Monitoring method, device and computer storage medium

Abstract

The embodiment of the present application provides a monitoring method, device and computer storage medium, the monitoring method comprising: obtaining a target medical image obtained by imaging the target object at a target angle; obtaining a reference image corresponding to the target object at the target angle; determining a first offset of the target object in a first direction and a second offset in a second direction according to the reference image and the target medical image, wherein the first direction is different from the second direction; determining a third offset of the target object in a third direction perpendicular to the first direction and the second direction according to the scaling ratio of the target object in the reference image and the target object in the target medical image. The three-dimensional offset can be obtained by performing single-angle imaging at one moment, without the need for multi-angle shooting at different moments, with better real-time performance, and higher accuracy because there is no time interval.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of medical position monitoring technology, and more particularly to a monitoring method, device, and computer storage medium. Background Art

[0002] In the medical field, medical images taken of a target object are used for monitoring. In order to more accurately display the target object, the target object can be photographed from different angles, and multiple medical images taken at different angles can be used for monitoring. For example, taking image registration as an example, two two-dimensional projection images of the target object are obtained at two different angles, and the two two-dimensional projection images are respectively registered with digitally reconstructed radiograph (DRR) projection images at corresponding angles of a computed tomography (CT) image to obtain two two-dimensional offsets, and then the three-dimensional offset of the target object is calculated by the two two-dimensional offsets.

[0003] If the radiotherapy equipment is equipped with two groups of imaging sources and imagers, the target object can be imaged from different angles at the same time. However, the two groups of imaging sources and imagers occupy a large space and will reduce the treatment space. If the radiotherapy equipment is equipped with one group of imaging sources and imagers, the target object needs to be imaged from different angles at different times. There is a time interval between the images obtained, the real-time performance is poor, and it is not accurate enough. Summary of the invention

[0004] In view of this, one of the technical problems solved by the embodiments of the present application is to provide a monitoring method, device and computer storage medium to overcome the defects of poor real-time performance and low accuracy in the prior art of monitoring using a set of imaging sources and imagers.

[0005] In a first aspect, an embodiment of the present application provides a monitoring method, including: obtaining a target medical image obtained by imaging a target object at a target angle; obtaining a reference image corresponding to the target object at the target angle; determining a first offset of the target object in a first direction and a second offset in a second direction based on the reference image and the target medical image, wherein the first direction is different from the second direction; determining a third offset of the target object in a third direction perpendicular to the first direction and the second direction based on a scaling ratio of the target object in the reference image and the target object in the target medical image.

[0006] In a second aspect, an embodiment of the present application provides a monitoring device, comprising: a first acquisition module, used to acquire a target medical image obtained by imaging the target object at a target angle; a second acquisition module, used to acquire a reference image corresponding to the target object at the target angle; an offset module, used to determine a first offset of the target object in a first direction and a second offset in a second direction based on the reference image and the target medical image, wherein the first direction is different from the second direction; the offset module is also used to determine a third offset of the target object in a third direction perpendicular to the first direction and the second direction based on a scaling ratio of the target object in the reference image and the target object in the target medical image.

[0007] In a third aspect, an embodiment of the present application provides an electronic device, including: at least one processor;

[0008] A memory is used to store at least one program; when the at least one program is executed by at least one processor, the at least one processor implements the method described in the first aspect.

[0009] In a fourth aspect, an embodiment of the present application provides a non-volatile computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0010] The monitoring method, device and computer storage medium of the embodiment of the present application obtain a target medical image obtained by imaging the target object at a target angle; obtain a reference image corresponding to the target object at the target angle; determine a first offset of the target object in a first direction and a second offset in a second direction according to the reference image and the target medical image, wherein the first direction is different from the second direction; determine a third offset of the target object in a third direction perpendicular to the first direction and the second direction according to the scaling ratio of the target object in the reference image and the target object in the target medical image. Since the first offset and the second offset can be determined according to the reference image and the target medical image, and the third offset is determined according to the size of the target object in the reference image and the size of the target object in the target medical image, the three-dimensional offset can be obtained by performing single-angle imaging at one moment, without the need for multi-angle shooting at different moments, and the real-time performance is better, and because there is no time interval, the accuracy is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Hereinafter, some specific embodiments of the present application will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0012] Figure 1A flow chart of a monitoring method provided in Example 1 of the present application;

