Positioning control method, device, system and medium of radiotherapy equipment

Abstract

The application provides a positioning control method, device and system of a radiotherapy device and a storage medium, and relates to the technical field of medical instruments. The radiotherapy device applied by the method is provided with a depth camera at one end of a treatment bed away from a radiation cavity. When the treatment bed is located at a first positioning position, the body surface coordinates of a target part of a treatment object collected by the depth camera can be obtained. The body surface coordinates are converted by using a target conversion matrix corresponding to the first positioning position to obtain actual coordinates in an isocenter coordinate system. The positioning deviation of the target part in the isocenter coordinate system is determined according to a plurality of actual coordinates and a contour image of the target part in a treatment plan to control the movement of the treatment bed until the positioning deviation of the target part after movement meets a preset deviation requirement. The application can realize positioning control without adding an additional camera, and can facilitate the subsequent monitoring of the treatment object under the condition of ensuring the positioning accuracy.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a method, device, system, and medium for positioning control of radiotherapy equipment. Background Technology

[0002] With the technological advancements in tumor radiology and materials science, tumor radiotherapy, as an important means of overall treatment evaluation, must achieve four precisions: precise localization, precise planning, and precise positioning.

[0003] Positioning in radiotherapy is a crucial means of improving the precision of radiotherapy and ensuring and controlling its quality. Currently, positioning techniques in radiotherapy mainly include image-guided radiotherapy (IGRT) and surface-guided radiotherapy (SGRT). SGRT requires mounting an optical surface camera in a fixed location, such as a ceiling, with a predetermined positional relationship to the radiotherapy equipment's isocenter. Once installed, the relative position of the camera and the radiotherapy equipment remains constant.

[0004] Therefore, for roller-type radiotherapy equipment, if the camera is installed in a fixed relative position to the treatment equipment on the ceiling, it cannot be used for subsequent treatment monitoring after positioning is completed. If treatment monitoring is required, an additional camera needs to be added. The positioning and calibration of the additional camera and the positioning camera are more complex, increasing the difficulty of the entire radiotherapy system design and also increasing the cost of the radiotherapy equipment. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of the prior art by providing a method, device, system, and medium for positioning control of radiotherapy equipment, so as to achieve positioning control without adding an additional camera, ensuring positioning accuracy, and facilitating subsequent monitoring of the treated subject.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0007] In a first aspect, embodiments of the present invention provide a method for positioning and controlling a radiotherapy device, the radiotherapy device comprising: a radiation cavity and a treatment bed, wherein a depth camera is disposed at one end of the treatment bed opposite to the radiation cavity, the method comprising:

[0008] When the treatment bed is in the first placement position, multiple surface coordinates of the target part in the three-dimensional surface image of the treatment object on the treatment bed acquired by the depth camera are obtained;

[0009] Using the target transformation matrix corresponding to the first placement position, the multiple body surface coordinates are transformed to obtain multiple actual coordinates in the isocentric coordinate system of the radiotherapy device. The target transformation matrix is ​​the transformation matrix between the camera coordinate system of the depth camera and the isocentric coordinate system of the radiotherapy device when the treatment bed is in the first placement position.

[0010] Based on the multiple actual coordinates and the contour image of the target part in the treatment plan, the placement offset of the target part in the isocentric coordinate system is determined to control the movement of the treatment bed until the placement offset of the target part meets the preset offset requirements after the movement.

[0011] Optionally, before transforming the plurality of body surface coordinates using the target transformation matrix corresponding to the first placement position to obtain the plurality of actual coordinates in the isocentric coordinate system of the radiotherapy device, the method further includes:

[0012] Based on the first placement position and the second placement position of the treatment bed, the transformation matrix corresponding to the second placement position is transformed to obtain the target transformation matrix; the second placement position is a placement position different from the first placement position.

[0013] Optionally, the step of transforming the transformation matrix corresponding to the second placement position based on the first placement position and the second placement position of the treatment bed to obtain the target transformation matrix includes:

[0014] If the treatment bed is a three-dimensional treatment bed, then calculate the first translation amount from the second placement position to the first placement position;

[0015] Based on the first translation amount, the transformation matrix corresponding to the second placement position is transformed to obtain the target transformation matrix.

[0016] Optionally, the step of transforming the transformation matrix corresponding to the second placement position based on the first placement position and the second placement position of the treatment bed to obtain the target transformation matrix includes:

[0017] If the treatment bed is a six-dimensional treatment bed, then calculate the rotation and translation amounts from the second placement position to the first placement position;

[0018] Based on the rotation amount and the second translation amount, the transformation matrix corresponding to the second placement position is transformed to obtain the target transformation matrix.

