Ultrasound probe, three-dimensional imaging method and device, radiotherapy positioning and tracking method

Abstract

The application discloses an ultrasonic probe, a three-dimensional imaging method and device, and a radiotherapy positioning and tracking method. The ultrasonic probe comprises at least two groups of linear transducer phased arrays, each group of linear transducer phased arrays comprises a plurality of linearly arranged array elements, and each group of linear transducer phased arrays can acquire a two-dimensional ultrasonic image of a marker point section directly below. The application can acquire two-dimensional ultrasonic images of marker point sections at different positions, complete three-dimensional imaging of the marker by using two-dimensional imaging time, realize high real-time dynamic tracking of the marker, realize real-time positioning and tracking of the tumor by fitting a mapping model and a matching model established before radiotherapy, and further realize precise radiotherapy of the dynamic tumor. The radiotherapy positioning and tracking method disclosed by the application is simple and flexible, has high real-time performance, is low in cost, high in precision, friendly to patients, and easy to popularize in clinical practice.

Description

Technical Field

[0001] This invention belongs to the field of medical equipment technology, specifically relating to an ultrasound probe, a three-dimensional imaging method and device, and a radiotherapy positioning and tracking method. Background Technology

[0002] Before radiotherapy begins, patients are positioned using lasers or IVS (Image Viewing System), assuming the tumor is static and immobile during treatment. However, tumors in organs such as the lungs and liver can shift and deform with respiration. Even with precise positioning, the tumor may deviate from its target location by 0.8–2.5 cm due to respiratory movements or gastrointestinal peristalsis. This means that the radiation cannot reach the entire tumor target area during radiotherapy, causing some damage to surrounding critical organs and reducing the effectiveness of radiotherapy.

[0003] During the dynamic tumor tracking process based on respiratory gating technology, physiological and pathological changes in the lungs and abdomen, as well as changes in the external environment such as increased abdominal pressure, gastric distension, and increased airway resistance, may alter the lung volume after exhalation and the location and morphology of liver tumors. In addition, the degree of respiratory effort, possible air leakage, nasal clip dislodgement, and involuntary movements caused by prolonged duration and agitation during radiotherapy all affect the radiotherapy effect.

[0004] Real-time tumor tracking using ultrasound imaging and 4DCT (Four-Dimensional Computed Tomography) is an advanced means of achieving precise radiotherapy for tumors. If ultrasound imaging is applied to the radiotherapy process, it can be used for real-time tracking due to its non-invasive and radiation-free nature, thereby obtaining the displacement and deformation of the tumor.

[0005] Some existing ultrasound probe technologies that can be used for tumor tracking:

[0006] First, application number CN201480079780.1 discloses an ultrasonic imaging device for three-dimensional (3D) and / or four-dimensional (4D) ultrasonic imaging. This ultrasonic imaging system includes at least first and second arrays of transducer elements offset at an angle to each other in the same plane. The translational, rotational, and / or oscillating motions of these ultrasonic transducer arrays severely affect the real-time performance and operability of the imaging. Furthermore, this method requires additional hardware, thereby increasing cost and footprint.

[0007] Second, application number CN202080015890.7 discloses a flexible ultrasonic transducer for inspecting curved objects in an ultrasonic monitoring system; application number CN201910696445.0 discloses a multi-parameter high-selectivity CMUTs gas sensor and its use and preparation method, and the two-dimensional ultrasonic array can be applied to tumor tracking.

[0008] Various two-dimensional ultrasound arrays are mostly used for disease diagnosis where real-time requirements are not high. However, they are poor in real-time tumor tracking, and the technology is difficult to implement in real time. The imaging effect is generally poor, the anti-interference ability is low, and the imaging is easily affected by treatment radiation and other electromagnetic interference during tumor treatment.

[0009] In addition, conventional one-dimensional linear array probes are simple in structure and low in cost, but they can only track two-dimensional changes of markers and cannot achieve accurate three-dimensional tracking of displacement and deformation information. Summary of the Invention

[0010] To address the aforementioned technical problems, this invention proposes an ultrasound probe, a three-dimensional imaging method and device, and a radiotherapy positioning and tracking method.

[0011] To achieve the above objectives, the technical solution of the present invention is as follows:

[0012] First, the present invention discloses an ultrasonic probe, comprising: at least two sets of linear transducer phased arrays, each set of linear transducer phased arrays comprising a plurality of linearly arranged array elements;

[0013] Each linear transducer phased array can acquire a two-dimensional ultrasound image of the cross section of the marker point directly below it.