[0013] Figure 2 A schematic diagram of an imaging effect provided in Example 1 of the present application;

[0014] Figure 3 A schematic diagram of another imaging effect provided in Embodiment 1 of the present application;

[0015] Figure 4A A schematic diagram of a rotation effect provided in Example 1 of the present application;

[0016] Figure 4B A schematic diagram of position change provided in Example 1 of the present application;

[0017] Figure 5 A structural diagram of a monitoring device provided in Example 2 of the present application;

[0018] Figure 6 A structural diagram of another monitoring device provided in Example 2 of the present application;

[0019] Figure 7 A structural diagram of another monitoring device provided in Example 2 of the present application;

[0020] Figure 8 This is a structural diagram of an electronic device provided in Example 3 of the present application. DETAILED DESCRIPTION

[0021] The implementation of any technical solution of the embodiments of the present application does not necessarily require achieving all of the above advantages at the same time.

[0022] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0023] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0024] Embodiment 1

[0025] Embodiment 1 of the present application provides a monitoring method, such as Figure 1 As shown, Figure 1 A flow chart of a monitoring method provided in Example 1 of the present application, the method comprising the following steps:

[0026] Step 101: Acquire a target medical image obtained by imaging a target object at a target angle.

[0027] The target object is at least one, which can be the monitoring object of the monitoring method in the present application. For example, the target object can be a tumor, or a gold label that follows the movement of the tumor (gold label, i.e., a metal marker that can be implanted in the body to mark the location of the tumor), body tissue that follows the movement of the tumor (e.g., diaphragm, bone), etc. Because metal markers, diaphragms, bones, etc. are more obvious in the image, easy to observe and identify, the monitoring can be more accurate. The target angle can be any angle of the rack rotation.

[0028] The target medical image is a medical image obtained by imaging the target object at a target angle, and the medical image can be a two-dimensional projection image. The target medical image can be obtained by imaging the imaging source and the imager. Exemplarily, the imaging source and the imager are arranged relative to each other, the target object is located between the imaging source and the imager, and the imaging source emits rays to the target object, and the rays pass through the target object and are received by the imager, thereby forming an image of the target object. The imaging source can be a tube, which can emit a cone beam, and the imager can be a detector, such as a kilovolt flat-panel detector, which receives the kilovolt cone beam emitted by the tube; or, the imaging source can be a treatment head, and the imager is an electronic portal imaging device (English: Electronic Portal Imaging Device, EPID), and the EPID includes a megavolt flat-panel detector, which receives the megavolt rays emitted by the treatment head.

[0029] Optionally, in one embodiment, acquiring a target medical image obtained by imaging the target object at a target angle includes: acquiring the target medical image obtained by imaging the target object at the target angle at a preset time interval. The target medical image obtained by imaging the target object at the target angle can be acquired in real time at the preset time interval, that is, the target medical image is acquired once at each preset time interval, so that real-time monitoring of the target object can be achieved.

[0030] Step 102: Acquire a reference image corresponding to the target object at a target angle.

[0031] The reference image may be an image pre-photographed of the target object, and the reference image is used for registration. Optionally, the reference image is a digital image reconstruction DRR image of the three-dimensional image in the treatment plan at the target angle, and the three-dimensional image in the treatment plan may be a CT image, an MR image, etc.

[0032] The reference image may also be a DRR image of a three-dimensional image reconstructed at a target angle after the positioning is completed. It should be noted that the three-dimensional image reconstructed after the positioning is completed may be obtained by reconstructing a three-dimensional image using multiple two-dimensional images taken of the target object at multiple angles, such as a cone beam CT image. Of course, this is only an exemplary description and does not mean that the present application is limited thereto.

[0033] Step 103: Determine a first offset of the target object in the first direction and a second offset of the target object in the second direction according to the reference image and the target medical image.

[0034] The first direction and the second direction are different. Optionally, the first direction and the second direction may be located in the same plane, and the straight line where the first direction is located and the straight line where the second direction is located may be perpendicular or non-perpendicular to each other.