[0019] Optionally, if the second placement position is the calibrated placement position of the treatment bed, then before transforming the transformation matrix corresponding to the second placement position according to the first placement position and the second placement position of the treatment bed to obtain the target transformation matrix, the method further includes:

[0020] When the treatment bed is moved to the calibrated placement position, the coordinates of the preset position in the calibration phantom placed on the treatment bed are acquired by the depth camera;

[0021] Based on the coordinates of the preset position and the pre-obtained transformation relationship between the camera coordinate system and the treatment bed coordinate system, the first coordinates of the preset position in the treatment bed coordinate system are obtained;

[0022] Based on the first coordinates, the second coordinates of the preset position in the isocentric coordinate system are obtained by using the preset transformation relationship between the treatment bed coordinate system and the isocentric coordinate system;

[0023] Calculate the transformation matrix corresponding to the calibration placement position based on the first coordinate and the second coordinate.

[0024] Optionally, determining the placement offset of the target body in the isocentric coordinate system based on the plurality of actual coordinates and the contour image of the target body in the treatment plan includes:

[0025] The actual contour of the target part is determined based on the multiple actual coordinates;

[0026] The placement offset is determined based on the contour image and the actual contour of the target part.

[0027] Optionally, the method further includes:

[0028] After the patient is positioned, the depth camera is used to acquire the patient's body surface information in order to monitor the treatment.

[0029] Secondly, embodiments of the present invention provide a positioning control device, including: a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the positioning control method of any radiotherapy device provided in the first aspect.

[0030] Thirdly, embodiments of this application also provide a radiotherapy system, including: a radiotherapy device, a depth camera, and a processor;

[0031] The radiotherapy equipment includes a radiation cavity and a treatment bed. A depth camera is installed on one end of the treatment bed away from the radiation cavity. The depth camera is used to acquire depth images.

[0032] The depth camera is connected to the processor and is used to execute the placement control method of the radiotherapy device described in any of the first aspects above.

[0033] Fourthly, embodiments of this application also provide a non-volatile storage medium storing a computer program, which, when read and executed, implements the positioning control method for any radiotherapy device provided in the first aspect.

[0034] The beneficial effects of this application are:

[0035] The radiotherapy equipment positioning control method, device, system, and medium provided in this application utilize a target transformation matrix corresponding to the first positioning position to transform multiple surface coordinates of the target site acquired when the treatment bed is in the first positioning position, obtaining multiple actual coordinates in an isocentric coordinate system. Then, based on these multiple actual coordinates and the contour image of the target site in the treatment plan, the positioning offset of the target site in the isocentric coordinate system is determined to control the movement of the treatment bed until positioning is complete. In this method, the depth camera fixed to the end of the treatment bed away from the radiation cavity can move with the treatment bed; its position is not fixed. Therefore, after the treatment bed positioning is completed based on the three-dimensional surface image acquired by the depth camera, treatment monitoring of the patient can also be performed based on the image acquired by the depth camera without adding an additional camera for monitoring. Without increasing the system design difficulty and system cost of the radiotherapy equipment, both precise positioning control of the treatment bed and monitoring of the patient are achieved. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A schematic diagram of a radiotherapy system provided in an embodiment of this application;

[0038] Figure 2 A schematic flowchart illustrating the placement control method for radiotherapy equipment provided in this application embodiment;

[0039] Figure 3 This application provides a flowchart of a method for obtaining a transformation matrix in a radiotherapy equipment positioning control method.

[0040] Figure 4This is a flowchart illustrating another method for obtaining a transformation matrix in a radiotherapy device positioning control method provided in this application embodiment;

[0041] Figure 5 This is a flowchart illustrating another method for obtaining a transformation matrix in a radiotherapy device positioning control method provided in this application embodiment;

[0042] Figure 6 A flowchart illustrating the method for determining placement offset in a radiotherapy device placement control method provided in this application embodiment;

[0043] Figure 7 A schematic diagram of a radiotherapy equipment positioning control device provided in an embodiment of this application;

[0044] Figure 8 This is a schematic diagram of the placement control device provided in an embodiment of this application. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0046] SGRT (Simultaneous Radiotherapy Positioning) technology, as a high-precision treatment positioning and guidance technique, requires the use of depth cameras to capture three-dimensional surface images of the patient during radiotherapy. This data is used to control the positioning of the treatment bed, and monitoring of the patient is necessary after positioning. However, current SGRT technology, with its fixed depth camera mounted on the ceiling, cannot be used for subsequent patient monitoring once positioning is achieved.

[0047] Therefore, the question is how to achieve positioning control without adding extra cameras, ensuring positioning accuracy while also facilitating subsequent monitoring of the treated subjects.

