A rack motion control method, a computer device and a storage medium

Abstract

The application discloses a gantry motion control method, a computer device and a storage medium. The gantry motion control method comprises the following steps: acquiring a control point list, wherein the control point list comprises at least two control points with a known execution sequence and gantry motion speeds corresponding to the at least two control points; and sequentially processing the at least two control points based on the gantry motion speeds corresponding to the at least two control points according to the execution sequence, so as to minimize the number of control points included in the control point list. The gantry motion control method provided by the application can minimize the number of control points included in the control point list by processing the control points based on the gantry motion speeds corresponding to the control points, so as to reduce the number of control point switches in the process of executing a treatment plan, improve the stability of gantry motion and the accuracy of gantry motion control, and further improve the accuracy of radiotherapy.

Description

Technical Field

[0001] This application relates to the field of radiotherapy technology, specifically to a gantry motion control method, computer equipment, and storage medium. Background Technology

[0002] Radiation therapy is a common way to treat tumors, which uses high-energy rays generated by radiation therapy equipment to kill tumor lesions.

[0003] Typically, when performing radiotherapy on a patient's tumor, a radiotherapy plan is first developed based on the condition of the tumor. Then, the radiation equipment applies the desired radiation dose to the patient's tumor according to the treatment plan to achieve the treatment of the tumor.

[0004] Generally, a radiotherapy plan consists of treatment plan data for multiple radiation fields. The treatment plan data for each radiation field includes treatment plan data for multiple control points. When controlling the radiation equipment to execute the treatment plan, the radiation equipment is controlled to execute the treatment plan data for each control point in sequence according to the execution order of the multiple control points.

[0005] In related technologies, during the process of controlling radiation equipment to execute a treatment plan, the movement of the gantry needs to go through a process of deceleration-acceleration-uniform speed when switching control points. Since the gantry itself is relatively bulky, it will shake during this movement, resulting in poor gantry movement stability, reduced gantry control accuracy, and thus affecting the accuracy of radiotherapy. Summary of the Invention

[0006] This application provides a rack motion control method, computer equipment, and storage medium, which can improve the stability and accuracy of rack motion control, thereby improving the accuracy of radiotherapy.

[0007] On one hand, this application provides a rack motion control method, the method comprising:

[0008] Obtain a control point list, which includes at least two control points with a known execution order and the rack movement speed corresponding to the at least two control points; according to the execution order, process the at least two control points sequentially based on the rack movement speed corresponding to the at least two control points to minimize the number of control points included in the control point list.

[0009] In some embodiments of this application,

[0010] The step of processing the at least two control points sequentially based on the rack movement speed corresponding to the at least two control points according to the execution order includes:

[0011] The current control point is determined as the first control point, the current control point is saved, and the current control point is updated according to the execution order.

[0012] Determine the updated current control point as the last control point and save the updated current control point;

[0013] If the updated current control point is determined to be neither the last control point nor the first control point, the updated current control point is processed based on the rack movement speed corresponding to the previous control point.

[0014] In some embodiments of this application, processing the updated current control point based on the rack movement speed corresponding to the updated current control point and the previous control point includes:

[0015] If the updated current control point is determined to be different from the rack movement speed corresponding to the previous control point, the updated current control point is saved, and the updated current control point is updated according to the execution order.

[0016] Determine that the updated current control point has the same rack movement speed as the previous control point, and update the updated current control point according to the execution order;

[0017] The movement distance of the frame from the first control point to the last control point is less than 360 degrees.

[0018] In some embodiments of this application, the step of processing the at least two control points sequentially based on the rack movement speed corresponding to the at least two control points according to the execution order includes:

[0019] Obtain the rack travel change corresponding to the current control point, where the rack travel change corresponding to the current control point is the travel distance of the rack from the current control point position to the next control point position;

[0020] The current control point is determined as the first control point. The current control point and the rack travel change corresponding to the current control point are saved, and the current control point is updated according to the execution order.

[0021] Determine the updated current control point as the last control point and save the updated current control point;

[0022] Determine that the updated current control point is not the last control point, and obtain the rack travel change corresponding to the updated current control point;

[0023] If it is determined that the updated current control point is not the first control point, the updated current control point is processed based on the rack movement speed corresponding to the updated current control point and the rack travel change corresponding to the updated current control point and the previous control point.