[0035] Alternatively, if Figure 2 As shown, Figure 2 A schematic diagram of an imaging effect provided in Embodiment 1 of the present application, in one embodiment of the present application, determining a first offset of a target object in a first direction and a second offset in a second direction according to a reference image and a target medical image includes:

[0036] According to the direction and distance of the position offset of the target object in the reference image and the target medical image, a first offset of the target object in the first direction and a second offset of the target object in the second direction are determined.

[0037] The first direction and the second direction may be parallel to a reference plane, which is a plane used for reference and may be any plane. Exemplarily, the reference plane may be a plane perpendicular to the center line of the imaging source and the imager; taking the target object as a tumor or a gold mark in the human body as an example, the reference plane may be a plane that carries the human body, for example, the reference plane may be a plane where the upper surface of the treatment bed is located, or a plane parallel to the upper surface of the treatment bed. The first direction and the second direction are parallel to the reference plane, and optionally, the first direction and the second direction may be perpendicular to each other. Exemplarily, the first direction and the second direction may be the positive directions of the X-axis and the Y-axis in the image coordinate system, respectively. It should be noted that the first offset and the second offset are both relative to the image coordinate system, and the XOY plane in the image coordinate system is parallel to the plane where the image is located, that is, parallel to the reference plane, or the XOY plane in the image coordinate system is the XOY plane.

[0038] like Figure 2As shown, the first offset and the second offset can be calculated by comparing the target medical image with the reference image. Optionally, in one embodiment of the present application, the method further includes: determining the direction and distance of the target object position offset according to the direction and distance of the position offset of the reference point of the target object in the target medical image relative to the reference point of the target object in the reference image. It should be noted that the reference point of the target object can be any point of the target object. For example, the reference point of the target object can be the center point of the target object. For example, if the target object is small enough, the target object can be used as a reference point. Of course, this is just an exemplary description.

[0039] Step 104 : Determine a third offset of the target object in a third direction perpendicular to the first direction and the second direction according to a scaling ratio of the target object in the reference image and the target object in the target medical image.

[0040] Optionally, in one embodiment of the present application, determining a third offset of the target object in a third direction perpendicular to the first direction and the second direction according to a scaling ratio of the target object in the reference image to the target object in the target medical image includes:

[0041] According to the size of the target object in the reference image and the size of the target object in the target medical image, the scaling ratio of the target object is determined; according to the scaling ratio and the preset distance, the third offset of the target object in the third direction perpendicular to the first direction and the second direction is determined. The observation point can be a point on the imaging source or a point on the treatment head, or a point on the multi-leaf grating. For example, the observation point can be the center position of the imaging source, the center position of the treatment head, or the center position of the multi-leaf grating, etc., and the present application does not limit this. In one example, the preset distance is the distance from the observation point to the planned position, and the planned position can be the position of the target object corresponding to the reference image, that is, the position of the target object when the imager acquires the reference image; the planned position can also be a planned plane parallel to the reference plane, the reference plane is a plane perpendicular to the center line of the imaging source and the imager, and the planned plane is the plane where the target object is when the imager acquires the reference image. According to the scaling ratio and the preset distance, the distance from the current actual position of the target object to the observation point can be calculated, and then the third offset of the current actual position of the target object relative to the planned position in the third direction can be calculated. In another example summary, the preset distance is the distance between the observation point and the plane where the imaging plate is located. According to the preset distance and the scaling ratio, the offset of the imaging of the target object in the target medical image in the virtual coordinate system can be calculated. The offset can be used directly as an offset or converted into an offset of the target object in a third direction. Of course, this is only an exemplary description and does not mean that the present application is limited to this.

[0042] like Figure 3 As shown, Figure 3 This is another schematic diagram of imaging effect provided in the first embodiment of the present application. Figure 3 Take the third direction as an example, that is, the direction perpendicular to the reference plane upward. If the target object moves upward relative to the planned position, the target object is closer to the imaging source (observation point) than the planned position, and the target object in the obtained target medical image will be larger than the target object in the reference image; if the target object moves downward relative to the planned position, the target object is farther away from the imaging source (observation point) than the planned position, and the target object in the obtained target medical image will be smaller than the target object in the reference image. Therefore, according to the size of the target object in the target medical image, compared with the size of the target object in the reference image, the scaling ratio is calculated, and the offset direction of the target object in the third direction can be determined according to the scaling ratio. Exemplarily, a coordinate system can be established for the space where the target object is located, the first direction is the positive direction of the x-axis, the second direction is the positive direction of the y-axis, the third direction is the positive direction of the z-axis, the x-axis and the y-axis are in the reference plane, that is, the plane where the x-axis and the y-axis are located is the reference plane, the reference plane is parallel to the plane where the detector is located, and the z-axis is perpendicular to the reference plane and parallel to the line connecting the imaging source and the center of the detector.

