Radiotherapy device collision warning method

Abstract

The application provides a radiotherapy device collision warning method, comprising: obtaining a collision set of a moving component of a radiotherapy device in a motion range, comprising: obtaining the vertex coordinates of all moving components under each posture combination of the moving component in the motion range, using the same and a collision detection method to traverse and calculate the collision conditions in all posture combinations of the moving component, to obtain the posture combinations corresponding to all collision conditions and add the same to the collision set; determining an expected trajectory set according to a current motion mode and parameter information thereof; the expected trajectory set is a set of posture combinations of all moving components on an expected motion path under the current motion mode; calculating the intersection of the expected trajectory set and the collision set, and judging whether the intersection is an empty set; if yes, no collision risk is prompted, otherwise, a collision risk is prompted. The radiotherapy device collision warning method avoids the occurrence of collision when a user operates the moving component, so as to improve the safety in the radiotherapy process.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, in particular to a collision warning method for a radiotherapy device. BACKGROUND

[0002] Tumor radiotherapy is to use high-energy rays, including X-rays, gamma rays, protons and heavy ion rays, to achieve the purpose of treating tumors through the killing effect of rays on cells. The radiotherapy device usually includes a gantry, a treatment head and a treatment bed. During the implementation of radiotherapy, the treatment head is installed on the gantry, and the moving parts such as the gantry, the treatment head and the treatment bed need to be moved to the planned position to implement radiotherapy. The gantry, the treatment head and the treatment bed are moving parts, and have a large range of movement. When there is an angular rotation, the rotation of the gantry and the rotation of the treatment bed are not in the same plane, which is called non-coplanar. The rotation axes of the gantry and the treatment bed are non-coplanar, and there is a possibility of collision between the gantry and the treatment bed, especially when the moving parts rotate. For proton and heavy ion radiotherapy, there are many scenarios of non-coplanar, and there is a high risk of collision.

[0003] The movement of the gantry, the treatment head and the treatment bed can be realized by controlling the handle. The movement mode of the gantry, the treatment head and the treatment bed has two modes: relative movement mode and absolute movement mode.

[0004] Relative movement mode: control the gantry to move in a certain direction until it reaches the limit or the operator releases the enablement (i.e. stops control) to stop the gantry; the treatment bed can also be controlled to move in a certain direction until it reaches the limit or the operator releases the enablement (i.e. stops control) to stop the treatment bed, but only one degree of freedom can be controlled at the same time, and multi-axis linkage is not allowed.

[0005] Absolute movement mode: the function provided on the control handle allows the user to input the target position of the moving part, and directly move the part to the target position and stop. This mode allows the user to input any angle within the rotation range to make the gantry move to this position; or the operator inputs a set of 6-dimensional coordinates of the treatment bed to make the treatment bed move to the target position. (The treatment bed can be multi-axis linked in this mode).

[0006] The existing radiotherapy equipment usually designs some anti-collision devices on the treatment head, such as a protective cover outside the treatment head device, which triggers the collision recognition device to stop the movement when the protective cover collides with external objects; some devices also set torque sensors on the moving parts, which stop the movement when the torque sensor recognizes that the torque exceeds a certain threshold. The above-mentioned solutions trigger and stop the movement when the collision actually occurs, and cannot make a pre-warning for the scene where the collision will occur, so as to take effect before the collision occurs and avoid the collision.

[0007] To solve the above problems, the application provides a collision warning method of a radiotherapy device. SUMMARY

[0008] The application aims to provide a collision warning method of a radiotherapy device to avoid collision when a user operates a moving part, thereby improving safety during radiotherapy.

[0009] To achieve the above-mentioned purpose, the application provides a collision warning method of a radiotherapy device, comprising the following steps:

[0010] S1: obtaining a collision set of moving parts of a radiotherapy device in a motion range, specifically comprising the following steps:

[0011] S11: obtaining coordinates of each vertex of all moving parts under each posture combination of the moving parts in the motion range;

[0012] S12: using a collision detection method and the coordinates of each vertex of all moving parts under each posture combination to calculate collision conditions in all posture combinations of the moving parts, so as to obtain posture combinations corresponding to all collision conditions;

[0013] S13: adding all posture combinations corresponding to all collision conditions to the collision set;

[0014] S2: obtaining a current motion mode;

[0015] S3: obtaining parameter information of the current motion mode;

[0016] S4: determining an expected trajectory set according to the current motion mode and the parameter information; the expected trajectory set is a set of posture combinations of all moving parts on an expected motion path under the current motion mode;

[0017] S5: calculating an intersection of the expected trajectory set and the collision set, and judging whether the intersection is an empty set;

[0018] S6: if the intersection is an empty set, prompting that there is no collision risk, otherwise, prompting that there is a collision risk.

