chart of a method for determining the location of a target area provided in an embodiment of the present application;

[0044] Figure 3 is a flow chart of another method for determining the location of a target area provided in an embodiment of the present application;

[0045] Figure 4 is a flow chart of another method for determining the location of a target area provided in an embodiment of the present application;

[0046] Figure 5 It is a structural block diagram of a target area position determination device provided in an embodiment of the present application;

[0047] Figure 6 is a structural block diagram of a movement determination module provided in an embodiment of the present application;

[0048] Figure 7 is a structural block diagram of another target area position determination device provided in an embodiment of the present application;

[0049] Figure 8 It is a structural block diagram of another target area position determination device provided in an embodiment of the present application;

[0050] Fig. 9is a structural block diagram of a computer device provided in an embodiment of the present application;

[0051] Fig.10 It is a structural block diagram of another computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0053] Figure 1 Schematic diagram of a radiotherapy system provided in an embodiment of the present application. Figure 1 The radiotherapy system 10 may include: a radiotherapy device 101, a body surface imaging device 102 and a computer device 103. The body surface imaging device 102 may be a point cloud camera.

[0054] The radiotherapy device 101 and the body surface imaging device 102 can establish a communication connection with the computer device 103 through a wired or wireless network. The body surface imaging device 102 can be used to capture images and send the captured images to the computer device 103. The radiotherapy device 101 can include a treatment bed 1011 and a treatment head 1012. The computer device 103 can store a radiotherapy plan for the patient. When the patient is located on the treatment bed 1011, the computer device 103 can control the movement of the treatment bed 1011 based on the radiotherapy plan, and control the treatment head 1012 to emit a treatment beam to treat the patient.

[0055] In one embodiment, the computer device 103 may be a computer device, or a server, or a server cluster consisting of a plurality of servers, or a cloud computing service center.

[0056] Figure 2 is a flow chart of a method for determining the location of a target area provided in an embodiment of the present application. The method can be applied to Figure 1 The computer device 103 of the radiation therapy system shown. Figure 2 It can be seen that the method may include:

[0057] Step 201: Collect body surface images of a target object in real time based on a body surface imaging device.

[0058] In the embodiment of the present application, before the radiotherapy device 101 works, the target object can be positioned first, and the target area of ​​the target object can be moved to the treatment area. After the target object is positioned and the target area of ​​the target object is moved to the treatment area, the radiotherapy device 101 can start working. The target object can refer to a patient, or can also refer to an affected part model, such as a phantom.

[0059] During the operation of the radiotherapy device 101 or before the operation of the radiotherapy device 101, the body surface imaging device 102 can collect the body surface image of the target object in real time. Afterwards, the body surface imaging device 102 can send the collected body surface image to the computer device 103, that is, the computer device 103 can obtain the body surface image of the target object in real time based on the body surface imaging device 102. Since the body surface image collected by the body surface imaging device 102 includes the body surface information (i.e., the contour) of the target object, the body surface image of the target object collected by the body surface imaging device 102 in real time can be used to determine the real-time contour image of the target object.

[0060] Step 202: Determine the position movement information of the target object according to the body surface image and the reference contour image.

[0061] In the embodiment of the present application, after the target object is positioned and the target area of ​​the target object is moved to the treatment area, and before the radiotherapy device 101 works, the computer device 103 can obtain the reference contour image of the target object. Before the radiotherapy device 101 works can refer to before the radiotherapy device 101 performs radiotherapy on the target object.

[0062] The reference contour image may be a contour image of a target object in an image captured by a medical imaging device. Optionally, the medical imaging device may be a positioning computed tomography (CT), magnetic resonance imaging (MRI), or positron emission computed tomography (PET).

[0063] The reference contour image is a contour image of the target object in the image captured by the medical imaging device. The reference contour image is obtained based on the contour of the target object in the image captured by the medical imaging device. For example, the medical imaging device scans the target object to obtain a scanned image, and sends the scanned image to the computer device. The computer device 103 outlines the outer contour in the scanned image to obtain the reference contour image.

[0064] In the embodiment of the present application, the computer device can determine the position movement information of the target object based on the real-time acquired body surface image and the acquired reference contour image. The position movement information can be the movement information of the real-time contour of the target object relative to the reference contour.

[0065] Step 203: Determine the real-time target area coordinates according to the position movement information and the target area image.

[0066] In an embodiment of the present application, after the target object is positioned, the target area of ​​the target object is moved to the treatment area (the target area is located at the isocenter position of the radiotherapy equipment), and before the radiotherapy equipment 101 works, the computer device 103 can also acquire the target area image of the target object.

[0067] The target area image is the target area image of the target object in the image captured by the medical imaging device. The target area image is the target area image of the target object in the image captured by the medical imaging device. It can mean that the target area image is obtained based on the target area of ​​the target object in the image captured by the medical imaging device. For example, the medical imaging device scans the target object to obtain a scanned image, and sends the scanned image to a computer device. The computer device outlines the target area of ​​the scanned image to obtain the target area image.

[0068] Since the body surface image collected in real time by the body surface imaging device 102 does not include the internal information of the target object (such as the target area), the computer device 103 can use the position movement information of the contour of the target object and the target area image to determine the real-time target area coordinates. Thus, the real-time tracking of the position of the target area is achieved, and then the radiotherapy device 101 can treat the target area based on the target area coordinates determined in real time, thereby improving the treatment effect of the radiotherapy device 101.

[0069] The execution subject (computer device 103) of the method provided in the embodiment of the present application can only determine the target area coordinates of the target object in real time during the operation of the radiotherapy device 101, and will not treat the target object. The treatment process is performed by the radiotherapy device 101.