[0043] Exemplarily, the scaling ratio may be the area of ​​the target object in the target medical image divided by the area of ​​the target object in the reference image. If the scaling ratio is greater than 1, it indicates that the target object is moving upward, and the offset direction is the positive direction of the third direction. If the scaling ratio is less than 1, it indicates that the target object is moving downward, and the offset direction is the negative direction of the third direction. If the scaling ratio is equal to 1, it indicates that the target object is not offset in the third direction. Of course, the area is used as an example here for explanation, which does not mean that the present application is limited to this. Other parameters may also be used to indicate the size of the target object in the target medical image and the reference image.

[0044] Furthermore, the offset distance may be calculated according to the scaling ratio and the preset distance. Figure 3 As shown, the preset distance is the distance from the imaging source to the planning plane. Here, the planning plane is the plane where the target object at the planned position is located. The plane is parallel to the reference plane. Then, according to the scaling ratio and the preset distance, the offset of the target object in the z-axis direction, that is, the offset distance, is calculated.

[0045] In combination with the above step 103 and step 104, optionally, the number of target objects can be one or more. The area of ​​the target object in the target medical image can be the area occupied by the imaging of the target object in the target medical image, or the area of ​​the figure formed by multiple target objects in the target medical image. Of course, the reference image is the same, and it will not be repeated here.

[0046] The target object may include at least one of metal markers and bones; the method further includes: determining the monitoring method using a voting mechanism according to the results of metal marker monitoring, bone monitoring, and the results of metal marker and bone combined monitoring. The monitoring method may include metal marker monitoring, bone monitoring, diaphragm monitoring, etc., and may also include a detection method that combines any two or more methods. Using a voting mechanism to determine the monitoring method can achieve better monitoring results. Multiple devices can be used to calculate confidence based on the results of metal marker monitoring, bone monitoring, and the results of metal marker and bone combined monitoring, and then vote based on the calculated confidence to select a monitoring method with high confidence. Of course, this is just an exemplary description, and there can be many specific implementation methods of the voting mechanism, and this application does not limit this.

[0047] For example, when monitoring a tumor, a metal marker can be set at the edge of the tumor. The metal marker moves with the movement of the tumor, thereby monitoring the position of the tumor; of course, body tissue near the tumor can also be used for monitoring. For another example, when positioning, thermoplastic film can be used for non-invasive positioning. More specifically, a metal marker can be attached to the surface of the body, and then a thermoplastic film can be attached. The accuracy of the positioning can be determined based on the position of the metal marker. It should be noted that a target object can correspond to a reference point; or, the reference point can also be a point on the target object.

[0048] In one example, determining a first offset of a target object in a first direction and a second offset of a target object in a second direction based on a reference image and a target medical image includes: determining the first offset of the target object in the first direction and the second offset of the target object in the second direction based on directions and distances of position offsets of at least two target objects in the reference image and the target medical image.

[0049] In another example, when there are at least three target objects, according to the scaling ratio of the target objects in the reference image to the target medical image, the method includes: segmenting at least three target objects from the target medical image and the reference image; determining the scaling ratio of the target objects according to the area of ​​the geometric shape formed by the at least three target objects in the reference image and the area of ​​the geometric shape formed by the at least three target objects in the target medical image. The geometric shape can be a polygon, and the number of target objects can be the number of edges of the geometric shape. For example, if there are three target objects, the geometric shape formed is a triangle, and if there are four target objects, the geometric shape formed is a quadrilateral. The geometric shape can also be a figure whose boundary contains a curve, such as a circle, a sector, etc. Of course, if the number of target objects is large enough and the reference points formed are large enough, an irregular figure can be simulated, and the edge of the irregular figure can be a curve.