[0024] In some embodiments of this application, processing the updated current control point based on the rack movement speed corresponding to the updated current control point and the rack travel change corresponding to the updated current control point and the previous control point includes:

[0025] If it is determined that the updated current control point has the same rack movement speed as the previous control point, and the sum of the rack travel changes of the updated current control point and the previous control point is less than a preset value, the rack travel change of the updated current control point is updated to the sum of the rack travel changes of the updated current control point and the previous control point, and the updated current control point is updated according to the execution order.

[0026] If the updated current control point is determined to have a different rack movement speed than the previous control point, or if the sum of the rack travel changes of the updated current control point and the previous control point is greater than or equal to a preset value, the updated current control point and the rack travel change of the updated current control point are saved, and the updated current control point is updated according to the execution order; wherein the preset value is less than 360 degrees.

[0027] In some embodiments of this application, after determining that the updated current control point is the last control point and saving the updated current control point, the method further includes: updating the control point list.

[0028] In some embodiments of this application, the method further includes: controlling the rack movement according to the updated list of control points.

[0029] In some embodiments of this application, controlling the rack movement according to the updated control point list includes:

[0030] When the rack reaches the preset position corresponding to the current target control point, the next target control point position data is sent out, wherein the preset position corresponding to the current target control point is located before the current target control point position.

[0031] On the other hand, this application also provides a computer device, the computer device comprising: one or more processors; a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the rack motion control method described in any one of the first aspects.

[0032] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the steps of the rack motion control method according to any one of the first aspects.

[0033] The gantry motion control method provided in this application minimizes the number of control points in the control point list by processing the control points based on the gantry motion speed corresponding to the control points. This reduces the number of control point switching times during the execution of the treatment plan, improves the stability and accuracy of gantry motion control, and thus improves the accuracy of radiotherapy. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of a radiation device provided in an embodiment of this application;

[0036] Figure 2 This is a schematic flowchart of an embodiment of the rack motion control method provided in this application.

[0037] Figure 3 This is a schematic flowchart of an embodiment of the method for processing control points based on the rack movement speed corresponding to the control points provided in this application.

[0038] Figure 4 This is a schematic flowchart of another embodiment of the method for processing control points based on the rack movement speed corresponding to the control points provided in this application.

[0039] Figure 5 This is a schematic diagram of an embodiment of the computer device provided in this application. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," or "third" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0043] It should be noted that since the method in this application embodiment is executed in a computer device, the processing objects of each computer device exist in the form of data or information, such as time, which is essentially time information. It is understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, they are all corresponding data that exist so that the computer device can process them. Specific details will not be elaborated here.

[0044] This application provides a gantry motion control method, computer equipment, and storage medium. The gantry motion control method involves minimizing the number of control points included in the control point list to reduce the number of control point switching during the execution of a treatment plan, thereby improving the stability and accuracy of gantry motion control and ultimately enhancing the precision of radiotherapy.

[0045] Figure 1 An exemplary radiation device 100 is shown, comprising: a radiation delivery device 110, a master control system 120, a slave control system 130, a treatment planning system (TPS) 140, and a memory 150. In some embodiments, the radiation delivery device 110, the master control system 120, the slave control system 130, the treatment planning system 140, and the memory 150 may be connected to and / or communicate with each other via wireless connections (e.g., network connections), wired connections, or combinations thereof.

[0046] In some embodiments, the radiation delivery device 110 may be a device for delivering radiation therapy. The radiation delivery device 110 may include a radiation source 111, a rotating gantry 112, and a treatment bed 113.

[0047] Radiation source 111 is capable of generating or emitting a radiation beam 114. Radiation source 111 may include a linear accelerator or a treatment head loaded with a radioactive isotope source (e.g., a cobalt-60 radioactive source). The number of radiation sources 111 may be one or more, such as two.

[0048] The rotating frame 112 is used to support the radiation source 111 and can drive the radiation source 111 to rotate around the rotation axis 115. The rotation axis 115 and the central axis of the radiation beam 114 intersect at the center point 115.

[0049] Treatment bed 113 is used to carry patient P, and treatment bed 113 can be used in three orthogonal directions (in Figure 1 The treatment bed 113 can translate in one or more of the X, Y, and Z axes. In some embodiments, the treatment bed 113 can also rotate about any one or more of the X, Y, and Z axes.

[0050] The position of the radiation source 111 relative to the patient and the orientation of the radiation beam 114 relative to the patient can be achieved by controlling the movement of the rotating gantry 112 and / or the treatment bed 113.