[0070] In summary, an embodiment of the present application provides a method for determining the position of a target area, which can determine the position movement information of the target object based on the surface image of the target object acquired in real time by a surface imaging device, and a reference contour image. Afterwards, the real-time target area coordinates can be determined based on the position movement information and the target area image. Since the operating frequency of the surface imaging device is relatively high, the computer device can determine the target area coordinates in real time based on the surface image of the target object acquired in real time by the surface imaging device. Thus, real-time tracking of the position of the target area is achieved, ensuring the accuracy of the determined position of the target area. Furthermore, the radiotherapy equipment can achieve better results when treating the target area based on the position of the target area determined in real time.

[0071] Figure 3 is a flow chart of another method for determining the location of a target area provided in an embodiment of the present application. This method can be applied to Figure 1 The computer device 103 of the radiation therapy system shown. Figure 3 It can be seen that the method may include:

[0072] Step 301: When the target point of the phantom is located at the isocenter position of the radiotherapy device, the phantom is scanned based on a medical imaging device to obtain a reference phantom image.

[0073] In the embodiment of the present application, the phantom may be placed on the treatment bed 1011, and the target point of the phantom may be located at a position adjacent to the isocenter position of the radiotherapy device. The position adjacent to the isocenter position may be used to indicate that the distance between the adjacent position and the isocenter position is small, for example, less than a distance threshold.

[0074] Furthermore, when the target of the phantom is located at a position adjacent to the isocenter position of the radiotherapy device, a medical imaging device may be used to scan the phantom to obtain a reference phantom image when the target of the phantom is located at a position adjacent to the isocenter position. The medical imaging device may send the reference phantom image to a computer device. The computer device outlines the reference phantom image to obtain a reference target image of the phantom (the reference target image is an image in the device coordinate system of the radiotherapy device). Afterwards, the computer device may determine a reference displacement of the target of the phantom relative to the isocenter position based on the reference target image.

[0075] The medical imaging device may be a CT, MRI, PET or other medical imaging device.

[0076] Step 302: Scan the phantom based on a medical imaging device to obtain a real-time phantom image.

[0077] In the embodiment of the present application, the medical imaging device can scan the phantom to obtain a real-time phantom image of the phantom when the phantom is placed on the treatment bed 1011 to position the phantom. Afterwards, the medical imaging device can send the scanned real-time phantom image to the computer device 103. The computer device 103 outlines the real-time phantom image to obtain a real-time target image of the phantom (the real-time target image is an image in the device coordinate system of the radiotherapy device). Afterwards, the computer device 103 can determine the real-time displacement of the target of the phantom relative to the isocenter position based on the real-time target image.

[0078] The medical imaging device may be a cone beam computed tomography (CBCT) device arranged on the radiotherapy device 101 .

[0079] Step 303: Based on the reference phantom image and the real-time phantom image, the target point of the phantom is positioned to the isocenter position of the radiotherapy device.

[0080] In the embodiment of the present application, the computer device can obtain a reference target image based on the reference phantom image and a real-time target image based on the real-time phantom image. Afterwards, the computer device can adjust the position of the phantom based on the reference target image and the real-time target image so that the target of the phantom is positioned at the isocenter position of the radiotherapy device.

[0081] When the target point of the phantom is located at the isocenter position of the radiotherapy device 101 , the coordinate values ​​Xo, Yo and Zo of the target point of the phantom in three directions in the device coordinate system of the radiotherapy device may all be 0.

[0082] Step 304: Acquire the actual phantom coordinates when the target point of the phantom is at the isocenter position of the radiotherapy device.

[0083] In the embodiment of the present application, when the target point of the phantom is located at the isocenter position of the radiotherapy device, the computer device 103 can obtain the actual phantom coordinates of the special point of the phantom. The actual phantom coordinates of the special point can be the actual phantom coordinates of the special point in the device coordinate system.

[0084] Optionally, if the phantom has at least three special points, the computer device 103 can obtain the actual phantom coordinates of the at least three special points in the device coordinate system when the target point of the phantom is at the isocenter position of the radiotherapy device. The actual phantom coordinates of each special point in the device coordinate system may include coordinate values ​​in three directions. The at least three special points may only include points on the contour of the phantom. Of course, the at least three special points may also include the target point.

[0085] Since the target point of the phantom is located at the isocenter position of the radiotherapy equipment, the coordinate values ​​of the target point of the phantom in three directions in the device coordinate system of the radiotherapy equipment are known (the coordinate values ​​Xo, Yo and Zo of the target point of the phantom in three directions in the device coordinate system of the radiotherapy equipment are all 0), the computer device 103 can determine the actual phantom coordinates of the special point on the contour of the phantom based on the actual phantom coordinates of the target point of the phantom and the positional relationship between the target point of the phantom and the special point on the contour of the phantom.

[0086] In the embodiment of the present application, the actual phantom coordinates of the special point of the phantom include coordinate values ​​of the special point of the phantom in three directions in the device coordinate system (for example, recorded as g1, g2, and g3).

[0087] Step 305: Capture a phantom image when the target of the phantom is at the isocenter position of the radiotherapy device based on the body surface imaging device.

[0088] In the embodiment of the present application, when the target of the phantom is located at the isocenter of the radiotherapy device, the body surface imaging device 102 can collect the phantom image of the phantom. Afterwards, the body surface imaging device 102 can send the collected phantom image to the computer device 103.

[0089] Step 306: Determine the image phantom coordinates of the phantom in the phantom image according to the phantom image.

[0090] In the embodiment of the present application, the computer device 103 can determine the image phantom coordinates of the special point of the phantom in the phantom image based on the acquired phantom image, wherein the image phantom coordinates of the special point in the phantom image can be the image phantom coordinates of the special point in the image coordinate system.

[0091] Since the phantom image of the phantom collected by the body surface imaging device 102 includes the body surface information (i.e., contour) of the phantom, the computer device 103 can process the phantom image to obtain the image phantom coordinates of the special points on the contour of the phantom. The image phantom coordinates can be the point cloud data coordinates of the phantom with reference to the image coordinate system.