[0048] To achieve placement control of radiotherapy equipment, embodiments of this application may also provide a radiotherapy system. Figure 1 This is a schematic diagram of a radiotherapy system provided as an embodiment of this application. Figure 1As shown, the radiotherapy system may include: a radiotherapy device comprising a radiation cavity 11 and a treatment bed 12, and may further include: a depth camera 13, wherein multiple radiation sources may be disposed within the radiation cavity 11, and the depth camera 13 may be fixedly mounted on the treatment bed 12 at one end away from the radiation cavity 11 and may move with the treatment bed 12, such as being fixedly mounted at the tail end of a movable bed board of the treatment bed 12. For example, the depth camera 13 may be fixedly mounted on the treatment bed 12 at one end away from the radiation cavity 11 via a mounting bracket, and the lens of the depth camera 13 faces the radiation cavity 11. The mounting bracket may be a bracket with a preset height to ensure that the depth camera 13 has sufficient field of view after fixed mounting. The depth camera 13 can be used to acquire three-dimensional images of target objects such as calibration phantoms or treatment subjects on the treatment bed 12. The depth camera 13 may also be referred to as a three-dimensional (3D) camera, or other similar descriptions.

[0049] Since the depth camera 13, which is fixedly mounted on the treatment bed 12, can move along with the treatment bed 12, when the positioning control is performed using the scheme of this application, even if the positions of the positioning isocenter (i.e., virtual isocenter) and the treatment isocenter (i.e., the isocenter of the radiotherapy equipment) are different after the positioning is completed, seamless connection to treatment monitoring can still be achieved as the treatment bed 12 moves. That is, the surface information collected by the depth camera 13 can still be used for treatment monitoring.

[0050] It should be explained that radiotherapy equipment typically has two isocenters: a virtual isocenter and the isocenter of the radiotherapy equipment. The isocenter of the radiotherapy equipment can be the intersection of the radiation focus inside the radiation cavity and the rotation axis of the radiotherapy equipment. The virtual isocenter refers to the position outside the radiation cavity of the radiotherapy equipment that has a preset positional relationship with the isocenter of the radiotherapy equipment.

[0051] For example, the positioning isocenter has a preset offset from the treatment isocenter along the length of the treatment bed. When the positioning is completed, the target point (e.g., the preset point of the target point or target area) of the patient's target body part located on the treatment bed 12 coincides with the positioning isocenter. In this way, the treatment bed can be moved by the preset offset to make the patient's target point coincide with the treatment isocenter.

[0052] It should be noted that, Figure 1 The radiation cavity 11 is an example of a radiation cavity matched with a head radiotherapy device. The shape of the radiation cavity for different body parts and its relative position to the treatment bed 12 may vary, but this application does not limit it.

[0053] The radiotherapy system may also include: positioning control equipment ( Figure 1(Not shown in the image). In practical applications, the positioning control device can be a computer device, which can be a lower-level computer installed in the control cabinet of the radiotherapy equipment, or an upper-level computer installed outside the control cabinet of the radiotherapy equipment, communicating with the control cabinet and interacting with the user, or any processing device capable of performing software processing operations.

[0054] Regardless of its configuration, the positioning control device is communicatively connected to the depth camera 13 to acquire three-dimensional images captured by the depth camera, and then executes the positioning control method for the radiotherapy device provided in the following embodiments of this application.

[0055] Based on any of the radiotherapy systems shown above, embodiments of this application may also provide various implementation methods for the placement control of radiotherapy equipment. The following examples illustrate the placement control method for radiotherapy equipment provided in this application. Figure 2 This is a flowchart illustrating the positioning control method for radiotherapy equipment provided in an embodiment of this application. The method can be implemented by a positioning control device that is communicatively connected to a depth camera through software and / or hardware. Figure 2 As shown, the method may include:

[0056] S201. When the treatment bed is in the first placement position, acquire multiple surface coordinates of the target part in the three-dimensional surface image of the treatment object on the treatment bed captured by the depth camera.

[0057] To administer radiotherapy to a patient, the treatment bed must first be moved towards the radiation cavity to control the radiotherapy positioning. Once positioned, the target point on the patient's body should be aligned with the virtual isocenter of the radiotherapy equipment. Since the virtual isocenter of the radiotherapy equipment has a preset positional relationship with the isocenter of the actual equipment, after positioning, continuing to move the treatment bed towards the radiation cavity will deliver the target point to the isocenter of the radiotherapy equipment within the cavity. Once the target point is at the isocenter, radiotherapy can be administered by controlling the radiation source within the cavity. The patient can be, for example, a medical condition, and the target area can be a region of the body, such as the head, body, or neck.

