Position adjustment method, head-mounted device and radiotherapy system

Abstract

This application discloses a position adjustment method, a head-mounted display device, and a radiotherapy system, belonging to the field of medical technology. The method includes: acquiring a first image of a target area of ​​a patient, and generating a three-dimensional surface reference image of the target area based on the first image; after the wearer wears the head-mounted display device, displaying the three-dimensional surface reference image at a preset position on the radiotherapy device, so that the wearer can adjust the patient's position according to the observed actual position of the target area and the three-dimensional surface reference image. In this way, patient positioning can be achieved without the use of laser lights, effectively improving the accuracy of patient positioning and thus improving the subsequent treatment effect using this radiotherapy device.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a position adjustment method, a head-mounted display device, and a radiotherapy system. Background Technology

[0002] Radiation therapy is an important treatment for cancer, and radiation therapy equipment is the key medical equipment for performing radiation therapy. Currently, before treating a patient with radiation therapy equipment, the patient needs to be positioned on the patient support device (also known as the treatment bed) of the radiation therapy equipment so that the center of the patient's tumor coincides with the treatment center of the radiation therapy equipment.

[0003] In related technologies, laser lights in radiotherapy equipment are typically used for patient positioning. For example, this laser light can emit three intersecting laser beams in different directions, and the distance between the intersection of the central axes of these three laser beams and the treatment center of the radiotherapy equipment is a preset distance. During patient positioning, the treatment bed can be moved so that crosshair markers on the patient's body surface coincide with the crosshairs of the three laser beams. Afterward, the treatment bed is moved a preset distance, thus aligning the center of the patient's tumor with the treatment center of the radiotherapy equipment.

[0004] However, since the laser lamp is mechanically installed in the treatment room where the radiotherapy equipment is located, it is inevitable that it will shift after long-term use. Therefore, the accuracy of positioning the patient using the laser lamp is low, resulting in poor treatment effect of the radiotherapy equipment. Summary of the Invention

[0005] This application provides a position adjustment method, a head-mounted display device, and a radiotherapy system. It addresses the problem of low accuracy in patient positioning using laser lights in existing technologies. The technical solution is as follows:

[0006] On the one hand, a position adjustment method is provided, applied to a head-mounted display device, the method comprising:

[0007] Acquire a first image of the target area of ​​the patient, and generate a three-dimensional surface reference image of the target area of ​​the patient based on the first image;

[0008] After the wearer puts on the head-mounted display device, the three-dimensional body surface reference image is displayed at a preset position of the radiotherapy device, so that the wearer can adjust the position of the patient according to the actual position of the target part of the patient observed and the three-dimensional body surface reference image;

[0009] The preset position is the location of the patient's target site when the patient's target point coincides with the isocenter of the radiotherapy device.

[0010] Optionally, the method further includes:

[0011] After generating the three-dimensional body surface reference image, the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head-mounted display device.

[0012] Optionally, the method further includes:

[0013] Based on the first image, a three-dimensional volume image located within the three-dimensional body surface reference image is also generated;

[0014] Adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with a preset position of the radiotherapy device in the coordinate system of the head-mounted display device includes:

[0015] The position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head-mounted display device so that the direction of the three-dimensional body surface reference image corresponding to the patient's height direction is parallel to the support surface of the patient support device in the radiotherapy device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device.

[0016] Optionally, acquiring the first image of the patient's target area includes:

[0017] Obtain first images of the target sites of the patient from the pre-defined treatment plan for the patient.

[0018] Optionally, the target site of the patient has markers, and the three-dimensional body surface reference image has a marker image corresponding to the markers;

[0019] The three-dimensional body surface reference image is displayed at a preset position on the radiotherapy device, so that the wearer can adjust the patient's position based on the observed actual position of the target area and the three-dimensional body surface reference image, including:

[0020] The three-dimensional body surface reference image with the marker image is displayed at a preset position on the radiotherapy device so that the wearer can adjust the patient's position based on the observed marker and the marker image.