[0051] In some embodiments, the radiation delivery apparatus 110 may further include an image guidance device 116 configured to provide medical images for identifying at least a portion of the patient (e.g., a region of interest) to guide the delivery of radiotherapy. In some embodiments, the image guidance device 116 may be, for example, a CT scanner, a cone-beam CT scanner, a PET scanner, a volumetric CT scanner, an MRI scanner, or a combination thereof.

[0052] In some embodiments, the main control system 120 can be used to generate control commands for one or more components of the radiotherapy device 100 (e.g., the slave control system 130, the treatment planning system 140, and the memory 150). For example, the main control system 120 can send a list of control points to the slave control system 130 to control the radiation delivery device 110 to initiate the treatment process. Alternatively, the main control system 120 can send commands to the treatment planning system 140 and retrieve the treatment plan. In some embodiments, the commands can be input by a user (e.g., a physician) via the user interface of the main control system 120.

[0053] In some embodiments, the slave control system 130 can be used to control the radiation delivery device 110 to perform corresponding actions in response to control commands generated by the master control system 120. For example, the slave control system 130 can control the movement of the treatment bed 113 of the radiation delivery device 110 to complete the positioning according to the positioning command issued by the master control system 120. As another example, the slave control system 130 can control the movement of the rotating frame 112 of the radiation delivery device 110 to achieve radiation delivery according to the radiation delivery command issued by the master control system 120.

[0054] In some embodiments, the treatment planning system 140 is configured to determine a treatment plan based on a patient's planning image (an image acquired by the patient using an imaging device prior to treatment) and / or based on at least a portion of an object (e.g., a tumor) represented in an image acquired by the image guidance device 116.

[0055] In some embodiments, both the main control system 120 and the treatment planning system 140 can be computer devices with a graphical user interface (GUI), which include one or more processors, memory, and one or more applications.

[0056] In some embodiments, the main control system 120 and the treatment planning system 140 can be independent servers, or they can be a server network or server cluster, such as the computer equipment described in the embodiments of this application, which includes, but is not limited to, computers, network hosts, single network servers, multiple network server sets, or cloud servers composed of multiple servers. The cloud server is composed of a large number of computers or network servers based on cloud computing.

[0057] In some embodiments, the main control system 120 and the treatment planning system 140 can be a general-purpose computer device or a dedicated computer device. In specific implementations, the computer device can be a desktop computer, a portable computer, a web server, a PDA (Personal Digital Assistant), a mobile phone, a tablet computer, a wireless terminal device, a communication device, an embedded device, etc. This embodiment does not limit the type of computer device.

[0058] In some embodiments, the control system 130 may be a computer device, which may include a processor, storage devices, and one or more application programs, input / output (I / O) and communication ports. The processor 310 may include a microcontroller, microprocessor, reduced instruction set computer (RISC), application-specific integrated circuit (ASIC), application-specific instruction set processor (ASIP), central processing unit (CPU), graphics processing unit (GPU), physical processor (PPU), microcontroller, digital signal processor (DSP), field-programmable gate array (FPGA), advanced reduced instruction set system (ARM), programmable logic device (PLD), any circuit or processor capable of performing at least one function, or any combination thereof.

[0059] In this embodiment, when performing radiotherapy, the radiation device 100 obtains a treatment plan for the patient's tumor treatment from the treatment planning system 130 by the main control system 120, and sends the obtained treatment plan and control instructions to the control system 130. The control system 130 then controls the radiation delivery device 110 to deliver radiotherapy to the patient's tumor according to the treatment plan information and control instructions.

[0060] In some embodiments, the radiation device 100 may also include one or more other computer devices capable of processing data. For example, an Oncology Information System (OIS) configured to schedule patient treatment plans and store treatment data (e.g., patient image data, treatment plan data, radiation delivery information, etc.).