[0092] Optionally, if the at least three special points are points on the contour of the phantom, the computer device 103 can directly determine the image phantom coordinates of the at least three special points based on the acquired phantom image. If the at least three special points include not only points on the contour but also target points, the computer device 103 can determine the image phantom coordinates of the target point of the phantom based on the positional relationship between the target point and the contour of the phantom. Furthermore, the computer device 103 can directly determine the image phantom coordinates of other special points other than the target point among the at least three special points based on the phantom image.

[0093] The positional relationship between the target point of the phantom and the contour of the phantom can be used to represent the first coordinate difference between the coordinates of the target point of the phantom and the coordinates of the contour of the phantom. The computer device 103 may pre-store a ratio between the second coordinate difference and the first coordinate difference. The first coordinate difference is the coordinate difference between the target point of the phantom in the device coordinate system and the contour of the phantom in the device coordinate system. The second coordinate difference is the coordinate difference between the target point of the phantom in the image coordinate system and the contour of the phantom in the image coordinate system. The computer device 103 may pre-store a ratio between the second coordinate difference and the first coordinate difference. The computer device 103 can calculate the image phantom coordinates of the target point of the phantom in the image coordinate system based on the image phantom coordinates of the contour of the phantom in the image coordinate system, the first coordinate difference and the ratio.

[0094] For example, the ratio of the second coordinate difference to the first coordinate difference is 1. That is, the second coordinate difference is equal to the first coordinate difference.

[0095] In the embodiment of the present application, the image phantom coordinates of the special point of the phantom include coordinate values ​​of the special point of the phantom in three directions in the image coordinate system (for example, recorded as f1, f2 and f3).

[0096] Step 307: Determine the correspondence between the image coordinate system of the body surface imaging device and the device coordinate system of the radiotherapy device according to the image phantom coordinates and the actual phantom coordinates.

[0097] In an embodiment of the present application, the computer device 103 can determine the correspondence between the image coordinate system of the surface imaging device 102 and the equipment coordinate system of the radiotherapy equipment 101 based on the acquired image model coordinates of the special points of the model and the actual model coordinates of the special points of the model.

[0098] Optionally, the corresponding relationship may be a 4×4 transformation matrix. The transformation matrix is ​​in the form of R is a 3×3 rotation matrix and T is a 1×3 translation matrix.

[0099] Optionally, the computer device 103 may pre-store the relationship between the actual phantom coordinates of the special points of the phantom in the device coordinate system and the image phantom coordinates of the special points of the phantom in the image coordinate system. The relationship satisfies: FY = RG + T. Wherein, G is used to represent the image phantom coordinates of the special points of the phantom in the image coordinate system, and F is used to represent the actual phantom coordinates of the special points in the device coordinate system.

[0100] Optionally, G can be represented by [g1, g2, g3]. G1, g2, and g3 are the coordinate values ​​of the special point of the phantom in three coordinate directions in the image coordinate system. F can be represented by [f1, f2, f3]. F1, f2, and f3 are the coordinate values ​​of the special point of the phantom in three coordinate directions in the device coordinate system.

[0101] According to the above correspondence, the computer device 103 needs to solve the correspondence between the image coordinate system and the device coordinate system based on the image phantom coordinates of at least three different special points in the image coordinate system and the actual phantom coordinates of at least three special points in the device coordinate system.

[0102] In an embodiment of the present application, when the phantom has at least three special points, the computer device 103 can directly determine the correspondence between the image coordinate system and the device coordinate system based on the image phantom coordinates of the at least three special points acquired by the surface imaging device 102 and the actual phantom coordinates of the at least three special points.

[0103] Step 308: Acquire the body surface image of the target object in real time based on the body surface imaging device.

[0104] In the embodiment of the present application, before the radiotherapy device 101 works, the target object can be positioned first, and the target area of ​​the target object can be moved to the treatment area (the target area is located at the isocenter position of the radiotherapy device). After the target object is positioned and the target area of ​​the target object is moved to the treatment area, the radiotherapy device 101 can start working. The target object can refer to a patient, or can also refer to a model of an affected part, such as a phantom.

[0105] During the operation of the radiotherapy device 101 or before the radiotherapy device 101 operates, the position of the target area of ​​the target object may change. The body surface imaging device 102 can acquire the body surface image of the target object in real time. Afterwards, the body surface imaging device 102 can send the acquired body surface image to the computer device 103, that is, the computer device 103 can acquire the body surface image of the target object in real time based on the body surface imaging device 102. Since the body surface image acquired by the body surface imaging device 102 includes the body surface information (i.e., the contour) of the target object, the body surface image of the target object acquired in real time by the body surface imaging device 102 can be used to determine the real-time contour image of the target object.

[0106] Step 309: Based on the body surface image, a real-time contour image of the target object in the body surface image is obtained.

[0107] In the embodiment of the present application, after acquiring the body surface image, the computer device 103 can outline the body surface image to obtain the contour image of the target object in the body surface image. In addition, since the body surface image is an image acquired in real time by the body surface imaging device 102, the computer device 103 can determine the real-time contour image of the target object in real time based on the real-time acquired body surface image. The real-time contour image of the target object is an image in the image coordinate system.

[0108] Step 310: According to the correspondence between the image coordinate system and the device coordinate system, the real-time contour image is converted from the image coordinate system to the device coordinate system.

[0109] In the embodiment of the present application, the computer device 103 can perform coordinate conversion on the real-time contour image based on the correspondence between the image coordinate system and the device coordinate system determined in step 307 to obtain the real-time contour image converted to the device coordinate system. The converted real-time contour image is an image in the device coordinate system.

[0110] Step 311: Determine the position movement information of the target object according to the real-time contour image after the coordinate system is converted and the reference contour image.

[0111] In the embodiment of the present application, after the target object is positioned and the target area of ​​the target object is moved to the treatment area, and before the radiotherapy device 101 works, the computer device 103 can obtain the reference contour image of the target object. The reference contour image of the target object is an image in the device coordinate system. Before the radiotherapy device 101 works can refer to before the radiotherapy device 101 performs radiotherapy on the target object.