[0014] Based on the above technical solution, the following improvements can be made:

[0015] As a preferred option, all linear transducer phased arrays are distributed in the same plane and do not overlap with each other.

[0016] Second, this invention discloses a three-dimensional imaging method, comprising the following steps:

[0017] A1: 3D morphological model of the collected markers;

[0018] A2: Use any of the above-mentioned ultrasonic probes to obtain two-dimensional ultrasonic images of cross-sections of multiple marker points at different locations on the marker;

[0019] A3: The position and shape information of the marker points in the two-dimensional ultrasound images obtained by the ultrasound probe at different times are matched with the 3D shape model of the marker obtained in A1 multiple times using a matching model;

[0020] Adjust the model parameters of the matching model based on the matching error;

[0021] When the matching error is less than the threshold, the final matching model and corresponding model parameters are obtained.

[0022] A4: The real-time two-dimensional ultrasound image of the marker acquired by the ultrasound probe is processed by the final matching model obtained in A3 to generate a real-time three-dimensional image of the marker.

[0023] As a preferred embodiment, in A2, a two-dimensional ultrasound image of the cross-section of at least three different locations of the marker is obtained using an ultrasound probe, and all the markers are not on the same straight line.

[0024] As a preferred option, A2 specifically includes the following steps:

[0025] A2.1: Using an ultrasound probe to move across the patient's body surface and create real-time two-dimensional images to confirm the location of the marker;

[0026] A2.2: Align the center of the ultrasound probe with the center of the trajectory of the marker displacement, and the position of the ultrasound probe should be able to acquire two-dimensional ultrasound images of the cross-section of at least three different marker points on the marker.

[0027] A2.3: Fix the ultrasound probe at the corresponding position on the patient's body surface.

[0028] Third, this invention discloses a three-dimensional imaging device, comprising:

[0029] Any of the above-mentioned ultrasonic probes is used to acquire two-dimensional ultrasonic images of cross-sections of multiple marker points at different locations on a marker.

[0030] 3D morphology model acquisition module, used to acquire the 3D morphology model of the marker;

[0031] The matching module is used to match the position and shape information of the marker points in the two-dimensional ultrasound images obtained by the ultrasound probe at different times with the 3D shape model of the marker obtained by the 3D shape model acquisition module multiple times through the matching model.

[0032] Adjust the model parameters of the matching model based on the matching error;

[0033] When the matching error is less than the threshold, the final matching model and corresponding model parameters are obtained.

[0034] The 3D image generation module is used to process the real-time 2D ultrasound image of the marker acquired by the ultrasound probe through the final matching model obtained by the matching module to generate a real-time 3D image of the marker.

[0035] As a preferred embodiment, the ultrasound probe is used to acquire two-dimensional ultrasound images of cross-sections of at least three different locations of the marker, and all markers are not on the same straight line.

[0036] Fourth, this invention also discloses a radiotherapy positioning and tracking method, comprising the following steps:

[0037] S1: Before radiotherapy, 4D images of the tumor and surrounding tissues are acquired. The tumor is delineated based on the 4D images. At the same time, the second dynamic curve of the tumor changes with the body's normal physiological changes is obtained, and the location and deformation data of the tumor under different physiological states are obtained.

[0038] S2: While delineating the tumor, use 4D imaging to find and confirm markers that meet the requirements and delineate them. At the same time, obtain the first dynamic curve of the markers as the body changes normally, and obtain the position and deformation data of the markers under different physiological states.

[0039] S3: Obtain a two-dimensional ultrasonic image of the marker using any of the above-mentioned ultrasonic probes to obtain the real-time position movement and attitude change of the marker;

[0040] S4: Based on the first dynamic curve of the marker and the second dynamic curve of the tumor, under different normal physiological conditions, realize the relationship between the marker position movement and posture change and the tumor position change and morphological change, and obtain a complete matching model and model parameters.

[0041] S5: During radiotherapy, a two-dimensional ultrasound image of the marker is acquired using any of the above-mentioned ultrasound probes. The computer converts the position information of the marker points in the two-dimensional ultrasound image into the three-dimensional information of the marker in real time through a mapping model, thereby realizing the positioning and tracking of the marker and generating the third dynamic curve of the marker.