[0061] Memory 150 may store data, instructions, and / or any other information. In some embodiments, memory 150 may store data obtained from treatment planning system 140. In some embodiments, memory 150 may store data and / or instructions used by main control system 120 to perform the exemplary methods described in this application. In some embodiments, memory 150 may include mass storage, removable storage, volatile read-write storage, read-only storage (ROM), etc., or any combination thereof. Exemplary mass storage may include disks, optical disks, solid-state drives, etc. Exemplary removable storage may include flash drives, floppy disks, optical disks, memory cards, compact disks, magnetic tapes, etc. Exemplary volatile read-write storage may include random access memory (RAM). Exemplary RAM may include dynamic random access memory (DRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), static random access memory (SRAM), thyristor random access memory (T-RAM), and zero-capacitance random access memory (Z-RAM), etc. Exemplary ROMs may include mask ROMs (MROMs), programmable ROMs (PROMs), erasable programmable ROMs (EPROMs), electrically erasable programmable ROMs (EEPROMs), optical disc ROMs (CD-ROMs), and digital multifunction disk ROMs, etc. In some embodiments, the memory 150 may be implemented on a cloud platform. By way of example only, a cloud platform may include private clouds, public clouds, hybrid clouds, community clouds, distributed clouds, internal clouds, multi-tiered clouds, etc., or any combination thereof.

[0062] In some embodiments, the memory 150 may be connected to a network to communicate with one or more other components of the radiation device 100 (e.g., the main control system 120, the treatment planning system 140, the tumor information management system). One or more components of the radiation device 100 may access data or instructions stored in the memory 150 via the network. In some embodiments, the memory 150 may be directly connected to or communicate with one or more other components of the radiation device 100 (e.g., the main control system 120, the treatment planning system 140, the tumor information management system). In some embodiments, the memory 150 may be part of the main control system 120, the treatment planning system 140, or the tumor information management system.

[0063] It should be noted that, Figure 1 The schematic diagram of the radiation equipment shown is merely an example. The radiation equipment and scenarios described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of radiation equipment and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0064] First, this application provides a rack motion control method, wherein the execution subject of the rack motion control method is a processor in a computer device, and the rack motion control method includes:

[0065] Obtain a list of control points, which includes at least two control points with a known execution order; process at least two control points according to the execution order to minimize the number of control points included in the control point list.

[0066] The gantry motion control method provided in this application minimizes the number of control points in the control point list, thereby reducing the number of control point switching during the execution of the treatment plan, improving the stability and accuracy of gantry motion control, and ultimately improving the accuracy of radiotherapy.

[0067] Figure 2 This is a flowchart illustrating one embodiment of the rack motion control method provided in this application, as shown below. Figure 2 As shown, the frame motion control method includes the following steps S210 to S220, as detailed below:

[0068] S210. Obtain a list of control points, which includes at least two control points with a known execution order and the rack movement speeds corresponding to the at least two control points.

[0069] The processor in the computer device acquires a list of control points, which includes at least two control points with a known execution order and the rack movement speeds corresponding to the at least two control points.

[0070] In some embodiments, the processor in the computer device obtains the list of control points from the main control system of the radiation device.

[0071] In some embodiments, the execution order of the at least two control points is determined before the processor in the computer device acquires the list of control points. This execution order can be determined by the main control system of the radiation device or by the treatment planning system of the radiation device.

[0072] S220. Based on the execution order, process at least two control points sequentially according to the rack movement speed corresponding to at least two control points, so as to minimize the number of control points included in the control point list.

[0073] After obtaining the list of control points, the processor of the computer device processes at least two control points sequentially based on the execution order of at least two control points and the rack movement speed corresponding to the at least two control points, so as to minimize the number of control points included in the list of control points.

[0074] In the embodiments of this application, "minimizing the number of control points included in the control point list" means, where possible, minimizing the number of control points included in the control point list. Therefore, the result of minimization may include: a reduction in the number of control points or no change in the number of control points.

[0075] The gantry motion control method provided in this application minimizes the number of control points in the control point list by processing the control points based on the gantry motion speed corresponding to the control points. This reduces the number of control point switching times during the execution of the treatment plan, improves the stability and accuracy of gantry motion control, and thus improves the accuracy of radiotherapy.

[0076] Figure 3 This is a flowchart illustrating an embodiment of a method for processing control points based on the rack movement speed corresponding to the control points, in order to minimize the number of control points included in the control point list, as provided in this application. This processing method is applied to a processor in a computer device.

[0077] like Figure 3 As shown, based on the rack movement speed corresponding to at least two control points, at least two control points are processed sequentially according to the execution order, including the following steps:

[0078] S311: Load the current control point.

[0079] The processor of the computer device loads the current control point according to the execution order of the control points. After the loading of the current control point is completed, it proceeds to step S312.

[0080] S312: Determine whether the current control point is the first control point.

[0081] After the computer device's processor completes the loading of the current control point, it determines whether the current control point is the first control point.