[0021] Optionally, the head-mounted display device is an augmented reality (AR) device or a mixed reality (MR) device, and displaying the three-dimensional body surface reference image at a preset position on the radiotherapy device includes:

[0022] Obtain the positional relationship between the head-mounted display device and the radiotherapy device;

[0023] Based on the positional relationship between the head-mounted display device and the radiotherapy device, the three-dimensional body surface reference image is displayed at a preset position on the radiotherapy device.

[0024] Optionally, the head-mounted display device is a virtual reality (VR) device, and displaying the three-dimensional body surface reference image at a preset position on the radiotherapy device includes:

[0025] Real-time acquisition of a second image of the patient located on the patient support device of the radiotherapy equipment;

[0026] Based on the second image, a first three-dimensional human image of the patient is generated;

[0027] While displaying the first three-dimensional human body image, the three-dimensional body surface reference image is displayed at a preset position on the radiotherapy device.

[0028] Optionally, the method further includes:

[0029] Real-time acquisition of third images of the target area of ​​the patient during the treatment process of the patient by the radiotherapy device;

[0030] Based on the third image, a three-dimensional real-time image of the patient's target area is generated;

[0031] Simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image.

[0032] Optionally, simultaneously displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image includes:

[0033] After processing the outline color of the three-dimensional body surface reference image and the outline color of the three-dimensional body surface real-time image into two different colors, the three-dimensional body surface reference image and the three-dimensional body surface real-time image are displayed simultaneously.

[0034] Optionally, the method further includes: issuing a prompt message after determining that the contour of the three-dimensional body surface real-time image exceeds the contour of the three-dimensional body surface reference image.

[0035] Optionally, the method further includes: acquiring a fourth image of the patient in real time during the treatment of the patient by the radiotherapy device; generating a second three-dimensional human image of the patient based on the fourth image; and, upon receiving a switching operation for the display content, simultaneously displaying the three-dimensional body surface reference image and the real-time three-dimensional body surface image, or displaying only the second three-dimensional human image.

[0036] On the other hand, a head-mounted display device is provided, including: a processor and a display;

[0037] The processor is configured to acquire a first image of the target area of ​​the patient and generate a three-dimensional surface reference image of the target area of ​​the patient based on the first image.

[0038] The display is used to display the three-dimensional body surface reference image at a preset position of the radiotherapy device under the control of the processor after the wearer wears the head-mounted display device, so that the wearer can adjust the position of the patient according to the actual position of the target part of the patient observed and the three-dimensional body surface reference image;

[0039] The preset position is the location of the patient's target site when the patient's target point coincides with the isocenter of the radiotherapy device.

[0040] Optionally, the processor is further configured to:

[0041] After generating the three-dimensional body surface reference image, the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head-mounted display device.

[0042] Optionally, the processor is further configured to:

[0043] Based on the first image, a three-dimensional volume image located within the three-dimensional body surface reference image is also generated;

[0044] The position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head-mounted display device so that the direction of the three-dimensional body surface reference image corresponding to the patient's height direction is parallel to the support surface of the patient support device in the coordinate system of the head-mounted display device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device.

[0045] On the other hand, a radiotherapy system is provided, including: radiotherapy equipment and head-mounted display equipment;

[0046] The radiotherapy equipment includes a patient support device for supporting the patient;

[0047] The head-mounted display device is the head-mounted display device described above.

[0048] Optionally, the head-mounted display device is an AR device or a MR device, and the head-mounted display device has a camera;

[0049] The processor in the head-mounted display device is used to determine the positional relationship between the head-mounted display device and the radiotherapy device based on the image of the radiotherapy device acquired by the camera, and to control the display in the head-mounted display device to display the three-dimensional body surface reference image based on the positional relationship between the head-mounted display device and the radiotherapy device, so that the three-dimensional body surface reference image displayed on the display coincides with the preset position of the radiotherapy device.

[0050] Optionally, the head-mounted display device is a VR device, and the radiotherapy system further includes:

[0051] Multiple first optical cameras are used to capture second images of the patient located on the patient support device in real time, and send the second images to the processor of the head-mounted display device in real time;

[0052] The processor is configured to generate a first three-dimensional human image of the patient based on the second image, and to control the display of the head-mounted display device to simultaneously display the three-dimensional body surface reference image and the first three-dimensional human image.