[0058] Because the depth camera is fixedly mounted at the end of the treatment bed away from the radiation cavity, it can acquire a three-dimensional surface image of the patient being treated as the treatment bed moves toward the radiation cavity. After acquiring this three-dimensional surface image, multiple surface coordinates of the target area can be obtained by performing coordinate identification on the target area in the three-dimensional surface image. These multiple surface coordinates can be the contour coordinates of the target area in the three-dimensional surface image.

[0059] S202. Using the target transformation matrix corresponding to the first placement position, the multiple body surface coordinates are transformed to obtain multiple actual coordinates in the isocentric coordinate system of the radiotherapy device.

[0060] The target transformation matrix is ​​the transformation matrix between the camera coordinate system of the depth camera and the isocentric coordinate system of the radiotherapy equipment when the treatment bed is in the first placement position.

[0061] The multiple surface coordinates obtained from the 3D body surface image are actually coordinates in the depth camera coordinate system, while the position coordinates in the treatment plan are coordinates in the isocentric coordinate system of the radiotherapy equipment. Therefore, the target transformation matrix can be used to transform these multiple surface coordinates to obtain the actual coordinates.

[0062] For example, the target transformation matrix can be W1 = [R1 T1], where R1 is the first coordinate rotation amount and T1 is the first coordinate translation amount. The multiple body surface coordinates can be multiplied by the target transformation matrix W1 to obtain the multiple actual coordinates.

[0063] S203. Based on the multiple actual coordinates and the contour image of the target part in the treatment plan, determine the placement offset of the target part in the central coordinate system to control the movement of the treatment bed until the placement offset of the target part meets the preset offset requirements after the movement.

[0064] In practical applications, moving the treatment bed once is usually insufficient to complete the positioning. Therefore, after controlling the movement of the treatment bed based on the calculated positioning offset, the moved treatment bed can be designated as the new first positioning position. The above steps S201-S203 are then repeated until the positioning offset of the target area after the movement meets the preset offset requirement. This preset offset requirement can be, for example, a positioning accuracy requirement preset in clinical treatment.

[0065] Each time the placement offset is calculated, it can be sent to the movement control device of the treatment bed so that the movement control device can control the treatment bed to move based on the placement offset.

[0066] The radiotherapy equipment positioning control method provided in this embodiment can use a target transformation matrix corresponding to the first positioning position to transform the coordinate system of multiple surface coordinates of the target site acquired when the treatment bed is in the first positioning position, obtaining multiple actual coordinates in the isocentric coordinate system. Then, based on these multiple actual coordinates and the contour image of the target site in the treatment plan, the positioning offset of the target site in the isocentric coordinate system is determined to control the movement of the treatment bed until the positioning is completed. In this method, the depth camera fixed on the end of the treatment bed away from the radiation cavity can move with the movement of the treatment bed, and its position is not fixed. Therefore, after the positioning of the treatment bed is completed based on the three-dimensional surface image acquired by the depth camera, the treatment subject can also be monitored based on the image acquired by the depth camera without adding an additional camera for monitoring. Without increasing the system design difficulty and system cost of the radiotherapy equipment, it can achieve both precise positioning control of the treatment bed and monitoring of the treatment subject.

[0067] In one possible implementation, the target transformation matrix can be, for example, a transformation matrix pre-obtained at the first placement position, such as the transformation matrix obtained based on the phantom during calibration. For instance, the transformation matrix corresponding to each placement position can be pre-obtained using a calibration phantom at multiple placement positions.

[0068] In another possible implementation, it is not necessary to pre-obtain the transformation matrix corresponding to multiple placement positions using a calibrated method; only the transformation matrix corresponding to one placement position needs to be obtained. Therefore, before using the target transformation matrix corresponding to the first placement position in S202 above to transform the multiple body surface coordinates and obtain the multiple actual coordinates in the isocentric coordinate system of the radiotherapy device, the method may further include:

[0069] Based on the first placement position and the second placement position of the treatment bed, the transformation matrix corresponding to the second placement position is transformed to obtain the target transformation matrix.

[0070] The second placement position is a placement position different from the first placement position. For example, the previous placement position is the position where the treatment bed was before it was moved to the first placement position, or the designated placement position of the treatment bed.

[0071] Since the depth camera is fixedly mounted on the end of the treatment bed away from the radiation cavity, the relative position of the depth camera and the isocenter of the radiotherapy equipment changes as the treatment bed moves. Therefore, for the first movement of the treatment bed, the second placement position can be the calibration placement position. Based on the placement position after the first movement (i.e., the first placement position) and the calibration placement position, the transformation matrix corresponding to the calibration placement position can be transformed, thus updating the transformation matrix and obtaining the target transformation matrix. For each subsequent movement, the second placement position can be the previous placement position. Each time the treatment bed moves, the transformation matrix corresponding to the previous placement position needs to be transformed based on the placement position after the current movement (i.e., the first placement position) and the previous placement position, thus updating the transformation matrix and obtaining the target transformation matrix.