[0019] The moving parts comprise a gantry, a treatment head and a treatment bed.

[0020] The coordinates of each vertex of all moving parts are obtained by the following method: obtaining dimension values of all motion axes of a single posture combination, regarding a single moving part, a part of a single moving part or a combination of multiple moving parts as a regular cube, and determining coordinate values of each vertex of each cube corresponding to all moving parts according to all dimension values of the posture combination, as the coordinates of each vertex of all moving parts under a single posture combination.

[0021] The single posture combination comprises dimension values of all movement axes of all moving parts, the number of movement axes of all moving parts is 8, and all movement axes include a rotation axis of the gantry, a translation axis of the treatment head, and an X-axis, a Y-axis, a Z-axis, and a rotation axis, an inclination axis, and a roll axis of the treatment couch.

[0022] The total number of posture combinations is related to the movement range of each movement axis in all moving parts and the step length of traversal calculation.

[0023] The collision detection method specifically comprises:

[0024] A1: a collision avoidance threshold is set in advance;

[0025] A2: a posture combination is selected, and projection line segments of all cubes on three coordinate axes are obtained according to vertex coordinates of all moving parts under the selected posture combination;

[0026] A3: it is judged whether there are two cubes in all cubes, and the distance between the projection line segments of the two cubes on each coordinate axis is less than or equal to the collision avoidance threshold; if so, the two cubes are regarded as collision objects, and the selected posture combination is regarded as a posture combination corresponding to a collision condition.

[0027] The current movement mode includes a relative movement mode and an absolute movement mode, parameter information of the relative movement mode includes a moving part to be moved, a movement axis, and a movement direction, and parameter information of the absolute movement mode includes the moving part to be moved and a target position thereof; parameter information of the current movement mode and the current moving part is obtained in response to operation of a control handle of the radiotherapy device by a user.

[0028] The step S4 comprises:

[0029] When the current movement mode is the relative movement mode, the movement axis to be moved is unique, dimension values of the movement axis to be moved are continuously changed along the movement direction from the current dimension value until a movement limit position, the remaining dimension values remain unchanged, a combination of all dimension values is regarded as a posture combination, and all posture combinations are combined into the expected trajectory set.

[0030] When the current movement mode is the absolute movement mode, all movement axes of the moving part to be moved remain unchanged, and dimension values of all movement axes of the moving part to be moved are continuously changed from the current dimension value to the dimension value at the target position at a uniform speed, a movement trajectory of each dimension value at each moment is regarded as a posture combination, and all posture combinations are combined into the expected trajectory set.

[0031] The step S6 comprises: if the intersection is not an empty set, prompting the expected collision position according to the intersection.

[0032] The collision risk prompt comprises: displaying prompt information of the collision risk on an interface of a control handle of the radiotherapy device and / or a display interface of the radiotherapy device in a treatment room.

[0033] The radiotherapy device collision warning method according to the present application can judge the collision risk of the movement according to the expected trajectory set and the collision set in which the collision will occur, can prompt the collision risk of the movement when the user starts the movement, does not need to install some anti-collision physical objects on the device, saves the cost, and can prompt the position of the collision when the collision risk exists, so as to prevent the collision event from occurring. In particular, the collision risk is prompted in the early stage of the expected movement execution, rather than being identified when the collision actually occurs. The present application can warn the collision in advance in time, and prevent the collision from occurring. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings, which are part of the specification, serve to further understand the present application, and the schematic embodiments of the present application and the descriptions thereof serve to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1 A flowchart of a radiotherapy device collision warning method according to one embodiment of the present application;

[0036] Figure 2 A flowchart for obtaining a collision set;

[0037] Figure 3 A schematic diagram of the principle of a collision detection method. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0039] As Figure 1 shown is a radiotherapy device collision warning method according to one embodiment of the present application, which can be applied to a radiotherapy device comprising a movement component; the radiotherapy device collision warning method comprises:

[0040] Step S1: obtaining a collision set S of a movement component of a radiotherapy device in a movement range;

[0041] The movement component comprises a treatment head, a treatment bed, and a rotating gantry. In step S1, the number of movement dimensions of all the movement components is 8, comprising 1 dimension of the treatment head, 6 dimensions of the treatment bed, and 1 dimension of the rotating gantry.