[0112] Optionally, the reference contour image may be a contour image of a target object in an image captured by a medical imaging device. Optionally, the medical imaging device may be a medical imaging device such as CT, MRI or PET.

[0113] The reference contour image is a contour image of a target object in an image captured by a medical imaging device, which may mean that the reference contour image is obtained based on the contour of the target object in the image captured by the medical imaging device. For example, the medical imaging device scans the target object to obtain a scanned image, and sends the scanned image to a computer device. The computer device outlines the scanned image to obtain a reference contour image.

[0114] In the embodiment of the present application, the computer device 103 can determine the position movement information of the target object based on the real-time acquired body surface image and the acquired reference contour image. The position movement information can be the movement information of the real-time contour of the target object relative to the reference contour.

[0115] Step 312: Determine the real-time target area coordinates according to the position movement information and the target area image.

[0116] In the embodiment of the present application, after the target object is positioned and the target area of ​​the target object is moved to the treatment area, and before the radiotherapy device 101 works, the computer device 103 can also obtain a target area image of the target object. The target area image can be a reference image of the target area.

[0117] The target area image is the target area image of the target object in the image captured by the medical imaging device. The target area image is the target area image of the target object in the image captured by the medical imaging device. It can mean that the target area image is obtained based on the target area of ​​the target object in the image captured by the medical imaging device. For example, the medical imaging device scans the target object to obtain a scanned image, and sends the scanned image to a computer device. The computer device outlines the target area in the scanned image to obtain the target area image.

[0118] Since the body surface image collected in real time by the body surface imaging device 102 does not include the internal information of the target object (such as the target area), the computer device 103 can use the position movement information of the contour of the target object and the target area image to determine the real-time target area coordinates. Thus, the real-time tracking of the position of the target area is achieved, and then the radiotherapy device 101 can treat the target area based on the target area coordinates determined in real time, thereby improving the treatment effect of the radiotherapy device 101.

[0119] The execution subject (computer device 103) of the method provided in the embodiment of the present application can only determine the target area coordinates of the target object in real time during the operation of the radiotherapy device 101, and will not treat the target object. The treatment process is performed by the radiotherapy device 101.

[0120] In an embodiment of the present application, the computer device 103 may have a first mode control and a second mode control. When receiving a selection operation for the first mode control, the computer device 103 may perform a related operation in response to the selection operation of the first mode control. When receiving a selection operation for the second mode control, the computer device 103 may perform a related operation in response to the selection operation of the second mode control.

[0121] If the physician wants the computer device 103 to determine the target area coordinates of the target object only based on the body surface image collected by the body surface imaging device 102 during the operation of the radiotherapy device 101, the selection operation for the first mode control can be triggered. Thus, the computer device 103 can receive the selection operation for the first mode control, and the body surface imaging device 102 can collect the body surface image of the target object in real time during the operation of the radiotherapy device 101. In addition, the computer device 103 can determine the target area coordinates of the target object during the operation of the radiotherapy device 101 based on the body surface image collected in real time by the body surface imaging device 102.

[0122] If the physician wants to determine the target coordinates of the target object according to the body surface image collected by the body surface imaging device 102 during the operation of the radiotherapy device 101, and can also determine the target coordinates of the target object according to the target image obtained by the medical imaging device by imaging the target object, then the selection operation for the second mode control can be triggered. Thus, the computer device 103 can receive the selection operation for the second mode control, and during the operation of the radiotherapy device 101, in the time interval between two imagings of the medical imaging device, the computer device uses the body surface image collected by the body surface imaging device 102 to determine the target coordinates of the target object. Thus, the problem that the medical imaging device cannot be based on the position of the target area in real time can be solved. Among them, the real-time medical image is only imaged when it is rotated to a fixed angle (for example, it is imaged once every 90 degrees of rotation), and the time interval between two imagings of the real-time medical image can refer to: the time taken for the real-time medical image to rotate from the previous imaging angle to the next imaging angle.

[0123] In the above two modes, the computer device 103 can obtain the target area coordinates in real time, realize real-time tracking of the target area position, and then enable the radiotherapy equipment 101 to treat the target area based on the target area coordinates determined in real time, thereby improving the treatment effect of the radiotherapy equipment 101.

[0124] It should be noted that in the first mode, the computer device 103 determines the target coordinates of the target object in the operation process of the radiotherapy device 101 in real time only based on the body surface image collected by the body surface imaging device 102, and the body surface imaging device 102 does not generate radiation to the target object when collecting the body surface image, so it will not cause harm to the target object. In the second mode, the computer device 103 needs to image the target object according to the medical imaging device, and the medical imaging device will generate certain radiation to the target object when imaging, so it may cause harm to the target object.

[0125] It should also be noted that the order of the steps of the target area location determination method provided in the embodiment of the present application can be appropriately adjusted, and the steps can be increased or decreased accordingly according to the situation. For example, step 308 and step 309 can be executed before step 301, and steps 301 to 307 can be deleted according to the situation. Any technician familiar with the technical field can easily think of a method of change within the technical scope disclosed in this application, which should be covered within the scope of protection of this application, so it will not be repeated.

[0126] In summary, an embodiment of the present application provides a method for determining the position of a target area, which can determine the position movement information of the target object based on the surface image of the target object acquired in real time by a surface imaging device, and a reference contour image. Afterwards, the real-time target area coordinates can be determined based on the position movement information and the target area image. Since the operating frequency of the surface imaging device is relatively high, the computer device can determine the target area coordinates in real time based on the surface image of the target object acquired in real time by the surface imaging device. Thus, real-time tracking of the position of the target area is achieved, ensuring the accuracy of the determined position of the target area. Furthermore, the radiotherapy equipment can achieve better results when treating the target area based on the position of the target area determined in real time.