[0042] S6: Confirm the physiological state of the third dynamic curve obtained in S5 and the first dynamic curve in S2, and then obtain the location and deformation of the tumor through the matching model in S4.

[0043] S7: Send the tumor location and shape information obtained in S6 to the radiotherapy control equipment to control the grating for adjustment.

[0044] As a preferred embodiment, S3 includes the following steps:

[0045] S3.1: Using any of the above-mentioned ultrasound probes, move it across the patient's body surface and perform real-time two-dimensional imaging to confirm the position of the marker;

[0046] S3.2: Align the center of the ultrasonic probe with the center of the trajectory of the marker displacement, and the position of the ultrasonic probe is able to acquire two-dimensional ultrasonic images of the cross-section of at least three different positions of the marker.

[0047] S3.3: Fix the ultrasound probe at the corresponding position on the patient's body surface;

[0048] S3.4: Combine the position information of all marker points obtained by the ultrasound probe with the 3D shape of the markers outlined in S2 to obtain a mapping model and model parameters that achieve a complete mapping between the positions of all marker points and the 3D shape of the markers.

[0049] As a preferred option, in S4 and / or S6, a surface optical tracking method is introduced to further obtain the location and deformation of the tumor.

[0050] This invention discloses an ultrasound probe, a three-dimensional imaging method and device, and a radiotherapy positioning and tracking method, which have the following beneficial effects:

[0051] 1) This invention discloses an ultrasonic probe with multiple sets of linear transducer phased arrays, which can acquire two-dimensional ultrasonic images of cross-sections of multiple marker points at different locations on a marker.

[0052] 2) The ultrasonic probe disclosed in this invention completes the three-dimensional imaging of the marker in two-dimensional imaging time, realizing the dynamic tracking of the marker with high real-time performance.

[0053] 3) This invention achieves precise real-time localization and tracking of tumors by fitting the mapping model and matching model established before radiotherapy, thereby realizing precise radiotherapy of dynamic tumors.

[0054] 4) The radiotherapy positioning and tracking method disclosed in this invention is simple, flexible, real-time, low-cost, high-precision, patient-friendly, and easy to implement in clinical practice. Attached Figure Description

[0055] 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.

[0056] Figure 1 A schematic diagram of the structure of an ultrasonic probe provided for an embodiment of the invention;

[0057] Figure 2 A schematic diagram of ultrasonic probe scanning marker imaging provided in an embodiment of the present invention;

[0058] Figure 3 This is one of the flowcharts for a tumor radiotherapy localization and tracking method provided in an embodiment of the present invention; Figure 3 (a) is a flowchart of the pre-radiotherapy process; Figure 3 (b) is a flowchart of the radiotherapy process;

[0059] Figure 4 This is the second flowchart of the tumor radiotherapy localization and tracking method provided in the embodiments of the present invention; Figure 4(a) is a flowchart of the pre-radiotherapy process; Figure 4 (b) is a flowchart of the radiotherapy process. Detailed Implementation

[0060] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0061] 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 only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Using ordinal numbers such as “first,” “second,” “third,” etc. to describe ordinary objects merely indicates different instances of similar objects and is not intended to imply that the objects being described must have a given order in time, space, sequence, or any other way.

[0063] Furthermore, the expression "includes" is an "open-ended" expression, which only means that the corresponding component exists and should not be interpreted as excluding additional components.

[0064] To achieve the objectives of this invention, some embodiments of an ultrasound probe, a three-dimensional imaging method and apparatus, and a radiotherapy positioning and tracking method are provided, such as... Figure 1 As shown, the ultrasonic probe 10 includes two sets of linear transducer phased arrays, specifically the first array 11 and the second array 12. Each set of linear transducer phased arrays can acquire a two-dimensional ultrasonic image of the cross section of the marker point directly below it.

[0065] The first array 11 and the second array 12 each include multiple linearly arranged array elements. The number and ratio of array elements in the first array 11 and the second array 12 can be arbitrarily set to meet the requirements of the test area. In this embodiment, the shape of the array elements of the ultrasonic probe is rectangular, but it can be any other shape and is not limited thereto.

[0066] Furthermore, the two sets of linear transducer phased arrays mentioned above are distributed in the same plane and do not overlap with each other.

