Radiotherapy monitoring system and radiotherapy system

Abstract

The present application provides a radiotherapy monitoring system and a radiotherapy system, which belong to the technical field of radiotherapy equipment. In the radiotherapy monitoring system, a first structured light camera is communicatively connected to a control device, and is used to collect first contour data from a first viewing angle of the first structured light camera before radiotherapy, and send the first contour data to the control device; the control device is communicatively connected to the radiotherapy device, and is used to receive the first contour data and perform positioning control on the target to be monitored based on the first contour data; the second structured light camera is communicatively connected to the control device, and is used to collect second contour data from a second viewing angle of the second structured light camera during radiotherapy, and send the second contour data to the control device; the control device is also used to receive the second contour data, and monitor the target to be monitored during radiotherapy based on the second contour data. The present application can more accurately obtain the position information of the target to be monitored and determine whether the target to be monitored has moved.

Description

Technical Field

[0001] The present application relates to the technical field of radiotherapy equipment, and in particular to a radiotherapy monitoring system and a radiotherapy system. Background Art

[0002] With the popularization of surface guided radiotherapy (SGRT) systems in radiotherapy equipment, body surface information obtained by body surface monitoring equipment has been widely used as a means of patient positioning.

[0003] However, for radiotherapy equipment with non-open racks, such as roller racks, the space inside the non-open rack is limited. If the surface monitoring equipment is set inside the non-open rack, the viewing angle of the monitoring equipment will be small due to spatial factors, and the patient's posture information cannot be accurately obtained, and thus it is impossible to accurately monitor whether the patient has moved. Summary of the Invention

[0004] The purpose of this application is to provide a radiotherapy monitoring system and a radiotherapy system that can more accurately obtain the posture information of the monitored target and determine whether the monitored target has moved.

[0005] The embodiment of the present application is implemented as follows:

[0006] In one aspect of an embodiment of the present application, a radiotherapy monitoring system is provided, the radiotherapy monitoring system comprising: a first structured light camera, a second structured light camera, and a control device;

[0007] The first structured light camera is communicatively connected to the control device, and is configured to collect first contour data at a first viewing angle of the first structured light camera before radiotherapy treatment, and transmit the first contour data to the control device, wherein the first contour data includes: a target to be monitored on a patient support device located at a first position in the radiotherapy device; the control device is communicatively connected to the radiotherapy device, and is configured to receive the first contour data and perform positioning control on the target to be monitored based on the first contour data;

[0008] The second structured light camera is communicatively connected to the control device, and is used to collect second contour data at a second viewing angle of the second structured light camera during radiotherapy, and send the second contour data to the control device, wherein the first viewing angle and the second viewing angle are different viewing angles, and the second contour data includes: a target to be monitored on a patient support device located at a second position in the radiotherapy equipment; the control device is further used to receive the second contour data and monitor the target to be monitored during radiotherapy based on the second contour data.

[0009] Optionally, there are at least two first structured light cameras, which are respectively arranged at first preset positions outside the radiotherapy equipment. When the at least two first structured light cameras collect contour data at the first preset positions, the target to be monitored before radiotherapy is within the field of view of the at least two first structured light cameras.

[0010] Optionally, there are two first structured light cameras, one located on each side of the patient support device.

[0011] Optionally, the second structured light camera is set at a second preset position. When the second structured light camera collects contour data at the second preset position, the target to be monitored during the radiotherapy process is within the field of view of the second structured light camera.

[0012] Optionally, the second preset position is a preset position on the patient support device or a preset position on the housing of the radiotherapy equipment.

[0013] Optionally, the first structured light camera includes: a first structured light camera body and a first camera bracket connected to the first structured light camera body, and / or the second structured light camera includes: a second structured light camera body and a second camera bracket connected to the second structured light camera body.

[0014] Optionally, the first camera bracket and / or the second camera bracket is a retractable bracket.

[0015] Optionally, the viewing angle of the first structured light camera body and / or the second structured light camera body is adjustable.

[0016] Optionally, the radiotherapy monitoring system further includes a signal generating device; the signal generating device is communicatively connected to the first structured light camera, the second structured light camera, and the control device respectively;

[0017] The control device is also used to send signal control instructions to the signal generating device;

[0018] The signal generating device is used to control the first structured light camera or the second structured light camera to work synchronously according to the signal control instruction.