[0042] When one of the moving parts moves in the moving range, the other moving parts are fixed. According to the actual use scene problem, two use scenes are divided: scene one, the user uses relative motion, at this time only one part can move, the other parts cannot move, and when the moving part is a treatment bed, only one moving dimension of the treatment bed can move, and the other five dimensions cannot move, that is, each dimension can move in the motion common mode, but only one dimension can move at the same time. Scene two, the user uses absolute motion, at this time only one part can move, the other parts cannot move, but the treatment bed can move six moving dimensions at the same time. Since each moving dimension only corresponds to one moving axis and only corresponds to one dimension value, the dimension value of the moving dimension can be understood as the moving axis coordinate value, the moving axis dimension value of the moving part. The moving axis coordinate value can be displayed on the control handle of the radiotherapy device.

[0043] As shown in Figure 2 , the collision set S of the moving parts in the moving range is obtained, specifically including:

[0044] Step S11: obtaining the vertex coordinates of all moving parts under each posture combination of the moving parts in the moving range;

[0045] The vertex coordinates of all moving parts are obtained by the following method: obtaining the dimension values of all moving axes of a single posture combination, regarding a single moving part, a part of a single moving part or a combination of multiple moving parts as a regular cube, determining the coordinate values of the vertices of each cube corresponding to all moving parts according to all dimension values of the posture combination, as the vertex coordinates of all moving parts under a single posture combination.

[0046] In this embodiment, the moving parts include a gantry, a treatment head, and a treatment bed; but the treatment head is integrated with the gantry, and there is no collision possibility between the two, so the gantry and the treatment head can be regarded as a cube A, and the treatment bed can be regarded as a part, but the treatment bed is not easy to be directly regarded as a cube, so the treatment bed can be divided into two components, one is the bed surface of the treatment bed as a cube B, and the other is the mechanical arm of the treatment bed as a cube C, thereby, the projection line segments of cube A (gantry + treatment head), cube B (treatment bed surface), and cube C (treatment bed mechanical arm) on three coordinate axes can be calculated for each posture combination, and the collision conditions of cube A and B and cube A and C are determined, if the collision condition occurs, the corresponding posture combination enters the collision set.

[0047] Obtaining the vertex coordinates is used to calculate the spatial relationship of each moving part in step S12, and whether there is a collision condition between the moving parts.

[0048] Step S12: using the collision detection method and the vertex coordinates of all moving parts in each pose combination, the collision in all pose combinations of the moving parts is calculated to obtain the pose combination corresponding to all collision conditions;

[0049] The single pose combination includes the dimension values of all movement axes of all moving parts, and any change in any dimension value is regarded as a change in the pose combination. In the embodiment, each pose combination includes a total of 8 movement axes (i.e., 1 movement axis of the treatment head, 1 movement axis of the rotating gantry, and 6 movement axes of the treatment bed), and each movement dimension has a respective movement range. Therefore, the calculation of all pose combinations of the moving parts specifically includes: keeping the dimension values of 7 movement axes unchanged, changing the dimension value of a certain movement axis each time, and calculating whether there is a part collision. In this way, the movement range of all movement axes is calculated to obtain a pose combination in which a part collides. In this way, the specific position and pose coordinates of all moving parts can be obtained.

[0050] The total number of pose combinations of the moving parts is related to the movement range of each movement axis in all moving parts and the step length of the calculation. For example, the rotation range of the rotating gantry in the given physical diagram is 0-180°, and the dimension value of the rotation movement axis can take a certain step length such as 0.5°. Thus, there are (180-0) / 0.5 pose combinations for combination with other movement dimensions. This step is actually for the computer to calculate, and thus the lower the step length value, the more accurate the calculation. In the embodiment, there are a total of 8 movement dimensions, and the movement range of each movement axis is considered. A calculation step length is set for the value of each movement dimension. The total number of pose combinations is the product of the number of poses of each movement dimension in the 8 dimensions. That is, when the dimension values of the movement range of each dimension in the 8 dimensions are calculated, all pose combinations are traversed.