[0067] In some specific embodiments, the first array 11 and the second array 12 are arranged in parallel, while in other embodiments, the first array 11 and the second array 12 can be arranged alternately, and so on. The arrangement is not limited to the examples listed in the embodiments.

[0068] The ultrasound probe disclosed in this invention enables real-time three-dimensional imaging and dynamic tracking of markers, which is a key step in tumor localization and tracking. To better understand this ultrasound probe, in some specific embodiments, the location of a blood vessel node in the liver is used as the marker, such as... Figure 2 As shown, the marker is scanned using the aforementioned ultrasonic probe to create a two-dimensional image.

[0069] The ultrasound probe acquires real-time two-dimensional ultrasound images of the marker at two different cross-sections at two relatively fixed positions within the same time period (the scanning imaging time of a conventional one-dimensional phased array ultrasound probe).

[0070] If the 3D morphology of the marker is known, the two-dimensional ultrasound image of the marker can be converted into a three-dimensional ultrasound image in real time using a specific model.

[0071] like Figure 2 As shown, the first array 11 realizes cross-sectional imaging of the marker at position 21, and the second array 12 realizes cross-sectional imaging of the marker at position 22. The marker is captured by the ultrasonic probe at three marker points 311, 312, and 313.

[0072] By appropriately fitting the position information of the three marker points captured by the ultrasound probe 10 on planes 21 and 22, as well as the known distance between imaging planes 21 and 22, with the known 3D shape of the marker 31, a three-dimensional ultrasound image of the marker 31 can be generated.

[0073] The selection principle for marker 31 should be to select tissues that are of appropriate size, located near the tumor site or the tissue in which the tumor is located, whose position and angle can change with the tumor in real time without causing morphological distortion or only causing slight morphological distortion.

[0074] Preferably, such as Figure 2 As shown, the bifurcation of an aortic vein can be selected as a marker, but is not limited to this one. The cross-section of the outward extension from the bifurcation can be imaged in both two-dimensional ultrasound images. The image of the marker captured in the two-dimensional ultrasound image is the marker point on the two-dimensional ultrasound image. Then, by utilizing the known 3D shape of the marker through image processing via a mapping model, a real-time three-dimensional image of the marker can be easily obtained.

[0075] To ensure the accuracy of 3D imaging of the marker, at least three marker points should be captured in the 2D ultrasound image. This method allows for real-time positioning and tracking of the marker, regardless of any 3D movement or rotation performed while maintaining vital signs.

[0076] Compared with the ultrasound imaging device for three-dimensional (3D) and / or four-dimensional (4D) ultrasound imaging mentioned in the background art application number CN201480079780.1, the present invention does not require relative movement between the ultrasound probe and the body surface, and the imaging is stable. The ultrasound probe in the present invention is essentially a one-dimensional ultrasound probe, which performs one-dimensional ultrasound scanning, resulting in better real-time imaging and higher positioning and tracking accuracy.

[0077] Compared with the various two-dimensional ultrasonic arrays mentioned in the background art, the ultrasonic probe in this invention is essentially a one-dimensional ultrasonic probe, which performs one-dimensional ultrasonic scanning, resulting in better real-time imaging and higher positioning and tracking accuracy.

[0078] In other embodiments, the present invention discloses a three-dimensional imaging method based on the aforementioned dual one-dimensional ultrasound probe, which enables real-time three-dimensional imaging of tumor markers, comprising the following steps:

[0079] A1: Acquire 4D images of tumor markers, delineate the tumor markers, and generate 3D morphological models of the tumor markers;

[0080] A2: Using the ultrasound probe described above, obtain two-dimensional ultrasound images of cross-sections of at least three different locations of the marker, and all markers are not on the same straight line;

[0081] A3: The position and shape information of the marker points in the two-dimensional ultrasound images obtained by the ultrasound probe at different times are matched with the 3D shape model of the marker obtained in A1 multiple times using a matching model;

[0082] Adjust the model parameters of the matching model based on the matching error;

[0083] When the matching error is less than the threshold, the final matching model and corresponding model parameters are obtained.

[0084] A4: Continue to use the ultrasound probe to perform ultrasound imaging on tumor markers. Process the real-time two-dimensional ultrasound images of the markers obtained by the ultrasound probe through the final matching model obtained in A3 to generate real-time three-dimensional images of the markers.

[0085] Real-time 3D images of markers can reflect the real-time changes in the position and orientation of the markers.