[0019] Another aspect of an embodiment of the present application provides a radiotherapy system, which includes: a radiotherapy monitoring system and a radiotherapy device, wherein the radiotherapy device is communicatively connected to a control device in the radiotherapy monitoring system.

[0020] Optionally, the radiotherapy device includes: a non-open frame and a patient support device;

[0021] The control device is in communication with the patient support device and is configured to perform positioning control on the patient support device located on one side of the non-open frame based on the first contour data to move the patient support device to a target operating position;

[0022] The control device is also in communication connection with the non-open rack, and is used to adjust the working state of the non-open rack according to the second profile data.

[0023] The beneficial effects of the embodiments of the present application include:

[0024] An embodiment of the present application provides a radiotherapy monitoring system and a radiotherapy system, which includes: a first structured light camera, a second structured light camera, and a control device; the first structured light camera is communicatively connected to the control device, and is used to collect first contour data at a first viewing angle of the first structured light camera before radiotherapy, and send the first contour data to the control device, the first contour data including: a target to be monitored on a patient support device located at a first position in the radiotherapy device; the control device is communicatively connected to the radiotherapy device, and is used to receive the first contour data and perform positioning control on the target to be monitored based on the first contour data; the second structured light camera is communicatively connected to the control device, and is used to collect second contour data at a second viewing angle of the second structured light camera during radiotherapy, and send the second contour data to the control device, the first viewing angle and the second viewing angle being different viewing angles, and the second contour data including: a target to be monitored on a patient support device located at a second position in the radiotherapy device; the control device is further used to receive the second contour data and monitor the target to be monitored during radiotherapy based on the second contour data. Among them, the first contour data obtained by the first structured light camera can realize the position control of the monitored target, and can more accurately realize the position movement of the monitored target; in addition, the second contour data obtained by the second structured light camera can be used to monitor the radiotherapy treatment of the monitored target after the position control, and can more accurately obtain the posture information of the monitored target and determine whether the monitored target has moved during the treatment process, thereby improving the safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 Schematic diagram of the structure of the radiotherapy monitoring system provided in the embodiment of the present application Figure 1 ;

[0027] Figure 2 Schematic diagram of the structure of the radiotherapy monitoring system provided in the embodiment of the present application Figure 2 ;

[0028] Figure 3A schematic structural diagram of a radiotherapy system provided in an embodiment of the present application;

[0029] Figure 4 A schematic structural diagram of the radiotherapy equipment provided in an embodiment of the present application.

[0030] Icons: 100-radiotherapy monitoring system; 110-first structured light camera; 120-second structured light camera; 130-control device; 200-radiotherapy equipment; 210-patient support device; 220-non-open rack; 300-signal generating device. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0034] In the description of this application, it should be noted that the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0035] The following explains the positional relationship and connection relationship of each structure in the radiotherapy monitoring system provided in the embodiment of the present application.

[0036] Figure 1 Schematic diagram of the structure of the radiotherapy monitoring system provided in the embodiment of the present application Figure 1 , please refer to Figure 1The radiotherapy monitoring system includes: a first structured light camera 110, a second structured light camera 120, and a control device 130; the first structured light camera 110 is communicatively connected to the control device 130, and is used to collect first contour data at a first viewing angle of the first structured light camera 110 before radiotherapy, and send the first contour data to the control device 130, wherein the first contour data includes: a target to be monitored on a patient support device 210 located at a first position in the radiotherapy device (the target to be monitored has not entered the treatment space of the radiotherapy device); the control device 130 is configured to be communicatively connected to the radiotherapy device, and is used to receive the first contour data and based on the first contour data The data is used to control the position of the monitored target; the second structured light camera 120 is communicatively connected to the control device 130 to collect second contour data at a second viewing angle of the second structured light camera 120 during radiotherapy, and send the second contour data to the control device 130, the first viewing angle and the second viewing angle being different viewing angles, and the second contour data including: the monitored target on the patient support device 210 located at the second position in the radiotherapy equipment (the monitored target has entered the treatment space of the radiotherapy equipment); the control device 130 is further used to receive the second contour data and monitor the monitored target during radiotherapy based on the second contour data.

[0037] The first structured light camera 110 and the second structured light camera 120 can both be a point cloud camera (also known as a three-dimensional camera), in which a built-in projection device (e.g., a spot projector) emits structured light (e.g., dot spots, stripe spots, etc.). After the structured light is projected onto the surface of the target to be monitored, the reflected structured light is collected by the acquisition device inside the camera (e.g., a lens) to obtain contour data corresponding to the target to be monitored. The contour data includes multiple contour point data that constitute the contour of the target to be monitored. Based on the contour data, information such as the position and depth of the target to be monitored can be determined, and then the three-dimensional contour of the target to be monitored in the entire three-dimensional space can be restored.