[0053] Optionally, the radiotherapy system further includes:

[0054] An image acquisition device is used to acquire a third image of the target area of ​​the patient in real time during the treatment of the patient by the radiotherapy device, and to send the third image to the processor of the head-mounted display device in real time.

[0055] The processor is configured to generate a real-time three-dimensional body surface image of the target area of ​​the patient based on the third image, and control the display of the head-mounted display device to simultaneously display the three-dimensional body surface reference image and the real-time three-dimensional body surface image.

[0056] Optionally, the radiotherapy system further includes:

[0057] Multiple second optical cameras are used to acquire a fourth image of the patient in real time during the treatment process of the radiotherapy device, and send the fourth image to the processor of the head-mounted display device in real time.

[0058] The processor is configured to generate a second three-dimensional human image of the patient based on the fourth image, and upon receiving a switching operation for the display content, control the display to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or to display only the second three-dimensional human image.

[0059] Optionally, the radiotherapy system further includes a medical compression garment for the patient to wear.

[0060] The beneficial effects of the technical solutions provided in this application include at least the following:

[0061] A three-dimensional surface reference image of the patient's target area is generated using a head-mounted display device. After the wearer puts on the device, it displays this image at a preset position on the radiotherapy equipment. Since this preset position represents the location of the patient's target area when it coincides with the isocenter of the radiotherapy equipment, the wearer can adjust the patient's position based on the observed actual location of the target area and the three-dimensional surface reference image. When the patient's target area aligns with the three-dimensional surface reference image, the patient's target point also aligns with the isocenter of the radiotherapy equipment, thus completing the patient's positioning. This eliminates the need for laser lights, effectively improving the accuracy of patient positioning and consequently enhancing the effectiveness of subsequent treatment with the radiotherapy equipment. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 This is a schematic diagram of the structure of a radiotherapy system involved in a position adjustment method provided in an embodiment of this application;

[0064] Figure 2 This is a flowchart of a position adjustment method provided in an embodiment of this application;

[0065] Figure 3 This is a flowchart of another position adjustment method provided in an embodiment of this application;

[0066] Figure 4 This is an illustration of the screen seen by a wearer after wearing a head-mounted display device, as provided in an embodiment of this application.

[0067] Figure 5 This is a structural block diagram of a head-mounted display device provided in an embodiment of this application;

[0068] Figure 6 This is a schematic diagram of another radiotherapy system provided in an embodiment of this application;

[0069] Figure 7 This is a schematic diagram of another radiotherapy system provided in the embodiments of this application;

[0070] Figure 8 This is a schematic diagram of another radiotherapy system provided in the embodiments of this application. Detailed Implementation

[0071] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0072] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a radiotherapy system involved in a position adjustment method provided in an embodiment of this application. The radiotherapy system 100 may include a head-mounted display device 101 and a radiotherapy device 102.

[0073] The head-mounted display device 101 can be an augmented reality (AR) device, a mixed reality (MR) device, or a virtual reality (VR) device, etc.

[0074] The radiotherapy device 102 can be a gamma knife or a medical linear accelerator, etc. The radiotherapy device 102 may include a patient support device 102a for supporting the patient. For example, the patient support device 102a can be a treatment bed. When the radiotherapy device 102 is needed to treat the patient, the patient needs to lie on the patient support device 102.

[0075] Please refer to Figure 2 , Figure 2 This is a flowchart of a position adjustment method provided in an embodiment of this application, which is applied to... Figure 1 The head-mounted display device 101 in the radiotherapy system 100 is shown. The position adjustment method may include:

[0076] Step 201: Obtain a first image of the target area of ​​the patient, and generate a three-dimensional surface reference image of the target area of ​​the patient based on the first image.

[0077] For example, the target site for the patient needs to include the area where the patient will be treated. For instance, the patient's tumor needs to be located within the target site, which can be one or more of the following: head, neck, chest, abdomen, legs, and feet.

[0078] Step 202: After the wearer puts on the head-mounted display device, the three-dimensional body surface reference image is displayed at the preset position of the radiotherapy device, so that the wearer can adjust the position of the patient according to the actual position of the target part of the patient observed and the three-dimensional body surface reference image.