[0050] It should be noted that step 103 and step 104 are executed in no particular order and are both executed after step 102 . Step 103 may be executed before step 104 , may be executed after step 104 , or may be executed simultaneously with step 104 .

[0051] Optionally, based on any monitoring method provided in the embodiments of the present application, the rotation offset can be further determined. Exemplarily, the method also includes: determining the rotation offset of the target object in at least one of the first direction, the second direction and the third direction according to the reference image and the target medical image. It should be noted that in the image coordinate system, the rotation of the target object in a certain direction may be a rotation of the target object with the straight line in that direction as the axis. For example, taking the first direction and the second direction in the XOY plane of the image coordinate system as an example, the rotation offset of the target object in the XOY plane of the image coordinate system is the rotation offset of the target object in the third direction. The rotation offset can be directly represented by the rotation angle of the target object's imaging in the XOY plane of the image coordinate system with the coordinate origin as the center. Here, two specific examples are listed for further explanation:

[0052] In a first example, determining the rotation offset of the target object in at least one of a first direction, a second direction, and a third direction according to a reference image and a target medical image includes: determining the rotation offset of the target object in a reference plane according to position changes of at least two reference points of the target object in the reference image and the target medical image. Figure 4A As shown, Figure 4A A schematic diagram of a rotation effect provided in Example 1 of the present application, Figure 4A In FIG. 1 , two reference points are shown, which are A and B in the target medical image and A' and B' in the reference image. With the coordinate origin as the center, A and B are rotated to obtain A' and B'. The rotation offset θ can be obtained by calculation using formula 1:

[0053]

[0054] Among them, (x, y) is the coordinate of A, (x', y') is the coordinate of A', or, (x, y) is the coordinate of B, (x', y') is the coordinate of B'.

[0055] In a second example, determining a first offset of a target object in a first direction and a second offset of a target object in a second direction according to a reference image and a target medical image includes: determining the first offset, the second offset, and the rotation offset of the target object in a reference plane according to position changes of at least three reference points of the target object in the reference image and the target medical image. Figure 4B As shown, Figure 4BA schematic diagram of position change provided in Example 1 of the present application. Figure 4B In FIG. 1 , three reference points are shown, which are A, B and C in the target medical image and A', B' and C' in the reference image. With the coordinate origin as the center, ABC is rotated to obtain A"B"C", and then A"B"C" is translated to obtain A'B'C'. Formula 2 can be used to calculate and obtain the rotation offset θ, the first offset dx and the second offset dy:

[0056]

[0057] Wherein, (x, y) is the coordinate of the point in the target medical image, (x', y') is the coordinate of the corresponding point in the reference image, and the coordinates of the three pairs of points AA', BB' and CC' are substituted into Formula 2 to calculate the rotation offset θ, the first offset dx and the second offset dy. Of course, this is only an exemplary description and does not mean that the present application is limited to this.

[0058] In combination with the monitoring method described in steps 101-104 above, after the first offset, the second offset and the third offset are calculated, image guidance or calibration may be performed. Here, two specific examples are given for illustration:

[0059] In the first example, the method further includes: performing real-time image guidance on the target object according to the first offset, the second offset and the third offset of the target object. Because the first offset, the second offset and the third offset are calculated using the target medical image and the target object obtained by single-angle imaging of the target object at a moment, the calculated first offset, the second offset and the third offset reflect the offset of the target object at that moment, there is no time interval, and it is more accurate. Moreover, because it is single-angle imaging, the first offset, the second offset and the third offset can be calculated in real time at any moment, and the real-time performance is better. Optionally, the first offset, the second offset and the third offset can also be calculated to obtain a six-dimensional offset.