[0038] After the first structured light camera 110 and the second structured light camera 120 obtain the patient's body surface contour information, the body surface contour information can be sent to the control device 130, so that the control device 130 can obtain the offset of the target to be controlled based on the above-mentioned body surface contour information and the body surface contour of the preset CT (Computed Tomography) imaging data.

[0039] Optionally, the control device 130 may be any type of computer device, such as a server, a computer, a mobile phone, a tablet computer, a dedicated electronic device, etc., which is not limited here.

[0040] Optionally, the radiotherapy equipment can be a device for performing radiotherapy, which can be connected to a control device to control the operation of the radiotherapy equipment. The control device can be the above-mentioned control device 130 or other controller that is communicatively connected to the control device 130. No specific restrictions are made here.

[0041] Optionally, the radiotherapy equipment may include: a patient support device 210 and a non-open rack 220, wherein the patient support device 210 may be a support bed or a support chair for carrying a target to be monitored, and the patient support device 210 may be connected to the control device to move relative to the non-open rack 220 under the control of the control device; the non-open rack 220 may be any semi-closed shape, such as a hemispherical or annular drum rack, but is not limited thereto, and the patient may undergo radiotherapy treatment in the non-open rack 220. During radiotherapy treatment, a part of the patient support device 210 may be moved into the non-open rack 220 for radiotherapy treatment; when not undergoing radiotherapy treatment, the patient support device 210 may be disposed outside the non-open rack.

[0042] Optionally, the first structured light camera 110 can collect first contour data of the target to be monitored, and the first contour data may be contour data obtained when the target to be monitored is in a first state, wherein the target to be monitored may be a patient, and the first state may be a state when the target to be monitored is on the patient support device 210 and the patient support device 210 is in the above-mentioned first position. In this state, the patient has not yet started radiotherapy treatment and needs to be positioned by the first structured light camera 110.

[0043] Optionally, the first position may be a position where the patient support device 210 is entirely outside the radiotherapy equipment, and the first viewing angle is a viewing angle at which the contour data at the first position can be acquired.

[0044] Optionally, the second structured light camera 120 can collect second contour data of the target to be monitored, and the second contour data may be contour data obtained when the target to be monitored is in a second state, wherein the second state may be a state when the target to be monitored is on the patient support device 210 and the patient support device 210 is in the above-mentioned second position. In this state, the patient has started radiotherapy treatment and needs to be monitored in real time by the second structured light camera 120.

[0045] Optionally, the second position can be the position of a portion of the patient support device in the non-open rack space of the radiotherapy equipment during the radiotherapy stage after the patient support device is positioned and controlled. The second viewing angle is the viewing angle at which the contour data at the second position can be obtained.

[0046] The following is a detailed explanation of the workflow of the radiotherapy monitoring system involved in the embodiment of this application:

[0047] (1) Positioning control stage

[0048] In this stage, the control device controls the first structured light camera to work, the patient support device is located at the above-mentioned first position, and the object to be monitored is located on the patient support device.

[0049] The control device acquires first contour data of a target to be monitored using a first structured light camera, and acquires reference outer contour data of the target using a preset reference image, compares the first contour data with the reference outer contour data, and obtains an offset of the target. The control device may transmit the offset to the control device (if the control device is the control device, this need not be transmitted and the control device directly controls the patient support device of the radiotherapy device), and control the movement of the patient support device to ensure that the offset between the contour data of the target and the reference contour data is within a preset range (the preset range may be, for example, within 0.1 mm), thereby positioning the target point to be radiotreated (the target point) of the target to be monitored at the virtual isocenter of the entire radiotherapy device. When the relative offset between the position of the patient support device and the virtual isocenter is within a preset threshold range, the positioning movement is terminated, and the patient support device is controlled to move to the actual isocenter according to the preset mapping relationship between the virtual isocenter and the actual isocenter. During this process, the relative position of the target to be monitored and the patient support device remains unchanged.