[0079] The preset position of the radiotherapy device is the location of the patient's target site when the patient's target point coincides with the isocenter of the radiotherapy device.

[0080] For example, when the radiotherapy device is a Gamma Knife, the patient's target point is the patient's target point; when the radiotherapy device is a medical linear accelerator, the patient's target point is the center of the patient's tumor.

[0081] In this embodiment, after the wearer puts on the head-mounted display device, the device can display a three-dimensional surface reference image of the target area generated by the radiotherapy device at a preset position. Since the preset position is the location of the patient's target area when the patient's target point coincides with the isocenter point of the radiotherapy device, the wearer can adjust the patient's position based on the observed actual position of the patient's target area and the three-dimensional surface reference image, so that the patient's target area coincides with the three-dimensional surface reference image. This ensures that the patient's target point coincides with the isocenter point of the radiotherapy device, thus completing the patient's positioning.

[0082] In summary, the position adjustment method provided in this application generates a three-dimensional surface reference image of the patient's target area using a head-mounted display device. After the wearer wears the head-mounted display device, it displays this three-dimensional surface reference image at a preset position on the radiotherapy equipment. Since this preset position is the location of the patient's target area when the patient's target point coincides with the isocenter point of the radiotherapy equipment, the wearer adjusts the patient's position based on the observed actual position of the patient's target area and the three-dimensional surface reference image. When the patient's target area coincides with the three-dimensional surface reference image, the patient's target point coincides with the isocenter point of the radiotherapy equipment, thus completing the patient's positioning. In this way, patient positioning can be achieved without using a laser lamp, effectively improving the accuracy of patient positioning and thus enhancing the subsequent treatment effect using the radiotherapy equipment.

[0083] Please refer to Figure 3 , Figure 3 This is a flowchart of another position adjustment method provided in an embodiment of this application, which is applied to... Figure 1 The head-mounted display device 101 in the radiotherapy system 100 is shown. The position adjustment method may include:

[0084] Step 301: Obtain the first image of the patient's target area.

[0085] In this embodiment of the application, the head-mounted display device can acquire a first image of the patient's target area.

[0086] For example, before treating a patient, a doctor needs to develop a treatment plan that includes a first image of the patient's target area. Therefore, acquiring the first image of the patient's target area using a head-mounted display device can include: the head-mounted display device acquiring the first image of the patient's target area from the pre-developed treatment plan.

[0087] Furthermore, since pre-defined patient treatment plans are typically stored on a treatment server, the head-mounted display device can communicate with the treatment server to obtain the first image of the patient's treatment plan stored on the treatment server.

[0088] It should be noted that the first image is typically acquired by computed tomography (CT) or magnetic resonance imaging (MRI) of the patient's target area. Since the patient's target area includes the site of treatment—for example, the patient's tumor needs to be located within the target area—the first image can include not only images of the patient's body surface but also images of internal body tissues containing images of the patient's treatment area (e.g., the patient's target area or the region where the patient's tumor is located).

[0089] It should also be noted that the target site for the patient can be a part of the patient's body or the entire body. For example, when the target site is a part of the patient's body, it is necessary to ensure that the tumor is located within the target site. For instance, if the tumor is located in the patient's head, the target site can be located in the patient's head.

[0090] Step 302: Based on the first image, generate a three-dimensional surface reference image of the target area of ​​the patient.

[0091] In this embodiment of the application, after the head-mounted display device acquires the first image, the head-mounted display device can generate a three-dimensional body surface reference image of the patient's target area based on the first image.

[0092] For example, since the pre-defined treatment plan for a patient includes multiple first images of the patient taken from different perspectives, and each first image includes an image of the patient's body surface, the head-mounted display device can reconstruct the patient's body surface image based on these multiple first images to generate a three-dimensional body surface reference image of the patient's target area.

[0093] Step 303: Adjust the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head-mounted display device.

[0094] In this embodiment of the application, after the head-mounted display device generates a three-dimensional body surface reference image, the head-mounted display device needs to adjust the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with the target position of the radiotherapy device in the coordinate system of the head-mounted display device.