[0060] In the second example, the target object is guided by real-time image according to the first offset, the second offset and the third offset of the target object, including: adjusting the position of the treatment bed according to the first offset, the second offset and the third offset so that the position of the target object coincides with the planned position. It should be noted that the actual physical coordinate system where the treatment bed is located is different from the image coordinate system where the first offset, the second offset and the third offset are located. The XOY plane of the actual physical coordinate system can be a plane parallel to the upper surface or lower surface of the treatment bed, or the XOY plane of the actual physical coordinate system can be the upper surface or lower surface of the treatment bed, and the Z axis of the actual physical coordinate system can be a straight line perpendicular to the upper surface or lower surface of the treatment bed. Therefore, the first offset, the second offset and the third offset can be first converted to the coordinate system, and then adjusted. Adjusting the position of the treatment bed according to the first offset, the second offset and the third offset includes: calculating the first offset, the second offset and the third offset according to the conversion relationship between the image coordinate system and the actual coordinate system to obtain the actual offset of the treatment bed, and adjusting the position of the treatment bed according to the actual offset. The actual offset is the offset of the treatment bed in the physical coordinate system where the treatment bed is located. There can be three actual offsets (including a first actual offset, a second actual offset, and a third actual offset), which correspond to the first offset, the second offset, and the third offset, respectively. It should also be noted that the position of the treatment bed can be adjusted when any offset is not 0, or a preset range can be set for judgment. For example, the position of the treatment bed is adjusted according to the first offset, the second offset, and the third offset, including: if at least one of the first offset, the second offset, and the third offset is not within the corresponding preset range, the position of the treatment bed is adjusted.

[0061] The monitoring method of the embodiment of the present application can determine the first offset and the second offset based on the reference image and the target medical image, and determine the third offset based on the size of the target object in the reference image and the size of the target object in the target medical image. The three-dimensional offset can be obtained by performing single-angle imaging at one moment, and there is no need to perform multi-angle shooting at different moments. The real-time performance is better, and because there is no time interval, the accuracy is higher.

[0062] Embodiment 2

[0063] Based on the monitoring method described in the first embodiment above, the second embodiment of the present application provides a monitoring device, such as Figure 5As shown, the monitoring device 20 includes: a first acquisition module 201, used to acquire a target medical image obtained by imaging the target object at a target angle; a second acquisition module 202, used to acquire a reference image corresponding to the target object at the target angle; an offset module 203, used to determine a first offset of the target object in a first direction and a second offset in a second direction according to the reference image and the target medical image, wherein the first direction is different from the second direction; the offset module 203 is also used to determine a third offset of the target object in a third direction perpendicular to the first direction and the second direction according to a scaling ratio of the target object in the reference image and the target object in the target medical image.

[0064] Optionally, the offset module 203 is further used to determine a first offset of the target object in the first direction and a second offset of the target object in the second direction according to the direction and distance of the position offset of the target object in the reference image and the target medical image.

[0065] Optionally, the offset module 203 is further configured to determine the direction and distance of the target object position offset according to the direction and distance of the position offset of the reference point of the target object in the target medical image relative to the reference point of the target object in the reference image.

[0066] Optionally, the offset module 203 is also used to determine the scaling ratio of the target object based on the size of the target object in the reference image and the size of the target object in the target medical image; and determine a third offset of the target object in a third direction perpendicular to the first direction and the second direction based on the scaling ratio and a preset distance.

[0067] Optionally, the offset module 203 is used to segment at least three target objects from the target medical image and the reference image; and determine the scaling ratio of the target objects based on the area of ​​the geometric shapes formed by the at least three target objects in the reference image and the area of ​​the geometric shapes formed by the at least three target objects in the target medical image.

[0068] Optionally, the offset module 203 is further configured to determine a rotation offset of the target object in at least one of the first direction, the second direction and the third direction according to the reference image and the target medical image.

[0069] Optionally, the offset module 203 is used to determine the rotation offset of the target object in the reference plane according to the position change of at least two reference points of the target object in the reference image and the target medical image.

[0070] Optionally, the offset module 203 is used to determine a first offset, a second offset, and a rotation offset of the target object in the reference plane according to position changes of at least three reference points of the target object in the reference image and the target medical image.

[0071] Optionally, the first acquisition module 201 is used to acquire a target medical image obtained by imaging the target object at a target angle at a preset time interval.

[0072] Optionally, the reference image may be a DRR image reconstructed from a digital image of the three-dimensional image at a target angle in the treatment plan, or the reference image may be a DRR image of the three-dimensional image reconstructed at the target angle after positioning is completed.

[0073] Alternatively, if Figure 6 As shown, the monitoring device 20 further includes an image guidance module 204 for performing real-time image guidance on the target object according to the first offset, the second offset, and the third offset of the target object.