[0127] Figure 4 This is a flow chart of another method for determining the location of a target area provided in an embodiment of the present application. This method can be applied to Figure 1 The computer device 103 of the radiation therapy system shown. Figure 4 It can be seen that the method may include:

[0128] Step 401: When the target point of the phantom is located at the isocenter position of the radiotherapy device, the phantom is scanned based on a medical imaging device to obtain a reference phantom image.

[0129] In the embodiment of the present application, the specific process of step 401 can refer to the specific description of the above step 301, and the embodiment of the present application will not be repeated here.

[0130] Step 402: Scan the phantom based on a medical imaging device to obtain a real-time phantom image.

[0131] In the embodiment of the present application, the specific process of step 402 can refer to the specific description of the above step 302, and the embodiment of the present application will not be repeated here.

[0132] Step 403: Based on the reference phantom image and the real-time phantom image, the target point of the phantom is positioned to the isocenter position of the radiotherapy device.

[0133] In the embodiment of the present application, the specific process of step 403 can refer to the specific description of the above step 303, and the embodiment of the present application will not be repeated here.

[0134] Step 404: When the target point of the phantom is located at the isocenter position of the radiotherapy equipment, the treatment bed of the radiotherapy equipment is controlled to move at least three times, the moving distance of each time is recorded, and after each movement, a marked image of the phantom is collected through a body surface imaging device to obtain at least three marked images.

[0135] In the embodiment of the present application, after the phantom is positioned, the target point of the phantom may be located at the isocenter of the radiotherapy device. In this case, the coordinate values ​​Xo, Yo and Zo of the target point of the phantom in three directions in the device coordinate system of the radiotherapy device may all be 0.

[0136] Optionally, if the phantom has less than three special points, for example, the special points of the phantom only include the target point of the phantom. Then the computer device can control the treatment bed 1011 to move at least three times and record the moving distance each time. For example, when the target point of the phantom is located at the isocenter position, each time the treatment bed 1011 is moved, the computer device 103 moves the treatment bed 1011 according to the moving distances in three directions set by the user (e.g., a physician) (e.g., recorded as Xm, Ym, and Zm) so that the treatment bed 1011 moves to a specific position. Among them, Xm, Ym, and Zm can be positive or negative values, and this embodiment of the present application does not limit this.

[0137] Furthermore, after each movement of the treatment couch 1011 (i.e., when the treatment couch 1011 moves to each position based on the moving distance), the body surface imaging device 102 can collect the marked image of the phantom after each movement, that is, the body surface imaging device 102 can collect at least three marked images. Afterwards, the body surface imaging device 102 can send the marked image of the phantom after each movement to the computer device 103, so that the computer device 103 obtains at least three marked images.

[0138] Step 405 : Determine the image phantom coordinates of the target point of the phantom in the at least three labeled images according to the at least three labeled images.

[0139] In the embodiment of the present application, the computer device 103 can determine the image phantom coordinates of the target point of the phantom in the at least three marked images according to the at least three marked images.

[0140] Optionally, the computer device 103 may process each of the at least three acquired marked images to obtain the image phantom coordinates of the target point in each marked image.

[0141] For example, for each marked image, the computer device 103 may outline the marked image to obtain the coordinates of the outline of each marked image in the image coordinate system. In addition, the computer device 103 may pre-store the positional relationship between the target point of the phantom and the outline of the phantom. After obtaining the coordinates of the outline of the phantom in the image coordinate system, the computer device 103 may use the coordinates of the outline in the image coordinate system and the positional relationship between the target point of the phantom and the outline of the phantom to calculate the image phantom coordinates of the target point of the phantom in the image coordinate system.

[0142] In the embodiment of the present application, the image phantom coordinates of the target point of the phantom include coordinate values ​​of the target point of the phantom in three directions in the image coordinate system (for example, recorded as f1, f2 and f3).

[0143] Step 406: Determine at least three actual phantom coordinates of the target point of the phantom according to at least three moving distances.

[0144] In the embodiment of the present application, the computer device 103 can determine the actual phantom coordinates of the target point of the phantom after the treatment bed 1011 moves based on the moving distance and the coordinates of the target point of the membrane at the isocenter position. The actual phantom coordinates of the target point include the coordinate values ​​of the target point in three directions in the device coordinate system (for example, recorded as g1, g2 and g3).

[0145] For example, assuming that the treatment bed 1011 moves in three directions at a certain time, the moving distances are Xm, Ym and Zm respectively, then the actual model coordinates of the target point of the model in the device coordinate system include coordinate values ​​of the three directions that satisfy: g1 = Xo + Xm, g2 = Yo + Ym, g3 = Zo + Zm.

[0146] In the above step 404 , the treatment couch 1011 moves at least three times, so the computer device 103 can determine at least three actual phantom coordinates of the target point of the phantom according to the at least three movement distances.

[0147] Step 407 : Determine the correspondence between the image coordinate system and the device coordinate system according to the image phantom coordinates in the at least three marked images and the at least three actual phantom coordinates.

[0148] In the embodiment of the present application, the computer device 103 can determine the correspondence between the image coordinate system of the body surface imaging device 102 and the equipment coordinate system of the radiotherapy equipment 101 based on the acquired image phantom coordinates of the target point of the phantom and the actual phantom coordinates of the target point of the phantom.

[0149] Optionally, the corresponding relationship may be a 4×4 transformation matrix. The transformation matrix is ​​in the form of R is a 3×3 rotation matrix and T is a 1×3 translation matrix.

[0150] Optionally, the computer device 103 may pre-store the relationship between the actual phantom coordinates of the target point (special point) of the phantom in the device coordinate system and the image phantom coordinates of the target point of the phantom in the image coordinate system. The relationship satisfies: FY = RG + T. Wherein, G is used to represent the image phantom coordinates of the target point of the phantom in the image coordinate system, and F is used to represent the actual phantom coordinates of the target point in the device coordinate system.