[0050] Among them, the virtual isocenter can be a point located outside the non-open gantry. The virtual isocenter is only used for the calculation of the actual isocenter and has no actual physical meaning. The actual isocenter can be a center point located inside the non-open gantry. Due to the small space and limited angles in the non-open gantry, it is impossible to accurately monitor whether the position has been reached. Therefore, the preset position relationship between the preset virtual isocenter and the actual isocenter can be used to move the radiotherapy position of the monitored target to the actual isocenter.

[0051] The position to be radiotherapy may be the position where the monitored target needs to be radiotherapy treated, for example, it may be a target point on the patient's head. There is no specific limitation here and it can be set according to actual needs.

[0052] Optionally, in the positioning control stage, before the first structured light camera works, the CT information of the patient's treatment plan (usually information provided by the user or obtained through CT-related equipment) can be loaded first, and then the patient's body surface outlined based on the CT information can be used as the template to be aligned, that is, the preset template contour data in the embodiment of the present application. During the operation of the first structured light camera, the patient's body surface information (including 6 body surface data: position deviation in three-dimensional direction and angular deviation in three-dimensional direction) can be collected in real time. During the adjustment process, the angle accuracy of the first structured light camera and the displacement accuracy of the patient support device should meet the preset conditions, for example: the angle accuracy is less than or equal to 0.1°; the displacement accuracy is less than or equal to 0.5mm.

[0053] (2) Radiotherapy monitoring stage

[0054] During this stage, the control device controls the operation of the second structured light camera. A portion of the patient support device in the radiotherapy equipment is located in a non-open frame. The patient support device is located at the above-mentioned second position (that is, the position of the actual isocenter mentioned above), and the target to be monitored is on the patient support device.

[0055] The control device can obtain reference outer contour data of the target through a preset reference image, compare the second contour data with the reference outer contour data, and obtain the offset of the target.

[0056] The control device can obtain the second contour data of the target to be monitored through the second structured light camera, and based on the second contour data, calculate whether the current actual offset of the second contour data of the target to be monitored relative to the reference contour data (reference contour data generated according to the alignment template) exceeds the preset offset threshold. If it does not exceed the offset threshold, it can be determined that the target to be monitored continues to receive radiotherapy treatment; conversely, if it exceeds the offset threshold, the radiotherapy treatment of the target to be monitored can be terminated or paused, and the patient support device will be moved or the treatment plan will be modified according to the current actual offset.

[0057] Optionally, during the radiotherapy monitoring stage, the surface information obtained from the final positioning result (including the monitored area of ​​the target to be monitored, such as the face) can be used as a registration template during monitoring, or the aforementioned preset template contour data can continue to be used as the registration template. During the radiotherapy monitoring process, the patient will wear a facial mask. In order to improve the registration accuracy, after the second structured light camera starts working, it can collect point cloud data in real time, and determine the point cloud area to be registered based on the point cloud data (the monitored area consistent with the configuration template is used as the point cloud area to be registered) as the second contour data. The second contour data can be compared with the preset template contour data in real time, and the real-time collected patient surface information can be sent to the control device to guide the radiotherapy through surface imaging according to the registration results.

[0058] An embodiment of the present application provides a radiotherapy monitoring system, which includes: a first structured light camera, a second structured light camera, and a control device; the first structured light camera is communicatively connected to the control device, and is used to collect first contour data at a first viewing angle of the first structured light camera before radiotherapy, and send the first contour data to the control device, the first contour data including: a target to be monitored on a patient support device located at a first position in the radiotherapy device; the control device is communicatively connected to the radiotherapy device, and is used to receive the first contour data and perform positioning control on the target to be monitored based on the first contour data; the second structured light camera is communicatively connected to the control device, and is used to collect second contour data at a second viewing angle of the second structured light camera during radiotherapy, and send the second contour data to the control device, the first viewing angle and the second viewing angle being different viewing angles, and the second contour data including: a target to be monitored on a patient support device located at a second position in the radiotherapy device; the control device is further used to receive the second contour data and monitor the target to be monitored during radiotherapy based on the second contour data. Among them, the first contour data obtained by the first structured light camera can realize the position control of the monitored target, and can more accurately realize the position movement of the monitored target; in addition, the second contour data obtained by the second structured light camera can be used to monitor the radiotherapy treatment of the monitored target after the position control, and can more accurately obtain the posture information of the monitored target and determine whether the monitored target has moved during the treatment process, thereby improving the safety of the system.

[0059] Optionally, Figure 1 The positions of the various structural settings in the system shown may be the positions before the positioning control is performed. After the positioning control is performed, the monitored target is moved to the second position, and some positions are changed.