[0086] Furthermore, A2 specifically includes the following steps:

[0087] A2.1: Using an ultrasound probe to move across the patient's body surface and create real-time two-dimensional images to confirm the location of the marker;

[0088] A2.2: Align the center of the ultrasound probe with the center of the trajectory of the marker displacement, and the position of the ultrasound probe should be able to acquire two-dimensional ultrasound images of the cross-section of at least three different marker points on the marker.

[0089] A2.3: Fix the ultrasound probe at the corresponding position on the patient's body surface.

[0090] Furthermore, in other embodiments, the present invention discloses a three-dimensional imaging device based on the aforementioned dual one-dimensional ultrasound probe, capable of real-time three-dimensional imaging of tumor markers, including:

[0091] The ultrasound probe described above is used to acquire two-dimensional ultrasound images of cross-sections of at least three different locations of the marker, and all the markers are not on the same straight line.

[0092] The 3D morphological model acquisition module is used to acquire 4D images of tumor markers, delineate tumor markers, and generate 3D morphological models of tumor markers.

[0093] The matching module is used to match the position and shape information of the marker points in the two-dimensional ultrasound images obtained by the ultrasound probe at different times with the 3D shape model of the marker obtained by the 4D image acquisition module multiple times through the matching model.

[0094] Adjust the model parameters of the matching model based on the matching error;

[0095] When the matching error is less than the threshold, the final matching model and corresponding model parameters are obtained.

[0096] The 3D image generation module is used to process the real-time 2D ultrasound image of the marker acquired by the ultrasound probe through the final matching model obtained by the matching module to generate a real-time 3D image of the marker.

[0097] Real-time 3D images of markers can reflect the real-time changes in the position and orientation of the markers.

[0098] The ultrasound probe disclosed in this invention can generate three-dimensional ultrasound images of markers in real time, enabling the localization and tracking of tumor markers. Combined with 4DCT imaging technology, surface optical tracking technology, and the training and application of relevant models, real-time tumor localization and tracking can be further achieved. In some embodiments, this invention also discloses a radiotherapy localization and tracking method, including the following steps:

[0099] S1: As Figure 3 As shown in (a), before radiotherapy, 4D images of the tumor and surrounding tissues were acquired, and the tumor was delineated based on the 4D images. At the same time, the second respiratory curve of the tumor as the body changes with normal physiological changes was obtained, and the location and deformation data of the tumor at different respiratory phases and respiratory depths were obtained.

[0100] S2: While delineating the tumor, use 4D images to find and confirm markers that meet the requirements and delineate them. At the same time, obtain the first respiratory curve of the markers as the body changes with normal physiological changes, and obtain the position and deformation data of the markers at different respiratory phases and respiratory depths.

[0101] S3: Obtain a two-dimensional ultrasonic image of the marker using any of the above-mentioned ultrasonic probes to obtain the real-time position movement and attitude change of the marker;

[0102] S4: Based on the first respiratory curve of the marker and the second respiratory curve of the tumor, the relationship between the marker position movement and posture change and the tumor position and morphological change is realized under different respiratory phases and respiratory depths, and a complete matching model and model parameters are obtained.

[0103] S5: As Figure 3 As shown in (b), during radiotherapy, a two-dimensional ultrasound image of the marker is obtained through the ultrasound probe mentioned above. The computer converts the position information of the marker point in the two-dimensional ultrasound image into the three-dimensional information of the marker in real time through the mapping model, so as to realize the positioning and tracking of the marker and generate the third respiratory curve of the marker.

[0104] S6: Confirm the physiological state of the third respiratory curve obtained in S5 and the first respiratory curve in S2, and then obtain the location and deformation of the tumor through the matching model in S4.

[0105] S7: Send the tumor location and shape information obtained in S6 to the radiotherapy control equipment to control the grating for adjustment, so that the grating can be dynamically adjusted according to the precise real-time location and deformation of the tumor.

[0106] S3 includes the following steps:

[0107] S3.1: Using the ultrasound probe described above, move it across the patient's body surface and perform real-time two-dimensional imaging to confirm the position of the marker;

[0108] S3.2: Align the center of the ultrasonic probe with the center of the trajectory of the marker displacement, and the position of the ultrasonic probe is able to acquire two-dimensional ultrasonic images of the cross-section of at least three different positions of the marker.