[0151] Optionally, G can be represented by [g1, g2, g3]. Where g1, g2 and g3 are the coordinate values ​​of the target point of the phantom in three coordinate directions in the image coordinate system. F can be represented by [f1, f2, f3]. Where f1, f2 and f3 are the coordinate values ​​of the target point of the phantom in three coordinate directions in the device coordinate system.

[0152] According to the form of the above correspondence, it can be seen that the computer device 103 needs to solve the correspondence based on the image phantom coordinates of the target points of the phantom at least three different positions in the image coordinate system and the actual phantom coordinates of the target points of the phantom at least three different positions in the device coordinate system.

[0153] Therefore, in the above step 404, the treatment bed 1011 is moved to different positions by moving the treatment bed 1011, and the target point of the phantom is moved to the corresponding position together with the treatment bed 1011. In this case, according to the number of positions to which the treatment bed 1011 is moved, the number of image phantom coordinates and actual phantom coordinates of the target point of the phantom can be determined accordingly.

[0154] For example, the above step 405 can determine the image phantom coordinates of the target point of the phantom in at least three marked images, that is, at least three image phantom coordinates of the target point of the phantom. And, the above step 406 can determine at least three actual phantom coordinates of the target point of the phantom. Thus, the computer device 103 can determine the corresponding relationship between the image coordinate system and the device coordinate system according to the image phantom coordinates in at least three marked images and at least three actual phantom coordinates.

[0155] Step 408: Acquire the body surface image of the target object in real time based on the body surface imaging device.

[0156] In the embodiment of the present application, the specific process of step 408 can refer to the specific description of the above step 308, and the embodiment of the present application will not be repeated here.

[0157] Step 409: Based on the body surface image, a real-time contour image of the target object in the body surface image is obtained.

[0158] In the embodiment of the present application, the specific process of step 409 can refer to the specific description of the above step 309, and the embodiment of the present application will not be repeated here.

[0159] Step 410: According to the correspondence between the image coordinate system and the device coordinate system, the real-time contour image is converted from the image coordinate system to the device coordinate system.

[0160] In the embodiment of the present application, the specific process of step 410 can refer to the specific description of the above step 310, and the embodiment of the present application will not be repeated here.

[0161] Step 411: Determine the position movement information of the target object according to the real-time contour image after the coordinate system is converted and the reference contour image.

[0162] Step 412: Determine the real-time target area coordinates according to the position movement information and the target area image.

[0163] In the embodiment of the present application, the specific process of step 412 can refer to the specific description of the above step 312, and the embodiment of the present application will not be repeated here.

[0164] In an embodiment of the present application, the computer device 103 may have a first mode control and a second mode control. When receiving a selection operation for the first mode control, the computer device 103 may perform a related operation in response to the selection operation of the first mode control. When receiving a selection operation for the second mode control, the computer device 103 may perform a related operation in response to the selection operation of the second mode control.

[0165] If the physician wants the computer device 103 to determine the target area coordinates of the target object only based on the body surface image collected by the body surface imaging device 102 during the operation of the radiotherapy device 101, the selection operation for the first mode control can be triggered. Thus, the computer device 103 can receive the selection operation for the first mode control, and the body surface imaging device 102 can collect the body surface image of the target object in real time during the operation of the radiotherapy device 101. In addition, the computer device 103 can determine the target area coordinates of the target object during the operation of the radiotherapy device 101 based on the body surface image collected in real time by the body surface imaging device 102.

[0166] If the physician wants to determine the target coordinates of the target object according to the body surface image collected by the body surface imaging device 102 during the operation of the radiotherapy device 101, and can also determine the target coordinates of the target object according to the target image obtained by the medical imaging device by imaging the target object, then the selection operation for the second mode control can be triggered. Thus, the computer device 103 can receive the selection operation for the second mode control, and during the operation of the radiotherapy device 101, in the time interval between two imagings of the medical imaging device, the computer device uses the body surface image collected by the body surface imaging device 102 to determine the target coordinates of the target object. Thus, the problem that the medical imaging device cannot be based on the position of the target area in real time can be solved. Among them, the real-time medical image is only imaged when it is rotated to a fixed angle (for example, it is imaged once every 90 degrees of rotation), and the time interval between two imagings of the real-time medical image can refer to: the time taken for the real-time medical image to rotate from the previous imaging angle to the next imaging angle.

[0167] In the above two modes, the computer device 103 can obtain the target area coordinates in real time, realize real-time tracking of the target area position, and then enable the radiotherapy equipment 101 to treat the target area based on the target area coordinates determined in real time, thereby improving the treatment effect of the radiotherapy equipment 101.

[0168] It should be noted that in the first mode, the computer device 103 determines the target coordinates of the target object in the operation process of the radiotherapy device 101 in real time only based on the body surface image collected by the body surface imaging device 102, and the body surface imaging device 102 does not generate radiation to the target object when collecting the body surface image, so it will not cause harm to the target object. In the second mode, the computer device 103 needs to image the target object according to the medical imaging device, and the medical imaging device will generate certain radiation to the target object when imaging, so it may cause harm to the target object.

[0169] It should also be noted that the order of the steps of the target area location determination method provided in the embodiment of the present application can be appropriately adjusted, and the steps can also be increased or decreased accordingly according to the situation. For example, step 408 and step 409 can be executed before step 401, and steps 401 to 407 can be deleted according to the situation. Any technician familiar with the technical field can easily think of a method of change within the technical scope disclosed in this application, which should be covered within the scope of protection of this application, so it will not be repeated.

[0170] In summary, an embodiment of the present application provides a method for determining the position of a target area, which can determine the position movement information of the target object based on the surface image of the target object acquired in real time by a surface imaging device, and a reference contour image. Afterwards, the real-time target area coordinates can be determined based on the position movement information and the target area image. Since the operating frequency of the surface imaging device is relatively high, the computer device can determine the target area coordinates in real time based on the surface image of the target object acquired in real time by the surface imaging device. Thus, real-time tracking of the position of the target area is achieved, ensuring the accuracy of the determined position of the target area. Furthermore, the radiotherapy equipment can achieve better results when treating the target area based on the position of the target area determined in real time.