[0072] The method provided in this embodiment can update the transformation matrix corresponding to the second placement position based on the current placement position (i.e., the first placement position) and the second placement position (different from the first placement position) to obtain the target transformation matrix. This can avoid the inaccuracy of the transformation matrix caused by the movement of the treatment bed, effectively ensure the accuracy of the coordinate system transformation matrix, thereby improving the accuracy of coordinate transformation and thus effectively ensuring the precision of the placement control.

[0073] Based on the above-mentioned method for positioning and controlling radiotherapy equipment, this application embodiment can also provide a possible implementation example of obtaining the transformation matrix in the method for positioning and controlling radiotherapy equipment when the treatment bed is a three-dimensional treatment bed. Figure 3 This is a flowchart illustrating a method for obtaining a transformation matrix in a radiotherapy equipment positioning control method provided in an embodiment of this application. Figure 3 As shown, the transformation matrix corresponding to the second placement position of the treatment bed, based on the first placement position and the second placement position of the treatment bed, is transformed to obtain the target transformation matrix, which may include:

[0074] S301. If the treatment bed is a three-dimensional treatment bed, calculate the first translation amount from the second placement position to the first placement position.

[0075] If the treatment bed is a three-dimensional treatment bed, the movement of the treatment bed is only translation, and does not involve rotation.

[0076] For example, if the first placement position is [A1 B1 C1] and the second placement position is [A2 B2 C2], then the positional deviation in the three coordinate directions can be calculated based on the first and second placement positions to obtain the first translation amount, that is, the first translation amount can be expressed as [(A1-A2) (B1-B2) (C1-C2)].

[0077] S302. Based on the first translation amount, transform the transformation matrix corresponding to the second placement position to obtain the target transformation matrix.

[0078] Assuming the transformation matrix corresponding to the second placement position is W2 = [R2 T2], where R2 is the rotation amount of the second coordinate and T2 is the translation amount of the second coordinate, the target transformation matrix is ​​W1 = [R1 T1]. Since the three-dimensional treatment bed only translates and does not involve rotation, R1 can be equal to R2, and T1 can be calculated based on T2 and the first translation amount. Thus, the target transformation matrix can be obtained as W1 = [R1 T1].

[0079] The method provided in this embodiment offers a simple matrix transformation implementation for a three-dimensional treatment bed, obtaining the target transformation matrix and ensuring the accuracy of subsequent positioning control in the case of a three-dimensional treatment bed.

[0080] Based on the above-mentioned method for positioning and controlling radiotherapy equipment, this application embodiment can also provide a possible implementation example of obtaining the transformation matrix in the method for positioning and controlling radiotherapy equipment when the treatment bed is a six-dimensional treatment bed. Figure 4 This is a flowchart illustrating another method for obtaining a transformation matrix in a radiotherapy equipment positioning control method provided in an embodiment of this application. Figure 4 As shown, the transformation matrix corresponding to the second placement position of the treatment bed, based on the first placement position and the second placement position of the treatment bed, is transformed to obtain the target transformation matrix, which may include:

[0081] S401. If the treatment bed is a six-dimensional treatment bed, calculate the rotation and translation amounts from the second placement position to the first placement position.

[0082] When the treatment bed is a six-dimensional treatment bed, the movement of the treatment bed includes both translation and rotation.

[0083] For example, if the first placement position is [A1 B1 C1] and the second placement position is [A2 B2 C2], then the positional deviations in the three coordinate directions can be calculated based on the first and second placement positions to obtain the second translation amount, which can be expressed as [(A1-A2)(B1-B2)(C1-C2)]. In addition, the rotation amount also needs to be calculated based on the first and second placement positions.

[0084] S402. Based on the rotation amount and the second translation amount, transform the transformation matrix corresponding to the second placement position to obtain the target transformation matrix.

[0085] Assuming the transformation matrix corresponding to the second placement position is W2 = [R2 T2], where R2 is the second coordinate rotation amount and T2 is the second coordinate translation amount, the target transformation matrix is ​​W1 = [R1 T1]. Since the six-dimensional treatment bed involves rotation in addition to translation, the difference from the three-dimensional treatment bed provided in the above embodiment is that in the implementation provided in this embodiment, R1 is not equal to R2, but is calculated based on R2 and the rotation amount calculated by S401 above. T1 is calculated based on T2 and the second translation amount calculated by S401 above. Thus, the target transformation matrix can be obtained as W1 = [P1 T1].