[0082] When the current control point is determined to be the first control point, save the current control point and proceed to step S314.

[0083] When it is determined that the current control point is not the first control point, proceed to step S313.

[0084] S313: Process the current control point based on the rack movement speed corresponding to the current control point and the previous control point.

[0085] When the processor of a computer device determines that the current control point is neither the first nor the last control point, it processes the current control point based on the rack movement speed corresponding to the previous control point.

[0086] In some embodiments, the current control point is processed based on the rack movement speed corresponding to the previous control point, including the following steps:

[0087] S3131: Determine whether the frame movement speed corresponding to the current control point is the same as that of the previous control point.

[0088] After determining that the current control point is not the first control point, the processor of the computer device makes a judgment on whether the rack movement speed corresponding to the current control point is the same as that of the previous control point.

[0089] When it is determined that the current control point has the same rack movement speed as the previous control point, proceed to step S314.

[0090] When it is determined that the current control point is different from the rack movement speed corresponding to the previous control point, the current control point is saved and the process proceeds to step S314.

[0091] S314: Update the current control point;

[0092] After the processor of the computer device saves the current control point or determines that the current control point has the same rack movement speed as the previous control point, it updates the current control point and proceeds to step S315.

[0093] S315: Determine whether the updated current control point is the last control point.

[0094] After updating the current control point, the processor of the computer device determines whether the updated current control point is the last control point.

[0095] If it is determined that the updated current control point is not the last control point, proceed to step S311.

[0096] When the updated current control point is determined to be the last control point, the updated current control point is saved, and the processing flow ends.

[0097] In some embodiments, the rack motion control method provided in this application, after determining that the updated current control point is the last control point and saving the updated current control point, further includes: updating the control point list so that the processor of the computer device can control the rack motion according to the updated control point list.

[0098] The updated list of control points includes all control points saved during the execution of the rack motion control method described above by the processor of the computer device.

[0099] In this embodiment, in step S313, when it is determined that the current control point has the same gantry movement speed as the previous control point, the current control point is updated, and the next control point is processed. That is, in the gantry movement control method provided in this application embodiment, for a control point located between the first and last control points, by comparing its gantry movement speed with that of the previous control point, if its gantry movement speed is the same as that of the previous control point, the control point is deleted; if its gantry movement speed is different from that of the previous control point, the control point is retained. This minimizes the number of control points included in the control point list, thereby reducing the number of control point switching during the execution of the treatment plan, improving the stability of gantry movement and the accuracy of gantry movement control, and thus improving the accuracy of radiotherapy.

[0100] In radiotherapy, the position of control points is typically defined by the rotation angle of the gantry; that is, the control point position is taken within a semi-open / semi-closed interval of [0 degrees, 360 degrees]. Therefore, if the arc length of the radiation source planned by the treatment planning system is greater than 360 degrees, and its control point list contains multiple consecutive adjacent control points with the same gantry movement speed, the computer processor, if following... Figure 3 When the method shown processes the control points to obtain an updated list of control points, and controls the frame movement based on the updated list of control points, the phenomenon of missing loops may occur.

[0101] Taking a radiation source with an arc length of 450 degrees planned by the treatment planning system, and dividing the system into control points every 90 degrees as an example, the list of initial control points obtained is shown in Table 1:

[0102] Table 1

[0103] control point sequence 1 2 3 4 5 6 7 Control point location 0 degrees 90 degrees 180 degrees 270 degrees 0 degrees 90 degrees 180 degrees rack movement speed 3m / s 2m / s 2m / s 2m / s 2m / s 2m / s 0m / s

[0104] according to Figure 3 The method shown is used to process the control points in Table 1. The final saved control points are: the 1st control point, the 2nd control point, and the 7th control point. The updated list of control points is shown in Table 2.

[0105] Table 2

[0106] control point sequence 1 2 3 Control point location 0 degrees 90 degrees 180 degrees rack movement speed 3m / s 2m / s 0m / s

[0107] When the computer's processor controls the rack movement according to the control point list shown in Table 2, it starts the rack movement from the 0-degree position and stops at the 180-degree position. This only controls the radiation source to complete the 180-degree arc, missing the 270-degree arc length, causing a control error. The reason for this problem is that the computer's processor cannot know that the last control point in the updated control point list is located at the 180-degree position in the second rotation of the rack after one rotation.