[0060] The following explains another positional relationship and connection relationship of each structure in the radiotherapy monitoring system provided in the embodiment of the present application.

[0061] Figure 2 Schematic diagram of the structure of the radiotherapy monitoring system provided in the embodiment of the present application Figure 2 , please refer to Figure 2 , Figure 2 The positional relationship shown is the positional relationship within the radiotherapy monitoring system during the radiotherapy monitoring process.

[0062] Optionally, there are at least two first structured light cameras 110, which are respectively arranged at first preset positions outside the radiotherapy equipment. When the at least two first structured light cameras 110 collect contour data at the first preset positions, the target to be monitored before radiotherapy is within the field of view of the at least two first structured light cameras 110.

[0063] Optionally, there are two first structured light cameras 110 , which are respectively located on both sides of the patient support device 210 .

[0064] Optionally, in the actual positioning monitoring process, in order to more accurately monitor the monitored target, multiple first structured light cameras can be set up. For example, two can be set up, located on the ceiling on both sides of the patient support device, on the support frames on both sides of the ground, or other locations where contour information can be obtained. There is no restriction here, as long as it can achieve contour data that meets the preset conditions at the first preset position.

[0065] Optionally, the second structured light camera 120 is set at a second preset position. When the second structured light camera 120 collects contour data at the second preset position, the target to be monitored during the radiotherapy process is within the field of view of the second structured light camera.

[0066] Optionally, the second preset position is a preset position on the patient support device or a preset position on the housing of the radiotherapy equipment.

[0067] Optionally, if the second structured light camera 120 is provided on a patient support device, it can be provided at the tail of the patient support device and facing the direction of the non-open rack to obtain contour data (the target to be monitored is in the non-open rack when the second structured light camera is working); if it is on the shell of the non-open rack, it can be fixed to the inside of the cabin of the non-open rack by a hanger or the like to obtain contour data, or it can also be provided at the rear of the inside of the non-open rack to obtain contour data.

[0068] Optionally, the first structured light camera includes: a first structured light camera body and a first camera bracket connected to the first structured light camera body, and / or the second structured light camera includes: a second structured light camera body and a second camera bracket connected to the second structured light camera body.

[0069] Optionally, the first camera bracket and the second camera bracket can be set on the ground, on the patient support device or at any position within the preset range of the scene, as long as the normal acquisition of the second contour data can be achieved, and no specific limitation is made here.

[0070] Optionally, the first camera bracket and / or the second camera bracket may be a retractable bracket.

[0071] Optionally, the working status of the radiotherapy equipment includes: running state and suspended state; the control device is specifically used to determine whether the radiotherapy equipment in the running state meets the preset conditions based on the second contour data. If not, the radiotherapy equipment is controlled to enter the suspended state. The preset condition is that the alignment result of the second contour data and the preset template contour data is greater than the preset alignment result.

[0072] Optionally, the radiotherapy device can be directly controlled by the control device by being connected to the control device, or indirectly controlled by the control device by being connected to the aforementioned control device. The control device can perform monitoring calculations based on the second contour data to calculate whether the second contour data of the current monitored target exceeds an offset threshold relative to the reference contour data. If the offset threshold is not exceeded relative to the reference contour data, it can be determined that the monitored target can continue radiotherapy treatment. Conversely, if the offset threshold is exceeded, it can be determined that a positional deviation has occurred on the monitored target, and continuing treatment may be dangerous. In this case, the radiotherapy treatment can be terminated, and the patient support device can be moved according to the current actual offset.

[0073] Optionally, the viewing angle of the first structured light camera body and / or the second structured light camera body is adjustable.

[0074] Optionally, the viewing angle may be manually adjusted, or the viewing angle may be adjusted by providing a motor or other device in the first structured light camera and / or the second structured light camera to realize rotation control.

[0075] Optionally, the radiotherapy monitoring system also includes a signal generating device 300; the signal generating device 300 can be respectively communicated with the first structured light camera 110, the second structured light camera 120 and the control device 130; the control device 130 is also used to send signal control instructions to the signal generating device 300; the signal generating device 300 is used to control the first structured light camera 110 and the second structured light camera 120 to work synchronously according to the signal control instructions.

[0076] Optionally, the control device may send control instructions to the multiple structured light cameras via the signal generating device, and the signal generating device may perform synchronization processing based on the control instructions for each structured light camera to enable the first structured light camera and the second structured light camera to operate synchronously.