[0086] The method provided in this embodiment also offers a matrix transformation implementation for a six-dimensional treatment bed, obtaining the target transformation matrix and ensuring the accuracy of subsequent positioning control in the case of a six-dimensional treatment bed.

[0087] Positioning control of the treatment bed is often difficult to achieve with just one movement. If the first position mentioned above is the position of the treatment bed after the first movement during the positioning control process, then its relative second position is the calibrated position of the treatment bed. This calibrated position refers to the position of the treatment bed during the transformation matrix calibration process, specifically when the preset position in the calibration phantom coincides with the virtual isocenter of the radiotherapy equipment. The following specific example explains how to obtain the transformation matrix corresponding to the calibrated position during the calibration process. Figure 5 This is a flowchart illustrating another method for obtaining a transformation matrix in a radiotherapy equipment positioning control method provided in this application embodiment. Figure 5 As shown, before transforming the transformation matrix corresponding to the second placement position based on the first placement position and the second placement position of the treatment bed to obtain the target transformation matrix, the method may further include:

[0088] S501. When the treatment bed is moved to the calibrated placement position, the coordinates of the preset position in the calibration model placed on the treatment bed are acquired by the depth camera.

[0089] S502. Based on the coordinates of the preset position and the pre-acquired transformation relationship between the camera coordinate system and the treatment bed coordinate system, obtain the first coordinates of the preset position in the treatment bed coordinate system.

[0090] S503. Based on the first coordinate, the second coordinate of the preset position in the isocentric coordinate system is obtained by using the preset transformation relationship between the treatment bed coordinate system and the isocentric coordinate system.

[0091] S504. Based on the first coordinate and the second coordinate, calculate the transformation matrix corresponding to the calibration placement position.

[0092] During calibration, a calibration phantom can be placed on the treatment bed, allowing the depth camera to capture depth images of the phantom. Coordinates of a preset position are identified within the depth image of the phantom, yielding its coordinates. Using a preset transformation relationship between the camera coordinate system and the treatment bed coordinate system, these coordinates are transformed from the camera coordinate system to the treatment bed coordinate system, resulting in the first coordinate. Furthermore, using the same preset transformation relationship between the treatment bed coordinate system and the isocentric coordinate system, the first coordinate is further transformed from the treatment bed coordinate system to the isocentric coordinate system, resulting in the second coordinate.

[0093] After obtaining the second coordinate, it is necessary to compare the second coordinate with the coordinate of the virtual isocenter of the radiotherapy device. If the second coordinate is aligned with the coordinate of the virtual isocenter, it can be determined that the preset position on the calibration model is aligned with the virtual isocenter position, thus confirming that the treatment bed has been moved to the calibration placement position.

[0094] The calibration model may have a preset marker at the preset position, and the coordinates of the preset position can be obtained by taking the coordinates of the preset marker.

[0095] Once it is determined that the treatment bed has been moved to the calibrated placement position, the transformation matrix corresponding to the calibrated placement position can be obtained based on the first and second coordinates obtained when the treatment bed is at the calibrated placement position.

[0096] The calibration placement position can be, for example, [A0 B0 C0], the camera coordinate system can be, for example, [XYZ], the treatment bed coordinate system can be [ABC], and the isocentric coordinate system can be [abc]. Thus, by executing this embodiment, the calibration of the camera coordinate system [XYZ] and the isocentric coordinate system [abc] can be obtained, and the transformation matrix between the camera coordinate system [XYZ] and the isocentric coordinate system [a bc] can be obtained, i.e., the transformation matrix W = [RT] corresponding to the calibration placement position. Here, R is the coordinate rotation amount when the treatment bed is in the calibration placement position, and T is the coordinate translation amount when the treatment bed is in the calibration placement position.

[0097] The method provided in this embodiment can also obtain the transformation matrix corresponding to the calibration placement position by calibrating the coordinate system based on the calibration model during the calibration process, which can effectively ensure the accuracy of subsequent placement control based on the transformation matrix corresponding to the calibration placement position.

[0098] Based on the radiotherapy equipment placement control method described in any of the above embodiments, this application embodiment may also provide a possible implementation example of determining the placement offset in the radiotherapy equipment placement control method. Figure 6A flowchart illustrating the method for determining the placement offset in a radiotherapy device placement control method provided in this application embodiment is shown below. Figure 6 As shown, in the above method, step S203, determining the placement offset of the target part in the central coordinate system based on the multiple actual coordinates and the contour image of the target part in the treatment plan, may include:

[0099] S601. Based on these multiple actual coordinates, determine the actual contour of the target part.

[0100] These multiple actual coordinates are actually the contour coordinates of the identified target part. Therefore, the actual contour of the target part can be determined based on these multiple actual coordinates.