[0095] In this application, when the head-mounted display device adjusts the position of the three-dimensional body surface reference image in its coordinate system so that the three-dimensional body surface reference image coincides with the target position of the radiotherapy device in the coordinate system of the head-mounted display device, after the head-mounted display device displays the three-dimensional body surface reference image, the three-dimensional body surface reference image displayed by the head-mounted display device coincides with the preset position of the radiotherapy device, which facilitates the subsequent operator to position the patient by observing the actual position of the target part of the patient and the three-dimensional body surface reference image.

[0096] The preset position of the radiotherapy device is the location of the patient's target site when the patient's target point coincides with the isocenter of the radiotherapy device.

[0097] For example, while generating a three-dimensional body surface reference image, the head-mounted display device also needs to generate a three-dimensional volumetric image located within the three-dimensional body surface reference image based on the first image. Since the pre-defined patient treatment plan includes multiple first images of the patient taken from different perspectives, and each first image also includes images of body tissues located inside the patient, the head-mounted display device can also reconstruct the patient's body tissue images based on these multiple first images to generate a three-dimensional volumetric image of the patient's target area.

[0098] In this scenario, adjusting the position of the three-dimensional body surface reference image within the head-mounted display's coordinate system so that the three-dimensional body surface reference image coincides with the target position of the radiotherapy device within the head-mounted display's coordinate system can include:

[0099] The head-mounted display device adjusts the position of the three-dimensional body surface reference image in its coordinate system so that the direction corresponding to the patient's height in the three-dimensional body surface reference image is parallel to the support surface of the patient support device in the radiotherapy device, and the target point of the three-dimensional volume image coincides with the isocenter point of the radiotherapy device.

[0100] In this embodiment, since the patient needs to lie flat on the patient support device of the radiotherapy equipment during treatment, the patient's height direction is parallel to the support surface of the patient support device during the treatment process. To ensure that the target area of ​​the patient subsequently coincides with the three-dimensional body surface reference image, it is necessary to ensure that, in the coordinate system of the head-mounted display device, the direction corresponding to the patient's height direction in the three-dimensional body surface reference image is parallel to the support surface of the patient support device.

[0101] In this application, during the process of adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device, if the three-dimensional body surface reference image and the three-dimensional volume image located within it meet preset conditions, then the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device. The preset conditions are: the direction in the three-dimensional body surface reference image corresponding to the patient's height is parallel to the support surface of the patient support device, and the target point of the three-dimensional volume image coincides with the isocenter point of the radiotherapy device.

[0102] It should be noted that since the body tissue image in each first image contains the patient's treatment area, the three-dimensional volumetric image generated by the head-mounted display device, located in the three-dimensional body surface reference image, has a three-dimensional image corresponding to the treatment area. The target point of this three-dimensional volumetric image is located in the three-dimensional image corresponding to the treatment area, and usually the target point is the center point of the three-dimensional image corresponding to the treatment area.

[0103] It should also be noted that when the radiotherapy device is a Gamma Knife, the treatment area of ​​the body tissue image in each first image is the patient's target area, and the target point of the three-dimensional volumetric image is the target point located within the target area; when the radiotherapy device is a medical linear accelerator, the treatment area of ​​the body tissue image in each first image is the patient's tumor area, and the target point of the three-dimensional volumetric image is the center point of the tumor area.

[0104] Step 304: After the wearer puts on the head-mounted display device, a three-dimensional body surface reference image is displayed at the preset position of the radiotherapy device, so that the wearer can adjust the position of the patient according to the actual position of the target part of the patient observed and the three-dimensional body surface reference image.

[0105] In this embodiment, after the wearer puts on the head-mounted display device, the head-mounted display device can display a three-dimensional body surface reference image at a preset position of the radiotherapy device, so that the wearer can adjust the position of the patient based on the actual position of the target part of the patient observed and the three-dimensional body surface reference image.