[0051] The collision detection method includes the steps shown in Figure 3 The collision detection method specifically includes the steps shown in Figure 3

[0052] Step A1: setting a collision avoidance threshold d in advance;

[0053] In the present application, in order to predict the collision in advance without actually occurring, a collision avoidance threshold d needs to be set in advance. The collision threshold is set by a person before calculation, and the situation of collision cannot occur in the actual use scene. A collision threshold is usually set, that is, a certain distance is left between the parts. In the collision detection method of the present application, the distance between the parts is less than the collision threshold, and it is considered that the collision has occurred. Therefore, the pose combination needs to be added to the collision set.

[0054] ​Step A2: Select a pose combination, and based on the vertex coordinates of all moving parts under the selected pose combination, obtain the projection line segments of all cubes on the three coordinate axes.

[0055] like Figure 3 As shown, the projection of object A onto the X-axis is X. A1 X A2 The projection of a line segment onto the Y-axis is Y. A1 Y A2 The projection of a line segment onto the Z-axis is Z. A1 Z A2 The line segment, the projection of object B onto the X-axis is X. B1 X B2 The projection of a line segment onto the Y-axis is Y. B1 Y B2 The projection of a line segment onto the Z-axis is Z. B1 Z B2 Line segment.

[0056] Step A3: Determine whether there are two cubes among all the cubes, and the distance between the projection line segments of these two cubes on each coordinate axis is less than or equal to the anti-collision threshold; if so, treat these two cubes as colliding objects, and use the selected posture combination as the posture combination corresponding to the collision situation.

[0057] Figure 3 The diagram shows a collision between two objects, A and B, in space. Objects A and B are projected onto the X, Y, and Z coordinate axes. The projection of object A onto the X-axis is X. A1 X A2 The projection of a line segment onto the Y-axis is Y. A1 Y A2 The projection of a line segment onto the Z-axis is Z. A1 Z A2 The line segment, the projection of object B onto the X-axis is X. B1 X B2 The projection of a line segment onto the Y-axis is Y. B1 Y B2 The projection of a line segment onto the Z-axis is Z. B1 Z B2 Line segments. Generally speaking, a necessary condition for object A and object B to collide is that the line segments projected onto the three coordinate axes of A and B overlap. For example, in... Figure 3 In the middle, line segment X A1 X A2 and X B1 X B2 The distance between them is X B1 -X A2 Here, the distance X B1 -X A2≤0, which means that there is an overlap (collision) between the objects A and B, and this is the condition for judging the collision; in Figure 3 In the above equation, the overlap of the objects A and B in the X axis is X B1 X A2 , the overlap in the Y axis is Y A1 Y B2 , and the overlap in the Z axis is Z B1 Z A2 .

[0058] In the present application, in order to predict the collision in advance, a collision threshold d is usually introduced in the actual scene to stop the movement before the collision occurs. The distance between the components is less than the collision threshold d, and it is also considered to be collided. When A and B do not collide, the distance X A1 X A2 between the line segments X B1 X B2 and X B1 -X A2 is a positive value, which means that A and B do not collide in the X axis direction, and when the projections in the Y axis and the Z axis also indicate no collision, it is determined that the objects A and B do not collide in space. Therefore, the judging condition is changed to X B1 -X A2 ≤d, so that when the distance between the projection line segments of the objects A and B is less than the collision threshold d, it is judged to enter the collision set.

[0059] That is, for the objects A and B, the present application judges whether the two objects enter the collision threshold range and become the collision objects by judging the conditions X B1 -X A2 ≤d, Y B1 -Y A2 ≤d, and Z B1 -Z A2 ≤d. The collision object judgment of A and B, A and C is required for each pose, and as long as one of the judgment results of A and B, A and C is a collision object that satisfies the judgment condition, it is considered that the pose collides (the result actually contains the actual collision and the distance between the two objects is less than the collision threshold, but it is uniformly regarded as the collision here).

[0060] Step S13: all the pose combinations corresponding to the collision cases are added to the collision set S.

[0061] Each sample in the generated collision set S includes the dimension value of all motion axes (i.e. includes one pose combination). In the embodiment, all motion axes include the rotation axis of the gantry, the translation axis of the treatment head, and the X axis, Y axis, Z axis and rotation axis of the treatment couch, the tilt axis, and the roll axis, wherein the motion on the X axis, Y axis, Z axis and rotation axis of the treatment couch is realized by linkage of the couch top and the mechanical arm, and the motion on the tilt axis and the roll axis is realized by motion of the couch top only. The dimension value of all motion axes specifically includes the angle of the gantry, the position of the treatment head, the X, Y, Z axis position and rotation, tilt, and roll angle of the treatment couch, i.e. {gantry angle, treatment head position, x-axis coordinate, y-axis coordinate, z-axis coordinate, rotation angle, tilt angle, roll angle}.