[0074] Alternatively, if Figure 6 As shown, the monitoring device 20 further includes a position adjustment module 205, which is used to adjust the position of the treatment couch according to the first offset, the second offset, and the third offset, so that the position of the target object coincides with the planned position.

[0075] Optionally, the position adjustment module 205 is used to adjust the position of the treatment couch when at least one of the first offset, the second offset and the third offset is not within a corresponding preset range.

[0076] Optionally, the position adjustment module 205 is used to calculate the first offset, the second offset and the third offset according to the conversion relationship between the image coordinate system and the actual coordinate system to obtain the actual offset of the treatment bed, and adjust the position of the treatment bed according to the actual offset.

[0077] Optionally, the target object includes at least one of a metal marker and a bone; Figure 7 As shown, the monitoring device 20 also includes a voting module 206 for determining the monitoring method using a voting mechanism according to the results of metal marker monitoring, the results of bone monitoring, and the results of metal marker and bone combined monitoring.

[0078] The monitoring device of the embodiment of the present application can determine the first offset and the second offset based on the reference image and the target medical image, and determine the third offset based on the size of the target object in the reference image and the size of the target object in the target medical image. The three-dimensional offset can be obtained by performing single-angle imaging at one moment, and there is no need to perform multi-angle shooting at different moments. The real-time performance is better, and because there is no time interval, the accuracy is higher.

[0079] Embodiment 3

[0080] Based on the monitoring method described in the above embodiment 1, the third embodiment of the present application provides an electronic device, such as Figure 8As shown, the electronic device 30 includes: at least one processor 302; a memory 304 for storing at least one program; when the at least one program is executed by the at least one processor 302, the at least one processor 302 implements the method described in the first embodiment.

[0081] Optionally, the processor 302 and the memory 304 may be connected via a bus 306 or other means. Figure 7 The connection via bus 306 is taken as an example.

[0082] The memory 304, as a non-volatile computer storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the program instructions / modules corresponding to the (method for determining the touch position of a capacitive screen) in the embodiment of the present application. The processor 302 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 304, that is, implementing the (method for determining the touch position of a capacitive screen) in the above method embodiment.

[0083] The memory 304 may include a program storage area and a data storage area, wherein the program storage area may store the programs required to implement any one of the monitoring methods in the present application; the data storage area may store data created by executing the monitoring method, etc. In addition, the memory 304 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 304 may optionally include a memory 304 remotely arranged relative to the processor 302, and these remote memories 304 may be connected to the processor 302 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0084] The above-mentioned product can execute the method provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in this embodiment, please refer to the method provided in the embodiment of the present application.

[0085] The electronic device of the embodiment of the present application can determine the first offset and the second offset based on the reference image and the target medical image, and determine the third offset based on the size of the target object in the reference image and the size of the target object in the target medical image. The three-dimensional offset can be obtained by performing single-angle imaging at one moment, and there is no need to perform multi-angle shooting at different moments. The real-time performance is better, and because there is no time interval, the accuracy is higher.

[0086] Embodiment 4:

[0087] Based on the monitoring method described in the above-mentioned embodiment 1, embodiment 4 of the present application provides a non-volatile computer storage medium, on which a computer program is stored. When the program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0088] The non-volatile computer storage medium of the embodiment of the present application can determine the first offset and the second offset according to the reference image and the target medical image, and determine the third offset according to the size of the target object in the reference image and the size of the target object in the target medical image. The three-dimensional offset can be obtained by performing single-angle imaging at one moment, and there is no need to perform multi-angle shooting at different moments. The real-time performance is better, and because there is no time interval, the accuracy is higher.

[0089] Thus far, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired results. Additionally, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing may be advantageous.

[0090] The devices and modules described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0091] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0092] Those skilled in the art should understand that the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0093] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0096] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0097] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0098] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A monitoring method, characterized in that: include: Acquire a target medical image obtained by imaging the target object at a target angle, where the target angle is an angle; Acquire a reference image corresponding to the target object at the target angle; Determine a first offset of the target object in a first direction and a second offset of the target object in a second direction according to the reference image and the target medical image, wherein the first direction is different from the second direction; A third offset of the target object in a third direction perpendicular to the first direction and the second direction is determined according to a scaling ratio of the target object in the reference image to the target object in the target medical image.