[0101] S602. Determine the placement offset based on the contour image and the actual contour.

[0102] For example, the contour deviation of the target part can be determined by comparing the contour image with the actual contour, and the placement offset can be calculated based on the contour deviation.

[0103] In the method provided in this embodiment, the placement offset can be determined by contour comparison based on the multiple actual coordinates and the contour image, which can make the obtained placement offset more accurate, thereby effectively ensuring the accuracy of subsequent placement control.

[0104] Optionally, in addition to any of the above methods, the method may further include:

[0105] After the patient is positioned, the depth camera is used to acquire surface information of the patient in order to monitor the treatment.

[0106] The method provided in this embodiment can acquire the body surface information of the treatment subject after the positioning is completed, and record the body surface information of the treatment subject and the corresponding acquisition time point, so as to realize the treatment monitoring of the treatment subject without the need for additional camera cooperation or matrix conversion, which facilitates subsequent treatment monitoring.

[0107] The following describes the apparatus, equipment, and storage medium used to implement the radiotherapy equipment positioning control method provided in this application. The specific implementation process and technical effects are described above and will not be repeated below.

[0108] Figure 7 This is a schematic diagram of a radiotherapy equipment positioning control device provided in an embodiment of this application, as shown below. Figure 7 As shown, the positioning control device 700 of the radiotherapy equipment may include:

[0109] The acquisition module 701 is used to acquire multiple surface coordinates of the target part in the three-dimensional surface image of the treatment object on the treatment bed captured by the depth camera when the treatment bed is in the first placement position.

[0110] The conversion module 702 is used to convert the multiple body surface coordinates using the target conversion matrix corresponding to the first placement position to obtain multiple actual coordinates in the isocentric coordinate system of the radiotherapy device. The target conversion matrix is ​​the conversion matrix between the camera coordinate system of the depth camera and the isocentric coordinate system of the radiotherapy device when the treatment bed is in the first placement position.

[0111] The determining module 703 is used to determine the placement offset of the target part in the central coordinate system based on the multiple actual coordinates and the contour image of the target part in the treatment plan, so as to control the treatment bed to move until the placement offset of the target part meets the preset offset requirements after the movement.

[0112] Optionally, the conversion module 702 is further configured to transform the conversion matrix corresponding to the second placement position according to the first placement position and the second placement position of the treatment bed before converting multiple body surface coordinates using the target conversion matrix corresponding to the first placement position to obtain multiple actual coordinates under the isocentric coordinate system of the radiotherapy device, thereby obtaining the target conversion matrix; the second placement position is a placement position different from the first placement position.

[0113] Optionally, the conversion module 702 is specifically used to calculate the first translation amount from the second placement position to the first placement position if the treatment bed is a three-dimensional treatment bed; and to transform the conversion matrix corresponding to the second placement position according to the first translation amount to obtain the target conversion matrix.

[0114] Optionally, the conversion module 702 is specifically used to calculate the rotation and translation amounts from the second placement position to the first placement position if the treatment bed is a six-dimensional treatment bed; and to transform the conversion matrix corresponding to the second placement position according to the rotation and translation amounts to obtain the target conversion matrix.

[0115] Optionally, if the second placement position is the designated placement position of the treatment bed, the placement control device 700 for the radiotherapy equipment further includes:

[0116] The calibration module is used to acquire the coordinates of a preset position on the calibration phantom placed on the treatment bed, captured by a depth camera, when the treatment bed is moved to the calibration placement position; based on the coordinates of the preset position and the pre-acquired transformation relationship between the camera coordinate system and the treatment bed coordinate system, the first coordinate of the preset position in the treatment bed coordinate system is obtained; based on the first coordinate, the second coordinate of the preset position in the isocentric coordinate system is obtained using the pre-acquired transformation relationship between the treatment bed coordinate system and the isocentric coordinate system; and based on the first and second coordinates, the transformation matrix corresponding to the calibration placement position is calculated.

[0117] Optionally, the determining module 703 is specifically used to determine the actual contour of the target part based on multiple actual coordinates; and to determine the placement offset based on the contour image and the actual contour.

[0118] Optionally, the acquisition module 701 is also used to acquire the body surface information of the treatment subject using a depth camera after the positioning is completed, so as to monitor the treatment of the treatment subject.

[0119] The above-mentioned device is used to execute the radiotherapy equipment positioning control method provided in the foregoing embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0120] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more digital signal processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).

[0121] Figure 8 This is a schematic diagram of the positioning control device provided in the embodiments of this application. The positioning control device can be integrated into the device or the chip of the device. The positioning control device can be a device with computing processing function, and it can be a device that communicates with the aforementioned depth camera.