[0109] S3.3: Fix the ultrasound probe at the corresponding position on the patient's body surface;

[0110] S3.4: Combine the position information of all marker points obtained by the ultrasound probe with the 3D shape of the markers outlined in S2 to obtain a mapping model and model parameters that achieve a complete mapping between the positions of all marker points and the 3D shape of the markers.

[0111] Furthermore, in S1 and S2, the delineation of tumors and markers can be done in different ways, either by delineating the tumor boundary or by delineating the location and shape information.

[0112] To more accurately match the respiratory curves of markers and tumors, such as Figure 4 As shown in (a), in S4, surface optical tracking or other auxiliary methods are introduced to eliminate errors caused by changes in limb position and shape during treatment and to optimize the matching model.

[0113] To obtain more precise information about tumor displacement and deformation, such as Figure 4 As shown in (b), in S6, the means of surface optical tracking or other auxiliary methods are introduced to correct the error caused by the change in the position of the ultrasound probe due to the change in the position and shape of the limb, and to correct the relevant parameters of the matching model between the marker and the tumor due to the change in the position and shape of the limb, thereby improving the treatment accuracy.

[0114] To better demonstrate the innovation of this invention, the following section introduces some existing tumor localization and tracking methods and their problems.

[0115] First, ELEKTA's CLARITY ultrasound device acquires three-dimensional images of the prostate through ultrasound imaging. However, this ultrasound device is only used for the treatment of prostate tumors and cannot provide information on tumors in other locations, nor can it be used for dynamic real-time tracking of the tumor target area. Furthermore, the infrared positioning device installed on the ultrasound probe is costly and difficult to implement clinically.

[0116] Compared with the above-mentioned technologies, the present invention can dynamically track most types of tumors in the body.

[0117] Second, application number CN201910258157.7 discloses a liver radiotherapy target localization technology based on ultrasound imaging, which is only applied to real-time tracking of tumors in the liver, not thoracic tumors, thus having a narrow application scope. It can only track respiratory phase but cannot identify respiratory depth. In addition, the ultrasound probe and the treatment radiation are too close and interfere with each other, and the installation of devices such as accelerometers or gyroscopes on the ultrasound probe is complex, costly, and impractical.

[0118] Compared with the above technologies, the present invention can dynamically track most types of tumors in the body, has better real-time tracking by ultrasound probe, and has dual tracking of respiratory phase and respiratory depth. By tracking markers, it does not interfere with radiotherapy to the location of the tumor. It is simple to operate and highly feasible.

[0119] Third, Accuray's CyberKnife achieves radiotherapy for lung tumors by tracking gold markers in the lungs in real time. However, it relies on establishing a respiratory motion model based on respiratory movements on the body surface and uses two X-ray devices for phase confirmation to track gold markers on the lung tumors. This is an invasive and radiation-inducing tracking method, which is not suitable for widespread application.

[0120] Compared with the above technologies, the present invention is non-invasive, radiation-free, and safer.

[0121] Fourth, Varian utilizes RPM (Real-Time Position Management) technology to acquire 4DCT (Four-Dimensional Computed Tomography) data of the human body. Varian RPM places markers on the surface of the human chest and uses a camera to capture information about the markers' movement during respiration, generating a 4DCT to dynamically track lung tumors. However, this technology is costly, difficult to operate, and the accuracy of tumor tracking based on surface information is significantly compromised.

[0122] Compared with the above-mentioned technologies, the accuracy of ultrasound imaging in this invention is far higher than that of body surface information imaging, and the positioning and tracking accuracy of this invention is high.

[0123] Fifth, VisionRT's SGRT (Surface Guided Radiation Therapy) technology uses three cameras to acquire information about the patient's body surface. VisionRT uses three 3D stereo cameras to acquire this information and dynamically guide radiotherapy. However, this technology is expensive, and the accuracy of using body surface information for tumor tracking has a significant margin of error.

[0124] Compared with the above-mentioned technologies, ultrasound imaging is far more accurate than surface information imaging, and the positioning and tracking accuracy of this invention is high.

[0125] Sixth, application number CN202110195438.X discloses a method of tracking tumors using ultrasound and an abdominal pressure plate. This method reduces the range of movement and deformation of abdominal organs or tumors by forcing the patient into a shallow breathing state, but it still cannot achieve accurate tumor tracking.