[0106] In this application, when a patient is positioned on the patient support device of a radiotherapy apparatus and the patient needs to be positioned, the wearer can wear the head-mounted display device. After the head-mounted display device displays a three-dimensional body surface reference image at a preset position on the radiotherapy apparatus, such as Figure 4 As shown, Figure 4 This is an illustration of the effect of a wearer viewing the screen after wearing a head-mounted display device, as provided in this application embodiment. The wearer can simultaneously view a three-dimensional body surface reference image and the patient's position within the radiotherapy equipment. The wearer can adjust the patient's position based on the observed actual position of the target area and the three-dimensional body surface reference image, ensuring that the target area coincides with the three-dimensional body surface reference image. This guarantees that the patient's target point coincides with the treatment center of the radiotherapy equipment, thus achieving proper patient positioning.

[0107] For example, the patient's target area has a marker, and the three-dimensional body surface reference image generated by the head-mounted display device has a marker image corresponding to that marker.

[0108] Thus, the head-mounted display device displays a three-dimensional body surface reference image at a preset position on the radiotherapy device, so that the wearer can adjust the patient's position based on the actual position of the target area observed by the patient and the three-dimensional body surface reference image. This can include: the head-mounted display device displays a three-dimensional body surface reference image with marker images at a preset position on the radiotherapy device, so that the wearer can adjust the patient's position based on the observed markers and marker images.

[0109] In this scenario, when the wearer adjusts the patient's position, ensuring that the marker on the patient's target area aligns with the marker image in the 3D body surface reference image guarantees that the patient's target area is aligned with the 3D body surface reference image. Because the marker and its image can be used as a reference during patient positioning, the wearer can more quickly adjust the patient's position to align with the 3D body surface reference image, further improving the efficiency of patient placement.

[0110] In this embodiment, the head-mounted display device in the radiotherapy system can be an AR device, an MR device, or a VR device, and the principles of different types of head-mounted displays are different. Therefore, this embodiment uses the following two possible implementation methods as examples to illustrate the patient positioning method:

[0111] In a first possible implementation, when the head-mounted display is an AR or MR device, displaying a three-dimensional body surface reference image at a preset position of the radiotherapy device may include the following steps:

[0112] Step A1: Obtain the positional relationship between the head-mounted display device and the radiotherapy device.

[0113] In this embodiment of the application, before the head-mounted display device displays the three-dimensional body surface reference image, the head-mounted display device needs to obtain the positional relationship between itself and the radiotherapy device.

[0114] For example, the head-mounted display device has a camera used to acquire images of a radiotherapy device in the real world. Thus, the head-mounted display device can determine the positional relationship between itself and the radiotherapy device based on the images.

[0115] It should be noted that the camera of this head-mounted display device can be a depth camera. The image of the radiotherapy equipment acquired by this depth camera contains depth information, which is used to characterize the distance between the depth camera and the radiotherapy equipment. Therefore, the head-mounted display device has high accuracy in determining the positional relationship between the head-mounted display device and the radiotherapy equipment based on the image of the radiotherapy equipment acquired by the depth camera.

[0116] Step B1: Based on the positional relationship between the head-mounted display device and the radiotherapy device, display a three-dimensional body surface reference image at a preset position on the radiotherapy device.

[0117] In this embodiment of the application, the head-mounted display device can display a three-dimensional body surface reference image at a preset position of the radiotherapy device based on the positional relationship between the head-mounted display device and the radiotherapy device.

[0118] In this application, after the head-mounted display device obtains its positional relationship with the radiotherapy device, it can display a three-dimensional body surface reference image based on that positional relationship. Since the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head-mounted display device, the wearer can view the three-dimensional body surface reference image at the preset position of the radiotherapy device after wearing the head-mounted display device.

[0119] In this configuration, the wearer can view not only a three-dimensional reference image of the body surface but also the patient's actual position within the radiotherapy equipment. Thus, the wearer can adjust the patient's position based on the observed actual location of the target area and the three-dimensional reference image, ensuring the target area aligns with the reference image, thereby achieving proper patient positioning.

[0120] In a second possible implementation, when the head-mounted display is a VR device, displaying a three-dimensional body surface reference image at a preset position on the radiotherapy device may include the following steps:

[0121] Step A2: Acquire a second image of the patient located on the patient support device of the radiotherapy equipment in real time.