[0171] Figure 5 is a structural block diagram of a target area location determination device provided in an embodiment of the present application. Figure 5 It can be seen that the target area position determination device may include:

[0172] The acquisition module 501 is used to acquire the body surface image of the target object in real time based on the body surface imaging device.

[0173] The movement determination module 502 is used to determine the position movement information of the target object according to the body surface image and the reference contour image. The reference contour image is the contour image of the target object in the image captured by the medical imaging device.

[0174] The coordinate determination module 503 is used to determine the real-time target coordinates according to the position movement information and the target image. The target image is the target image of the target object in the image captured by the medical imaging device.

[0175] Optional, reference Figure 6 , the movement determination module 502 may include:

[0176] The real-time contour image determination submodule 5021 is used to obtain a real-time contour image of a target object in the body surface image according to the body surface image.

[0177] The position movement information determination submodule 5022 is used to determine the position movement information of the target object according to the real-time contour image and the reference contour image.

[0178] Optionally, the reference contour image is an image in the device coordinate system of the radiotherapy device. The position movement information determination submodule 5022 can be used to: obtain the correspondence between the image coordinate system of the body surface imaging device and the device coordinate system of the radiotherapy device; according to the correspondence, convert the real-time contour image from the image coordinate system of the body surface imaging device to the device coordinate system of the radiotherapy device; and determine the position movement information of the target object according to the real-time contour image after the coordinate system conversion and the reference contour image.

[0179] As an optional implementation, refer to Figure 7 , the target area location determination device may also include:

[0180] The reference phantom image determination module 504 is used to scan the phantom based on a medical imaging device to obtain a reference phantom image when the target point of the phantom is located at the isocenter position of the radiotherapy device.

[0181] The real-time phantom image determination module 505 is configured to obtain a real-time phantom image by scanning the phantom based on a medical imaging device.

[0182] The positioning module 506 is used to position the target point of the phantom to the isocenter position of the radiotherapy device based on the reference phantom image and the real-time phantom image.

[0183] The module 507 for obtaining actual phantom coordinates is used to obtain actual phantom coordinates when the target point of the phantom is at the isocenter position of the radiotherapy device.

[0184] The phantom image acquisition module 508 is used to acquire the phantom image when the target point of the phantom is at the isocenter position of the radiotherapy device based on the body surface imaging device.

[0185] The image phantom coordinate determination module 509 is used to determine the image phantom coordinates of the phantom in the phantom image according to the phantom image.

[0186] The corresponding relationship determination module 5010 is used to determine the corresponding relationship between the image coordinate system and the device coordinate system according to the image phantom coordinates and the actual phantom coordinates.

[0187] Optionally, when the phantom has at least three special points, the correspondence determination module 5010a can be used to determine the correspondence between the image coordinate system and the device coordinate system based on the image phantom coordinates of the at least three special points acquired by the body surface imaging device and the actual phantom coordinates of the at least three special points.

[0188] As another optional implementation, refer to Figure 8 , the target area location determination device may also include:

[0189] The reference phantom image determination module 504 is used to scan the phantom based on a medical imaging device to obtain a reference phantom image when the target point of the phantom is located at the isocenter position of the radiotherapy device.

[0190] The real-time phantom image determination module 5035 is used to scan the phantom based on a medical imaging device to obtain a real-time phantom image.

[0191] The positioning module 506 is used to position the target point of the phantom to the isocenter position of the radiotherapy device based on the reference phantom image and the real-time phantom image.

[0192] The marker image determination module 507 is used to control the treatment bed of the radiotherapy equipment to move at least three times when the target point of the phantom is located at the isocenter position of the radiotherapy equipment, record the movement distance each time, and collect the marker image of the phantom through the body surface imaging device after each movement to obtain at least three marker images.

[0193] The image phantom coordinate determination module 508 is used to determine the image phantom coordinates of the target point of the phantom in the at least three labeled images according to the at least three labeled images.

[0194] The actual phantom coordinate determination module 509 is used to determine at least three actual phantom coordinates of the target point of the phantom according to at least three movement distances.

[0195] The correspondence determination module 5010 is used to determine the correspondence between the image coordinate system and the device coordinate system according to the image phantom coordinates in at least three marked images and at least three actual phantom coordinates.

[0196] In summary, an embodiment of the present application provides a device for determining the position of a target area, which can determine the position movement information of the target object based on the surface image of the target object acquired in real time by the surface imaging device and the reference contour image. Afterwards, the real-time target area coordinates can be determined based on the position movement information and the target area image. Since the operating frequency of the surface imaging device is relatively high, the device for determining the position of the target area can determine the target area coordinates in real time based on the surface image of the target object acquired in real time by the surface imaging device. Thus, real-time tracking of the position of the target area is achieved, ensuring the accuracy of the determined position of the target area. Furthermore, the radiotherapy equipment can achieve better results when treating the target area based on the position of the target area determined in real time.

[0197] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the target area position determination device and each module described above can refer to the corresponding processes in the aforementioned method embodiment and will not be repeated here.

[0198] Fig. 9 is a structural block diagram of a computer device provided in an embodiment of the present application. Fig. 9 It can be seen that the computer device may include: a processor 1031 and a memory 1032. The memory 1032 is used to store instructions executed by the processor 1031. The processor 1031 can implement the target area location determination method shown in any of the above embodiments by executing the instructions stored in the memory 1032. For example, it can be implemented Figures 2 to 4 Any of the methods shown.

[0199] Fig.10 is a structural block diagram of another computer device provided in an embodiment of the present application. Fig.10 The computer device 103 shown may include, but is not limited to: at least one processor 1031, at least one memory 1032, and a bus 1033 connecting different system components (including the memory 1032 and the processor 1031). The memory 1032 stores program code, which can be executed by the processor 1031, so that the processor 1031 performs the steps according to various exemplary embodiments of the present application described in the description part of the above exemplary method of this specification.