[0108] Therefore, this application Figure 3 The illustrated embodiment is only applicable when the movement distance of the rack from the first control point position to the last control point position is less than 360 degrees, i.e., this application. Figure 3 The illustrated embodiment is only applicable to treatment plans with an arc length of less than 360 degrees.

[0109] Figure 4 This is a flowchart illustrating another embodiment of the method provided in this application, which processes control points based on the rack movement speed corresponding to the control points to minimize the number of control points included in the control point list. This processing method is applied to a processor in a computer device and is suitable for situations where the rack's movement distance from the first control point position to the last control point position exceeds 360 degrees.

[0110] like Figure 4 As shown, based on the rack movement speed corresponding to at least two control points, at least two control points are processed sequentially according to the execution order, including the following steps:

[0111] S411: Load the current control point.

[0112] The processor of the computer device loads the current control point according to the execution order of the control points. After the loading of the current control point is completed, it proceeds to step S412.

[0113] S412: Obtain the rack travel change corresponding to the current control point.

[0114] After the processor of the computer equipment completes the loading of the current control point, it obtains the rack travel change corresponding to the current control point. The rack travel change corresponding to the current control point is the travel distance of the rack from the current control point position to the next control point position.

[0115] After the processor of the computer equipment completes the acquisition of the rack travel change corresponding to the current control point, it proceeds to step S413.

[0116] S413: Determine whether the current control point is the first control point.

[0117] After the processor of the computer equipment completes the acquisition of the rack travel change corresponding to the current control point, it determines whether the current control point is the first control point.

[0118] When the current control point is determined to be the first control point, save the current control point and the corresponding rack travel change, and proceed to step S415.

[0119] If it is determined that the current control point is not the first control point, proceed to step S414.

[0120] S414: Process the current control point based on the rack movement speed corresponding to the current control point and the rack travel change corresponding to the previous control point.

[0121] When the processor of a computer device determines that the current control point is neither the first nor the last control point, it processes the current control point based on the rack movement speed corresponding to the previous control point and the rack travel change corresponding to the previous control point.

[0122] In some embodiments, the current control point is processed based on the rack movement speed corresponding to the current control point and the rack travel change corresponding to the previous control point, including the following steps:

[0123] S4141: Determine whether the rack movement speed corresponding to the current control point is the same as that of the previous control point.

[0124] After determining that the current control point is not the first control point, the processor of the computer device makes a judgment on whether the rack movement speed corresponding to the current control point is the same as that of the previous control point.

[0125] When it is determined that the current control point has the same rack movement speed as the previous control point, proceed to step S4142.

[0126] When it is determined that the rack movement speed corresponding to the current control point is different from that of the previous control point, the current control point and the rack travel change corresponding to the current control point are saved, and the process proceeds to step S415.

[0127] S4142: Determine whether the sum of the rack travel changes corresponding to the current control point and the previous control point is less than a preset value.

[0128] After determining that the rack movement speed corresponding to the current control point is the same as that corresponding to the previous control point, the processor of the computer equipment judges whether the sum of the rack stroke changes corresponding to the current control point and the previous control point is less than a preset value, so as to indicate the number of rack movement cycles.

[0129] The preset value is less than 360 degrees. Preferably, the preset value is a value less than 360 degrees that minimizes the number of control points included in the control point list, such as 358 degrees. In this embodiment, the preset value can be configured according to the allowable error range of the frame movement and the minimum accuracy of the control point position (e.g., 1 degree, 0.1 degree, or 0.01 degree).

[0130] When it is determined that the sum of the rack travel changes corresponding to the current control point and the previous control point is less than a preset value, proceed to step S4143.

[0131] When it is determined that the sum of the rack travel changes corresponding to the current control point and the previous control point is greater than or equal to a preset value, the current control point and the rack travel change corresponding to the current control point are saved, and the process proceeds to step S415.

[0132] S4143: Update the rack travel change corresponding to the current control point.

[0133] After determining that the sum of the rack travel changes corresponding to the current control point and the previous control point is less than a preset value, the processor of the computer equipment updates the rack travel change corresponding to the current control point and updates the rack travel change corresponding to the current control point to the sum of the rack travel changes corresponding to the current control point and the previous control point. After completing the update of the rack travel change corresponding to the current control point, the process proceeds to step S415.

[0134] S415: Update the current control point;

[0135] After the processor of the computer equipment has completed saving the current control point and the rack travel change corresponding to the current control point, or after completing updating the rack travel variable corresponding to the current control point, it updates the current control point and proceeds to step S416.