[0077] Optionally, when there are multiple first structured light cameras, for example two, the two first structured light cameras can be synchronized through a signal generating device, so that two sets of first contour data can be obtained more accurately and synchronously, and then the overall contour can be determined more accurately based on the two sets of first contour data at the synchronized time, and accordingly the positioning control can be performed more accurately.

[0078] Optionally, before the entire system starts working, each camera can be calibrated for isocentric coordinate system conversion. During calibration, AX=B, and then matrix A can be obtained. Structured light cameras at different positions can use matrix A to convert their own coordinate system X into isocentric coordinate system B.

[0079] The overall structural relationship of the radiotherapy system provided in the embodiments of the present application is explained in detail below.

[0080] Figure 3 For a schematic diagram of the structure of the radiotherapy system provided in the embodiment of the present application, please refer to Figure 3 The radiotherapy system includes: a radiotherapy monitoring system 100 and a radiotherapy device 200 , and the radiotherapy device 200 is communicatively connected to the control device 130 in the radiotherapy monitoring system 100 .

[0081] Figure 4 For a schematic diagram of the structure of the radiotherapy device provided in this embodiment, please refer to Figure 4 The radiotherapy device 200 includes: a non-open frame 220 and a patient support device 210; the control device 130 is communicatively connected to the patient support device 210.

[0082] Optionally, the target operating position is the position of the virtual isocenter. Position control is the process of moving the patient support device from the initial position to the virtual isocenter.

[0083] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited to them. Any changes or substitutions that can be easily conceived by any person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0084] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A radiotherapy monitoring system, characterized in that: The system includes: a first structured light camera, a second structured light camera, and a control device; The first structured light camera is communicatively connected to the control device, and is configured to collect first contour data at a first viewing angle of the first structured light camera before radiotherapy, and transmit the first contour data to the control device, wherein the first contour data includes: a target to be monitored on a patient support device located at a first position in the radiotherapy device; the control device is communicatively connected to the radiotherapy device, and is configured to receive the first contour data and perform positioning control on the target to be monitored based on the first contour data, wherein the first position is a position of the patient support device when the entire device is outside the radiotherapy device; The second structured light camera is communicatively connected to the control device to collect second contour data at a second viewing angle of the second structured light camera during radiotherapy and send the second contour data to the control device, wherein the first viewing angle and the second viewing angle are different viewing angles, and the second contour data includes: a target to be monitored on a patient support device located at a second position in the radiotherapy equipment; the control device is further configured to receive the second contour data and monitor the target to be monitored during radiotherapy based on the second contour data, wherein the second position is a position when a portion of the patient support device is located within a non-open rack space of the radiotherapy equipment.

2. The system according to claim 1, wherein There are at least two first structured light cameras, which are respectively arranged at first preset positions outside the radiotherapy equipment. When the at least two first structured light cameras collect contour data at the first preset positions, the target to be monitored before radiotherapy is within the field of view of the at least two first structured light cameras.

3. The system according to claim 2, wherein: There are two first structured light cameras, one located on each side of the patient support device.

4. The system according to claim 1, wherein The second structured light camera is set at a second preset position. When the second structured light camera collects contour data at the second preset position, the target to be monitored during the radiotherapy process is within the field of view of the second structured light camera.

5. The system according to claim 4, wherein: The second preset position is a preset position on the patient support device or a preset position on the housing of the radiotherapy equipment.

6. The system according to claim 1, wherein: The first structured light camera includes: a first structured light camera body and a first camera bracket connected to the first structured light camera body, and / or the second structured light camera includes: a second structured light camera body and a second camera bracket connected to the second structured light camera body.

7. The system according to claim 6, wherein: The first camera bracket and / or the second camera bracket are retractable brackets.

8. The system according to claim 6, wherein: The viewing angle of the first structured light camera body and / or the second structured light camera body is adjustable.

9. The system according to claim 1, wherein: The system further includes a signal generating device; the signal generating device is communicatively connected to the first structured light camera, the second structured light camera, and the control device respectively; The control device is further configured to send a signal control instruction to the signal generating device; The signal generating device is used to control the operation of the first structured light camera or the second structured light camera according to the signal control instruction.

10. A radiotherapy system, characterized in that: The radiotherapy system includes: the radiotherapy monitoring system according to any one of claims 1 to 9 and radiotherapy equipment, and the radiotherapy equipment is communicatively connected to the control equipment in the radiotherapy monitoring system.

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