[0200] The memory 1032 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 10321 and / or a cache memory unit 10322 , and may further include a read-only memory unit (ROM) 10323 .

[0201] Memory 1032 may also include a program / utility 10324 having a set (at least one) of program modules 10325, such program modules 10325 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0202] The bus 1033 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0203] The computer device 103 may also communicate with one or more external devices 60 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user (doctor) to interact with the computer device 103, and / or communicate with any device that enables the computer device 103 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 1034. Furthermore, the computer device 103 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 1035. As shown, the network adapter 1035 communicates with other modules of the computer device 103 via a bus 1033. It should be understood that, although not shown in the figure, the computer device 103 may be implemented using other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0204] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0205] The present application embodiment provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer, the computer is enabled to execute the method for determining the location of a target area shown in any of the above embodiments. For example, the following method may be executed: Figures 2 to 4 Any of the methods shown.

[0206] The present application embodiment provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute to implement the method for determining the location of a target area shown in any of the above embodiments. For example, the following may be executed: Figures 2 to 4 Any of the methods shown.

[0207] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining the position of a target area, characterized in that: The method comprises: Collecting the body surface image of the target object in real time based on the body surface imaging device; Determine the position movement information of the target object according to the body surface image and the reference contour image; the reference contour image is a contour image of the target object in the image captured by the medical imaging device, and the reference contour image is an image in the device coordinate system of the radiotherapy device; Determine the real-time target area coordinates according to the position movement information and the target area image; the target area image is the target area image of the target object in the image captured by the medical imaging device; Determining the position movement information of the target object according to the body surface image and the reference contour image includes: Obtaining a real-time contour image of a target object in the body surface image according to the body surface image; Determining the position movement information of the target object according to the real-time contour image and the reference contour image; Determining the position movement information of the target object according to the real-time contour image and the reference contour image includes: Obtaining the correspondence between the image coordinate system of the body surface imaging device and the device coordinate system of the radiotherapy device; According to the corresponding relationship, the real-time contour image is converted from the image coordinate system of the body surface imaging device to the device coordinate system of the radiotherapy device; The position movement information of the target object is determined according to the real-time contour image after the coordinate system is converted and the reference contour image.

2. The method according to claim 1, characterized in that The method further comprises: Acquire the actual phantom coordinates of the target point of the phantom when it is at the isocenter position of the radiotherapy device; Acquiring a phantom image of the target of the phantom at the isocenter position of the radiotherapy device based on a body surface imaging device; Determining image phantom coordinates of the phantom in the phantom image according to the phantom image; The corresponding relationship between the image coordinate system and the device coordinate system is determined according to the image phantom coordinates and the actual phantom coordinates.

3. The method according to claim 2, characterized in that Before acquiring the actual phantom coordinates of the target point of the phantom at the isocenter position of the radiotherapy device, the method further comprises: When the target point of the phantom is located at the isocenter position of the radiotherapy device, scanning the phantom based on the medical imaging device to obtain a reference phantom image; Scanning the phantom based on a medical imaging device to obtain a real-time phantom image; Based on the reference phantom image and the real-time phantom image, the target point of the phantom is positioned to the isocenter position of the radiotherapy device.

4. The method according to claim 2, characterized in that: In the case where the phantom has at least three special points, determining the correspondence between the image coordinate system and the device coordinate system according to the image phantom coordinates and the actual phantom coordinates includes: Based on the image phantom coordinates of at least three of the special points acquired by the body surface imaging device and the actual phantom coordinates of at least three of the special points, the corresponding relationship between the image coordinate system and the device coordinate system is determined.

5. The method according to claim 2, characterized in that: In the case where the phantom has less than three unique points, the method further comprises: When the target point of the phantom is located at the isocenter position of the radiotherapy device, controlling the treatment bed of the radiotherapy device to move at least three times, recording the moving distance each time, and collecting the marked image of the phantom through the body surface imaging device after each movement to obtain at least three marked images; Determining the image phantom coordinates of the target point of the phantom in the at least three marked images according to the at least three marked images; Determining at least three actual phantom coordinates of the target point of the phantom according to at least three movement distances; The corresponding relationship between the image coordinate system and the device coordinate system is determined according to the image phantom coordinates in at least three of the marked images and at least three of the actual phantom coordinates.

6. A device for determining the position of a target area, characterized in that: The target area position determination device comprises: An acquisition module, used for acquiring a body surface image of a target object in real time based on a body surface imaging device; A movement determination module, used to determine the position movement information of the target object according to the body surface image and the reference contour image; the reference contour image is a contour image of the target object in the image captured by the medical imaging device, and the reference contour image is an image in the device coordinate system of the radiotherapy device; A coordinate determination module, used to determine the real-time target area coordinates according to the position movement information and the target area image; the target area image is the target area image of the target object in the image captured by the medical imaging device; The movement determination module comprises: A real-time contour image determination submodule, used to obtain a real-time contour image of a target object in the body surface image according to the body surface image; A position movement information determination submodule is used to determine the position movement information of the target object based on the real-time contour image and the reference contour image; the position movement information determination submodule is used to: obtain the correspondence between the image coordinate system of the body surface imaging device and the equipment coordinate system of the radiotherapy equipment; according to the correspondence, convert the real-time contour image from the image coordinate system of the body surface imaging device to the equipment coordinate system of the radiotherapy equipment; determine the position movement information of the target object based on the real-time contour image after the coordinate system is converted and the reference contour image.

7. A computer device, characterized in that: The computer device comprises: a processor and a memory, wherein the memory is used to store instructions executed by the processor, and the processor implements the method for determining the position of a target area according to any one of claims 1 to 5 by executing the instructions stored in the memory.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer, the computer executes the method for determining the position of a target area according to any one of claims 1 to 5.

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