[0062] Thus, each sample corresponds to all dimension values of one pose combination. Although the above collision detection method uses the vertex coordinates of each component when calculating, the vertex coordinates of each component at different poses have a corresponding relationship with the 8 dimension values of the pose.

[0063] Step S2: obtaining the current motion mode;

[0064] The current motion mode includes a relative motion mode and an absolute motion mode. The current motion mode is obtained in response to the operation of the control handle of the radiotherapy device by the user.

[0065] Step S3: obtaining the parameter information of the current motion mode;

[0066] The parameter information of the relative motion mode includes one motion component to be moved, one motion axis, and one motion direction, and the motion axis corresponds to one motion dimension. The parameter information of the absolute motion mode includes the motion component to be moved and the target position thereof.

[0067] The parameter information of the current motion component is obtained in response to the operation of the control handle of the radiotherapy device by the user.

[0068] Specifically, if the user first presses the enable buttons on both sides of the control handle of the radiotherapy device, and then presses the physical buttons corresponding to the motion axis and the motion direction on the control handle of the radiotherapy device, the current motion mode obtained is the relative motion mode, and the motion axis and the motion direction pressed by the user are the motion axis and the motion direction to be moved; if the user clicks the manual setting on the control handle interface, sets the target position, and simultaneously presses the enable buttons on both sides of the handle + the "M" button to control the motion, the current motion mode obtained is the absolute motion mode, and the motion component and the target position set are the motion component to be moved and the target position.

[0069] In the embodiment, the motion components include a gantry with one motion axis, a treatment head with one motion axis, and a treatment couch with six motion axes, in the relative motion mode, the treatment couch can only move one axis at a time, and cannot move two or more axes at the same time. For the motion axis of rotational motion, the motion direction includes clockwise and counterclockwise directions, and for the motion axis of translational motion, the motion direction includes positive and negative motion directions.

[0070] Therefore, the motion component, the motion axis, and the motion direction in the parameter information of the relative motion mode can be selected from the motion components of the entire radiotherapy device.

[0071] Step S4: determining an expected trajectory set B according to the current motion mode and the parameter information thereof;

[0072] The expected trajectory set B is a set of posture combinations of all motion components on the expected motion path in the current motion mode. Since the motion components have not yet moved, the expected trajectory set B is a set of expected motions. The expected trajectory set B is not calculated, but only the expected motions are collected together.

[0073] That is, the expected trajectory set B is a set of posture combinations formed by the dimension value of the motion axis of the expected motion changing along the motion path and the dimension values of the other motion axes that have not moved. The dimension value of the motion axis that has not moved is kept unchanged.

[0074] The number of motion axes whose dimension values change along the expected motion path is related to the current motion mode, and in the relative motion mode, the dimension value of only one motion axis changes, and in the absolute treatment mode, the dimension value of multiple motion axes can change.

[0075] Therefore, the step S4 includes:

[0076] 1) when the current motion mode is the relative motion mode, the motion axis to be moved is unique, the dimension value of the motion axis to be moved is continuously changed along the motion direction from the current dimension value until the motion limit position, the remaining dimension values remain unchanged, all combinations of the dimension values are taken as posture combinations, and all posture combinations of the continuously changed dimension value of the motion axis to be moved are merged into the expected trajectory set B;

[0077] The current dimension value is obtained by the control handle and displayed on the control handle.

[0078] The motion limiting position refers to a mechanical limiting position, and the motion part to be moved can only move within the motion range. In the relative motion mode, it is only known that the user controls a certain axis to move in a certain direction, but it is not known when the user stops. The user only needs to release the key to stop moving. Therefore, the expected trajectory is concentrated on the dimension value of the motion axis to be moved to the motion limiting position.

[0079] 2) When the current motion mode is the absolute motion mode, all motion axes of the non-movement motion part keep the current dimension value unchanged, and the dimension values of all motion axes of the movement motion part are taken to the dimension values at the target position at a constant speed. In the case where the motion trajectory composed of each dimension value at each time and the combination of all dimension values are combined as a posture combination, all posture combinations are combined as the expected trajectory set B.