[0136] S416: Determine whether the updated current control point is the last control point.

[0137] After updating the current control point, the processor of the computer device determines whether the updated current control point is the last control point.

[0138] If it is determined that the updated current control point is not the last control point, proceed to step S411.

[0139] When the updated current control point is determined to be the last control point, the updated current control point is saved, and the processing flow ends.

[0140] In some embodiments, the rack motion control method provided in this application, after determining that the updated current control point is the last control point and saving the updated current control point, further includes: updating the control point list so that the processor of the computer device can control the rack motion according to the updated control point list.

[0141] The updated list of control points includes all control points saved during the execution of the rack motion control method described above by the processor of the computer device.

[0142] In this embodiment, the cumulative change in rack travel (i.e., the travel distance of the rack from the first control point to the next control point among multiple consecutive adjacent control points with the same speed) is compared with a preset value to identify the number of rack travels and avoid missing travels.

[0143] Similarly, taking a radiation source with a planned arc length of 450 degrees in the treatment planning system, with a control point every 90 degrees, and a preset value of 358 degrees as an example, according to... Figure 4 The method shown processes the control points in Table 1. Since the first and seventh control points are the first and last control points, respectively, the first and seventh control points are saved. Since the second control point has a different movement speed than the first control point, the second control point is saved. Since the cumulative rack travel change corresponding to the fifth control point is greater than 358 degrees, the fifth control point is also saved to indicate the number of rack movement cycles.

[0144] according to Figure 4 The method shown is used to process the control points in Table 1 to obtain an updated list of control points, as shown in Table 3:

[0145] Table 3

[0146] control point sequence 1 2 3 4 Control point location 0 degrees 90 degrees 0 degrees 180 degrees rack movement speed 3m / s 2m / s 2m / s 0m / s

[0147] When the processor of the computer device controls the movement of the rack according to the control point list shown in Table 3, it will control the rack to start moving from the 0-degree position, reach the 90-degree position, and then continue to move in the direction of movement back to the 0-degree position to complete the first arc. After reaching the 0-degree position, it will continue to move in the direction of movement to the 180-degree position and stop to complete the second arc, achieving a 450-degree arc.

[0148] Understandable Figure 4 The method shown is also applicable to situations where the movement distance of the frame from the first control point to the last control point is less than 360 degrees.

[0149] In some embodiments, the rack motion control method of this application further includes: controlling rack motion according to an updated control point list.

[0150] When the arc length of the radiation source specified by the treatment planning system is greater than 360 degrees, in order to ensure that the gantry can rotate continuously, this embodiment of the application controls the movement of the gantry according to the updated control point list, including: when the gantry reaches the preset position corresponding to the current target control point, sending the next target control point position data, wherein the preset position corresponding to the current target control point is located before the current target control point position.

[0151] In summary, the gantry motion control method provided in this application minimizes the number of control points in the control point list by processing the control points based on the gantry motion speed corresponding to the control points. This reduces the number of control point switching times during the execution of the treatment plan, improves the stability and accuracy of gantry motion control, and thus improves the accuracy of radiotherapy.

[0152] This application also provides a computer device, which includes: one or more processors; a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor as steps in the rack motion control method of any of the above embodiments of the rack motion control method.

[0153] This application also provides a computer device, such as... Figure 5 As shown, it illustrates a structural schematic diagram of the computer device involved in the embodiments of this application, specifically:

[0154] The computer device may include components such as a processor 501 with one or more processing cores, a memory 502 with one or more computer-readable storage media, a power supply 503, and an input device 504. Those skilled in the art will understand that... Figure 5 The computer device structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0155] The processor 501 is the control center of the computer device. It connects various parts of the computer device through various interfaces and lines. By running or executing software programs and / or modules stored in the memory 502, and calling data stored in the memory 502, it performs various functions of the computer device and processes data, thereby monitoring the computer device as a whole.

[0156] Optionally, processor 501 may include one or more processing cores; preferably, processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 501.

[0157] The memory 502 can be used to store software programs and modules. The processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 502 may also include a memory controller to provide the processor 501 with access to the memory 502.