[0126] Compared with the above technologies, the present invention uses ultrasound positioning and tracking, which is more accurate and more patient-friendly.

[0127] This invention discloses an ultrasound probe, a three-dimensional imaging method and device, and a radiotherapy positioning and tracking method. It utilizes a dual one-dimensional ultrasound probe to achieve three-dimensional imaging of a marker in the time required for two-dimensional images, enabling highly real-time dynamic tracking of the marker. Furthermore, by using a fitted model to dynamically calculate the real-time position and deformation of the tumor based on the position and orientation changes of the marker, it achieves precise tumor localization during radiotherapy.

[0128] Compared to existing tumor localization and tracking technologies, this invention utilizes a dual one-dimensional ultrasound probe to achieve three-dimensional imaging of tumor markers within the time frame of two-dimensional imaging, enabling faster tumor localization and tracking. Based on this method, the radiotherapy localization and tracking method can more safely acquire the location and deformation of the tumor target area in real time under different physical states, achieving more accurate tumor localization and tracking, reducing damage to critical organs, and improving radiotherapy efficacy. For example, in one embodiment targeting the dynamic changes in tumors caused by respiration, not only is the respiratory phase tracked, but also the depth of respiration.

[0129] This method is characterized by its simplicity and flexibility, allowing for adjustments to the treatment plan based on the specific characteristics of different tumors. It does not restrict patient control during treatment, does not increase radiation dose, and is more patient-friendly, offering significant clinical advantages. Furthermore, the low cost of ultrasound equipment facilitates its widespread clinical adoption.

[0130] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A three-dimensional imaging method, characterized in that, Includes the following steps: A1: 3D morphological model of the collected markers; A2: Use an ultrasound probe to obtain two-dimensional ultrasound images of cross-sections of at least three different locations of the marker, and all markers are not on the same straight line; The ultrasonic probe includes: at least two sets of linear transducer phased arrays, each set of linear transducer phased arrays including multiple linearly arranged array elements; Each linear transducer phased array can acquire a two-dimensional ultrasound image of the cross section of the marker point directly below it; All the linear transducer phased arrays are distributed in the same plane and do not overlap with each other; A3: The position and shape information of the marker points in the two-dimensional ultrasound images obtained by the ultrasound probe at different times are matched with the 3D shape model of the marker obtained in A1 through the matching model. Adjust the model parameters of the matching model based on the matching error; When the matching error is less than the threshold, the final matching model and corresponding model parameters are obtained. A4: The real-time two-dimensional ultrasound image of the marker acquired by the ultrasound probe is processed by the final matching model obtained in A3 to generate a real-time three-dimensional image of the marker.

2. The three-dimensional imaging method according to claim 1, characterized in that, A2 specifically includes the following steps: A2.1: Using an ultrasound probe to move across the patient's body surface and create real-time two-dimensional images to confirm the location of the marker; A2.2: Align the center of the ultrasound probe with the center of the trajectory of the marker displacement, and the position of the ultrasound probe should be able to acquire two-dimensional ultrasound images of the cross-section of at least three different marker points on the marker. A2.3: Fix the ultrasound probe at the corresponding position on the patient's body surface.

3. A three-dimensional imaging device, characterized in that, include: An ultrasonic probe is used to acquire two-dimensional ultrasonic images of cross-sections of at least three different locations of a marker, and all markers are not on the same straight line. The ultrasonic probe includes: at least two sets of linear transducer phased arrays, each set of linear transducer phased arrays including multiple linearly arranged array elements; Each linear transducer phased array can acquire a two-dimensional ultrasound image of the cross section of the marker point directly below it; All of the aforementioned linear transducer phased arrays are distributed in the same plane and do not overlap with each other; A 3D morphology model acquisition module is used to acquire the 3D morphology model of the marker. The matching module is used to match the position and shape information of the marker points in the two-dimensional ultrasound images obtained by the ultrasound probe at different times with the 3D shape model of the marker obtained by the 3D shape model acquisition module through the matching model multiple times. Adjust the model parameters of the matching model based on the matching error; When the matching error is less than the threshold, the final matching model and corresponding model parameters are obtained. A three-dimensional image generation module is used to process the real-time two-dimensional ultrasound image of the marker acquired by the ultrasound probe through the final matching model obtained by the matching module to generate a real-time three-dimensional image of the marker.

Images