[0080] In the absolute motion mode, the motion direction and motion speed of each motion axis are constant. For the gantry rotation, treatment head extension motion, and treatment bed translation motion, only the dimension value of the moving motion axis changes, and the dimension values of the other non-moving motion axes do not change. For the treatment bed rotation motion, in addition to the dimension value of the rotation axis changing, the dimension values of the X, Y, and Z axes of the treatment bed may also change, because the dimension values of the X, Y, and Z axes of the treatment bed are obtained as the coordinates of a point on the bed surface.

[0081] Specifically, if the gantry rotation motion is from a to b position, the trajectory is that the dimension value of the angle of the gantry (i.e., the dimension value of the rotation axis of the gantry) is in the range [a, b], and the dimension values of the other motion axes do not change.

[0082] If the treatment head extension motion is from a to b position, the trajectory is that the position of the treatment head (i.e., the dimension value of the translation axis of the treatment head) is in the range [a, b], and the dimension values of the other motion axes do not change.

[0083] If the treatment bed translation motion is from A(x a ,y a z a ) to B(x b ,y b ,z b ), the trajectory is that the X, Y, and Z axes of the treatment bed take the values ([x a ,x b ], [y a ,y b ], [z a ,z b ]), and the dimension values of the other motion axes do not change.

[0084] For convenience of description, the symbol (φ, θ) represents (rotation, inclination, roll). If it is a treatment couch rotation motion from A(x a ,y a ,z a ,φ a , θ a ) to B(x b ,y b ,z b ,φ b , θ b ), x a ,y a ,z a ,φ a , θ a are the current X, Y, Z axis positions and rotation, inclination, roll angles, i.e. the current dimension values; x b ,y b ,z b ,φ b , θ b are the X, Y, Z axis positions and rotation, inclination, roll angles at time t, and when t = total time T, x b ,y b ,z b ,φ b , θ b are the X, Y, Z axis positions and rotation, inclination, roll angles at the target position. Therefore, the motion trajectory is that the rotation, inclination, roll angles of the treatment couch take values ([φ a ,φ b ], [θ a ,θ b ]) (t = T), while the corresponding (x, y, z) coordinates are calculated for each angle value, and the rotation angles are simultaneously changed with respect to the dimension values of the multiple motion axes of rotation, inclination, roll, and the rotation rates of the rotation, inclination, roll angles are k1, k2, k3, respectively, then the rotation angle φ b , the inclination angle and the roll angle θ b at time t are respectively:

[0085] φ b = φ a +k1×t,

[0086]

[0087] θ b = θ a +k3×t,

[0088] Therefore, the rotation movement of the treatment bed is from A point (i.e. the current position) through the rotation movement (φ (b-a) , θ (b-a) ) to B point (B point is the position reached by A point after time t, and B point is the target position when t=T), then the first three coordinates of B point B(x b , y b , z b ) will change with the rotation movement, therefore, the coordinates of A and B points before and after the movement are represented as follows:

[0089]

[0090] Wherein, at a certain movement time t, the X, Y, Z axis positions of the treatment bed and the rotation, inclination, and roll angles x b , y b , z b , φ b , θ b (i.e. the coordinate value of B point) are calculated as follows:

[0091] φ b = φ a + k1 x t

[0092]

[0093] θ b = θ a + k3 x t

[0094]

[0095]

[0096]

[0097] Step S5: calculate the intersection C of the expected trajectory set B and the collision set S, and determine whether the intersection C is an empty set;

[0098] Step S6: according to the determination result, if the intersection C is an empty set, prompt no collision risk, if the intersection C is not an empty set, prompt collision risk and prompt the expected collision position according to the intersection C.

[0099] Wherein, the expected collision position is the pose combination represented by the first element of the intersection C. That is, the expected collision position is the first pose combination that will collide along the movement direction.

[0100] Thus, the radiotherapy device collision warning method of the present application uses the collision set S and the trajectory set B thereof to determine whether there is a collision risk, and when there is a collision risk, the collision risk is prompted and the expected collision position is prompted, and when there is no collision risk, it is prompted that there is no collision risk.

[0101] Prompting the collision risk can include displaying prompt information of the collision risk on the interface of the control handle of the radiotherapy device and / or the display interface of the radiotherapy device in the treatment room. The prompt content can include the name of the moving component of the expected collision and the dimension value of the movement axis of the moving component when the collision is expected, such as “the rotating gantry will collide at 90°”.