[0158] The computer equipment also includes a power supply 503 that supplies power to the various components. Optionally, the power supply 503 can be logically connected to the processor 501 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 503 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0159] The computer device may also include an input device 504, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0160] Although not shown, the computer device may also include a display device 505, which may be a monitor, and will not be described in detail here. Specifically, in this embodiment, the processor 501 in the computer device loads the executable files corresponding to the processes of one or more application programs into the memory 502 according to the following instructions, and the processor 501 runs the application programs stored in the memory 502 to realize various functions, as follows:

[0161] Obtain a list of control points, which includes at least two control points with a known execution order and the rack movement speed corresponding to the at least two control points;

[0162] According to the execution order, the at least two control points are processed sequentially based on the rack movement speed corresponding to the at least two control points, so as to minimize the number of control points included in the control point list.

[0163] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0164] Therefore, embodiments of this application provide a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. A computer program is stored thereon, which is loaded by a processor to execute the steps in any of the radiation delivery control methods provided in embodiments of this application. For example, the computer program, when loaded by a processor, can execute the following steps:

[0165] Obtain a list of control points, which includes at least two control points with a known execution order and the rack movement speed corresponding to the at least two control points;

[0166] According to the execution order, the at least two control points are processed sequentially based on the rack movement speed corresponding to the at least two control points, so as to minimize the number of control points included in the control point list.

[0167] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0168] In practice, the above structures can be implemented as independent entities or combined arbitrarily as the same or several entities. For specific implementation of the above structures, please refer to the previous method embodiments, which will not be repeated here.

[0169] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0170] The above provides a detailed description of a rack motion control method, computer equipment, and storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A gantry motion control method, characterized by, include: Obtain a list of control points, which includes at least two control points with a known execution order and the rack movement speed corresponding to the at least two control points; According to the execution order, when the current control point is neither the first nor the last control point: In response to the current control point having the same rack movement speed as the previous control point, the current control point is deleted; in response to the current control point having a different rack movement speed than the previous control point, the current control point is saved to minimize the number of control points included in the control point list. The movement distance of the frame from the first control point to the last control point is less than 360 degrees.

2. The gantry motion control method of claim 1, wherein, The method further includes: The current control point is determined as the first control point, the current control point is saved, and the current control point is updated according to the execution order. The updated current control point is determined as the last control point, and the updated current control point is saved.

3. The gantry motion control method of claim 2, wherein, The method further includes: If the updated current control point is determined to be different from the rack movement speed corresponding to the previous control point, the updated current control point is saved, and the updated current control point is updated according to the execution order. The updated current control point is determined to have the same rack movement speed as the previous control point, and the updated current control point is updated according to the execution order.

4. A gantry motion control method, comprising: include: Obtain a list of control points, which includes at least two control points with a known execution order and the rack movement speed corresponding to the at least two control points; Obtain the rack travel change corresponding to the current control point; According to the execution order, when the current control point is neither the first nor the last control point: In response to the difference in rack movement speed between the current control point and the previous control point, or the sum of rack travel changes between the current control point and the previous control point being greater than or equal to a preset value, the current control point and the rack travel change corresponding to the current control point are saved, and the current control point is updated according to the execution order. In response to the fact that the rack movement speed corresponding to the current control point is the same as that corresponding to the previous control point, and the sum of the rack travel changes corresponding to the current control point and the previous control point is less than a preset value, the current control point is deleted, and the rack travel change corresponding to the current control point is updated to the sum of the rack travel changes corresponding to the current control point and the previous control point, so as to minimize the number of control points included in the control point list; The change in rack travel corresponding to the current control point is the travel distance of the rack from the current control point position to the next control point position, and the preset value is less than 360 degrees.

5. The gantry motion control method of claim 4, wherein, The method further includes: The current control point is determined as the first control point. The current control point and the rack travel change corresponding to the current control point are saved, and the current control point is updated according to the execution order. The updated current control point is determined as the last control point, and the updated current control point is saved.

6. The gantry motion control method of claim 2 or 5, wherein, After determining that the updated current control point is the last control point and saving the updated current control point, the method further includes: updating the control point list.

7. The gantry motion control method of claim 6, wherein, The method further includes controlling the frame movement according to the updated list of control points.

8. The gantry motion control method of claim 7, wherein, The step of controlling the rack movement according to the updated control point list includes: When the rack reaches the preset position corresponding to the current target control point, the next target control point position data is sent out, wherein the preset position corresponding to the current target control point is located before the current target control point position.

9. A computer device, comprising: The computer device includes: One or more processors; Memory; and One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the rack motion control method of any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which is loaded by a processor to execute the steps of the rack motion control method according to any one of claims 1 to 8.

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