2. The method according to claim 1, characterized in that The determining, according to the reference image and the target medical image, a first offset of the target object in the first direction and a second offset in the second direction comprises: The first offset of the target object in the first direction and the second offset of the target object in the second direction are determined according to the direction and distance of the position offset of the target object in the reference image and the target medical image.

3. The method according to claim 2, characterized in that The method further comprises: The direction and distance of the target object position offset are determined according to the direction and distance of the position offset of the reference point of the target object in the target medical image relative to the reference point of the target object in the reference image.

4. The method according to claim 1, characterized in that: The determining, according to the scaling ratio of the target object in the reference image to the target object in the target medical image, a third offset of the target object in a third direction perpendicular to the first direction and the second direction comprises: Determining a scaling ratio of the target object according to a size of the target object in the reference image and a size of the target object in the target medical image; A third offset of the target object in a third direction perpendicular to the first direction and the second direction is determined according to the scaling ratio and the preset distance.

5. The method according to claim 4, characterized in that The target objects include at least three, and correspondingly, determining the scaling ratio of the target objects according to the size of the target objects in the reference image and the size of the target objects in the target medical image includes: Segmenting at least three of the target objects from the target medical image and the reference image; The scaling ratio of the target object is determined according to the area of ​​a geometric shape formed by at least three target objects in the reference image and the area of ​​a geometric shape formed by at least three target objects in the target medical image.

6. The method according to claim 1, characterized in that The method further comprises: A rotation offset of the target object in at least one of the first direction, the second direction, and the third direction is determined according to the reference image and the target medical image.

7. The method according to claim 6, characterized in that The step of determining the rotation offset of the target object in at least one of the first direction, the second direction, and the third direction according to the reference image and the target medical image comprises: The rotation offset of the target object in the reference plane is determined according to position changes of at least two reference points of the target object in the reference image and the target medical image.

8. The method according to claim 1, characterized in that: The step of acquiring a target medical image obtained by imaging the target object at a target angle includes: At a preset time interval, the target medical image obtained by imaging the target object at the target angle is acquired.

9. The method according to claim 1, characterized in that: The reference image is a DRR image reconstructed from a digital image of the three-dimensional image in the treatment plan at the target angle, or the reference image is a DRR image of the three-dimensional image reconstructed at the target angle after the positioning is completed.

10. The method according to claim 1, characterized in that The method further comprises: Image guidance is performed on the target object according to the first offset, the second offset, and the third offset of the target object.

11. The method according to claim 10, characterized in that The performing image guidance on the target object according to the first offset, the second offset, and the third offset of the target object includes: The position of the treatment couch is adjusted according to the first offset, the second offset, and the third offset, so that the position of the target object coincides with the planned position.

12. The method according to claim 11, characterized in that The adjusting the position of the treatment couch according to the first offset, the second offset, and the third offset includes: If at least one of the first offset, the second offset, and the third offset is not within a corresponding preset range, the position of the treatment couch is adjusted.

13. The method according to claim 11, characterized in that The adjusting the position of the treatment couch according to the first offset, the second offset, and the third offset includes: According to the conversion relationship between the image coordinate system and the actual coordinate system, the first offset, the second offset and the third offset are calculated to obtain the actual offset of the treatment bed, and the position of the treatment bed is adjusted according to the actual offset.

14. The method according to claim 1, characterized in that The target object includes at least one of a metal marker and a bone.

15. The method according to claim 14, characterized in that The method further comprises: A voting mechanism is used to determine the monitoring method based on the results of metal marker monitoring, bone monitoring, and the results of combined metal marker and bone monitoring.

16. A monitoring device, characterized in that: include: A first acquisition module is used to acquire a target medical image obtained by imaging the target object at a target angle, where the target angle is an angle; A second acquisition module, used to acquire a reference image corresponding to the target object at the target angle; an offset module, configured to determine a first offset of the target object in a first direction and a second offset of the target object in a second direction according to the reference image and the target medical image, wherein the first direction is different from the second direction; The offset module is further used to determine a third offset of the target object in a third direction perpendicular to the first direction and the second direction according to a scaling ratio of the target object in the reference image to the target object in the target medical image.

17. An electronic device, characterized in that: include: at least one processor; A memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 15.

18. A non-volatile computer storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.

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