[0102] The above is only a preferred embodiment of the present application, not to limit the scope of the present application, the above embodiment of the present application can also be made various changes. That is, any simple, equivalent changes and modifications made according to the content of the claims and the description of the present application fall within the scope of the claims of the present application. The present application is not described in detail, which is the conventional technical content.

Claims

1. A radiotherapy device collision warning method, characterized by, The application relates to a method for checking collision risk of a radiotherapy device. Step S1: acquiring a collision set of a moving component of a radiotherapy device in a motion range, specifically comprising the following steps: Step S11: acquiring the vertex coordinates of all moving components under each posture combination of the moving component in the motion range; the moving component comprises a gantry, a treatment head and a treatment bed; the vertex coordinates of all moving components are acquired by the following method: acquiring the dimension values of all motion axes of a single posture combination, regarding a single moving component, a part of a single moving component or a combination of multiple moving components as a regular cube, and determining the coordinate values of the vertices of each cube corresponding to all moving components according to all dimension values of the posture combination, as the vertex coordinates of all moving components under a single posture combination; the single posture combination simultaneously comprises the dimension values of all motion axes of all moving components, the number of motion axes of all moving components is eight, and all motion axes comprise a rotating axis of the gantry, a translation axis of the treatment head and an X-axis, a Y-axis, a Z-axis, a rotating axis, an inclination axis and a rolling axis of the treatment bed; Step S12: using a collision detection method and the vertex coordinates of all moving components under each posture combination to iteratively calculate the collision conditions in all posture combinations of the moving component, so as to obtain the posture combinations corresponding to all collision conditions; Step S13: adding the posture combinations corresponding to all collision conditions into the collision set; Step S2: acquiring a current motion mode; Step S3: acquiring parameter information of the current motion mode; Step S4: determining an expected trajectory set according to the current motion mode and the parameter information; the expected trajectory set is a set of posture combinations of all moving components on an expected motion path under the current motion mode; Step S5: calculating the intersection of the expected trajectory set and the collision set, and judging whether the intersection is an empty set; Step S6: if the intersection is an empty set, prompting that there is no collision risk, otherwise, prompting that there is a collision risk.

2. The method of claim 1, wherein, The total number of posture combinations is related to the motion range of each motion axis in all moving components and the step length of iterative calculation.

3. The method of claim 1, wherein the method further comprises: The collision detection method specifically comprises the following steps: Step A1: pre-setting an anti-collision threshold; Step A2: selecting a posture combination, and acquiring the projection line segments of all cubes on three coordinate axes according to the vertex coordinates of all moving components under the selected posture combination; Step A3: judging whether there are two cubes in all cubes, and the distance between the projection line segments of the two cubes on each coordinate axis is less than or equal to the anti-collision threshold; if yes, the two cubes are regarded as collision objects, and the selected posture combination is regarded as the posture combination corresponding to the collision condition.

4. The method of claim 1, wherein the method further comprises: The current motion mode comprises a relative motion mode and an absolute motion mode; the parameter information of the relative motion mode comprises a moving moving component, a motion axis and a motion direction; the parameter information of the absolute motion mode comprises a moving moving component and a target position; the parameter information of the current motion mode and the current moving component is acquired in response to the operation of a control handle of the radiotherapy device by a user.

5. The method of claim 1, wherein the method further comprises: The step S4 comprises the following steps: When the current motion mode is the relative motion mode, the motion axis to be moved is unique, the dimension value of the motion axis to be moved is taken as the current dimension value, and is continuously changed along the motion direction until the motion limit position, the rest of the dimension values remain the current values, the combination of all the dimension values is taken as the posture combination, and all the posture combinations are combined as the expected trajectory set; When the current motion mode is the absolute motion mode, all the motion axes of the non-movement motion part remain the current dimension values, and all the motion axes of the movement motion part take the dimension values of the motion trajectory composed of each dimension value at each moment when the current dimension value is uniformly moved to the dimension value at the target position, the combination of all the dimension values is taken as the posture combination, and all the posture combinations are combined as the expected trajectory set.

6. The method of claim 1, wherein the method further comprises: The step S6 comprises: if the intersection is not empty, prompting the expected collision position according to the intersection.

7. The method of claim 1, wherein the method further comprises: The collision risk is prompted, comprising: displaying prompt information of the collision risk on the interface of the control handle of the radiotherapy device and / or the display interface of the radiotherapy device in the treatment room.

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