[0122] The placement control device 800 includes a memory 801 and a processor 802. The memory 801 and the processor 802 are connected via a bus.

[0123] The memory 801 is used to store programs, and the processor 802 calls the programs stored in the memory 801 to execute the above method embodiments. The specific implementation and technical effects are similar, and will not be described again here.

[0124] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, which may be a non-volatile storage medium, and may include a program that, when executed by a processor, is used to perform the above-described method embodiments.

[0125] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0128] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0129] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the placement of a radiotherapy device, characterized in that, The radiotherapy equipment includes a radiation cavity and a treatment bed, wherein a depth camera is disposed at one end of the treatment bed opposite to the radiation cavity, and the method includes: When the treatment bed is in the first placement position, multiple surface coordinates of the target part in the three-dimensional body surface image of the treatment object on the treatment bed acquired by the depth camera are obtained; the multiple surface coordinates are the contour coordinates of the target part in the three-dimensional body surface image. Using the target transformation matrix corresponding to the first placement position, the multiple body surface coordinates are transformed to obtain multiple actual coordinates in the isocentric coordinate system of the radiotherapy device. The target transformation matrix is ​​the transformation matrix between the camera coordinate system of the depth camera and the isocentric coordinate system of the radiotherapy device when the treatment bed is in the first placement position. Based on the multiple actual coordinates and the contour image of the target part in the treatment plan, the placement offset of the target part in the isocentric coordinate system is determined to control the movement of the treatment bed until the placement offset of the target part meets the preset offset requirements after the movement. Before transforming the plurality of body surface coordinates using the target transformation matrix corresponding to the first placement position to obtain the plurality of actual coordinates in the isocentric coordinate system of the radiotherapy device, the method further includes: Based on the first placement position and the second placement position of the treatment bed, the transformation matrix corresponding to the second placement position is transformed to obtain the target transformation matrix; the second placement position is a placement position different from the first placement position.

2. The method according to claim 1, characterized in that, The step of transforming the transformation matrix corresponding to the second placement position based on the first placement position and the second placement position of the treatment bed to obtain the target transformation matrix includes: If the treatment bed is a three-dimensional treatment bed, then calculate the first translation amount from the second placement position to the first placement position; Based on the first translation amount, the transformation matrix corresponding to the second placement position is transformed to obtain the target transformation matrix.

3. The method according to claim 1, characterized in that, The step of transforming the transformation matrix corresponding to the second placement position based on the first placement position and the second placement position of the treatment bed to obtain the target transformation matrix includes: If the treatment bed is a six-dimensional treatment bed, then calculate the rotation and translation amounts from the second placement position to the first placement position; Based on the rotation amount and the second translation amount, the transformation matrix corresponding to the second placement position is transformed to obtain the target transformation matrix.

4. The method according to claim 1, characterized in that, If the second placement position is the calibrated placement position of the treatment bed, then before transforming the transformation matrix corresponding to the second placement position according to the first placement position and the second placement position of the treatment bed to obtain the target transformation matrix, the method further includes: When the treatment bed is moved to the calibrated placement position, the coordinates of the preset position in the calibration phantom placed on the treatment bed are acquired by the depth camera; Based on the coordinates of the preset position and the pre-obtained transformation relationship between the camera coordinate system and the treatment bed coordinate system, the first coordinates of the preset position in the treatment bed coordinate system are obtained; Based on the first coordinates, the second coordinates of the preset position in the isocentric coordinate system are obtained by using the preset transformation relationship between the treatment bed coordinate system and the isocentric coordinate system; Calculate the transformation matrix corresponding to the calibrated placement position based on the first coordinate and the second coordinate.

5. The method according to claim 1, characterized in that, The step of determining the placement offset of the target body in the isocentric coordinate system based on the multiple actual coordinates and the contour image of the target body in the treatment plan includes: The actual contour of the target part is determined based on the multiple actual coordinates; The placement offset is determined based on the contour image and the actual contour.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: After the patient is positioned, the depth camera is used to acquire the patient's body surface information in order to monitor the treatment.

7. A placement control device, characterized in that, include: A memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the placement control method of the radiotherapy device according to any one of claims 1-6.

8. A radiotherapy system, characterized in that, include: Radiotherapy equipment, depth cameras, and processors; The radiotherapy equipment includes a radiation cavity and a treatment bed. A depth camera is installed on one end of the treatment bed away from the radiation cavity. The depth camera is used to acquire depth images. The depth camera is connected to the processor and is used to execute the placement control method of the radiotherapy equipment according to any one of claims 1-6.

9. A non-volatile storage medium, characterized in that, The non-volatile storage medium stores a computer program, which, when read and executed, implements the placement control method for the radiotherapy equipment according to any one of claims 1-6.

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