[0122] In this embodiment of the application, the head-mounted display device can acquire a second image of the patient located on the patient support device in real time during the patient positioning process.

[0123] For example, the radiotherapy system may also include a plurality of first optical cameras communicatively connected to a head-mounted display device. These first optical cameras are used to acquire a second image of the patient located on a patient support device in real time, and to send the second image to the processor of the head-mounted display device in real time, enabling the head-mounted display device to acquire the second image of the patient located on the patient support device in real time.

[0124] It should be noted that the multiple first optical cameras can be distributed at different positions on the patient support device, and each first optical camera can have a different shooting angle. In this way, different first optical cameras can capture second images from different perspectives. During the patient positioning process, each first optical camera can capture the patient's second image on the patient support device in real time and send the second image to the head-mounted display device in real time.

[0125] Step B2: Based on the second image, generate the first three-dimensional image of the patient.

[0126] In this embodiment of the application, the head-mounted display device can generate a first three-dimensional image of the patient based on the second image.

[0127] For example, the head-mounted display device can receive second images captured by multiple first optical cameras in real time. Since different first optical cameras can capture second images from different perspectives, the head-mounted display device can reconstruct the second images from different perspectives in real time and generate a first three-dimensional image of the patient during the positioning process.

[0128] Step C2: While displaying the first three-dimensional human body image, display a three-dimensional body surface reference image at a preset position on the radiotherapy device.

[0129] In this embodiment of the application, after the head-mounted display device generates a first three-dimensional human body image in real time, the head-mounted display device can display the first three-dimensional human body image, and at the same time as displaying the first three-dimensional human body image, a three-dimensional body surface reference image is displayed at a preset position of the radiotherapy device.

[0130] It should be noted that the multiple first cameras can not only capture the patient's second image, but also images of the patient's surrounding environment, such as images of the radiotherapy equipment located near the patient. Thus, the head-mounted display can generate not only a first 3D image of the patient, but also a 3D image of the radiotherapy equipment. While displaying the first 3D image of the patient, the head-mounted display can also display the 3D image of the radiotherapy equipment, allowing the wearer to simultaneously view the first 3D image of the patient, the 3D image of the radiotherapy equipment, and a 3D body surface reference image. Since the 3D body surface reference image coincides with the preset position of the radiotherapy equipment in the head-mounted display's coordinate system, the 3D body surface reference image viewed by the wearer is located at the preset position within the 3D image of the radiotherapy equipment.

[0131] In this scenario, the position of the first three-dimensional image of the human body viewed by the wearer within the three-dimensional image of the radiotherapy equipment is the patient's actual position within the equipment. Thus, the wearer can adjust the patient's position based on the difference between the observed first three-dimensional image and the three-dimensional surface reference image, ensuring that the patient's target area coincides with the three-dimensional surface reference image, thereby achieving proper patient positioning.

[0132] It should be noted that when the wearer adjusts the patient's position based on the actual position of the target area observed by the wearer and the three-dimensional body surface reference image, the patient's position is usually adjusted in the following two ways.

[0133] In the first method, after wearing the head-mounted display device, the wearer observes the difference between the actual position of the patient's target area and the three-dimensional body surface reference image, and manipulates the control device used to control the patient support device, so that the control device drives the patient support device to move, thereby adjusting the position of the patient on the patient support device.

[0134] The second method involves having the wearer move the patient support device to align the patient's target area with the three-dimensional reference image when the wearer finds that the target area cannot be aligned with the three-dimensional reference image.

[0135] It should be noted that radiotherapy equipment is typically located in the treatment room. When positioning the patient, the wearer needs to wear a head-mounted display (HMD) and adjust the patient's position within the treatment room. After positioning the patient, the radiotherapy equipment needs to treat the patient, at which point the wearer needs to leave the treatment room. In this situation, the wearer can still wear the HMD so that they can observe the treatment process in real time. To enable the wearer to observe the treatment process in real time, the position adjustment method may further include steps 305 to 307.

[0136] Step 305: Real-time acquisition of the third image of the patient's target area and the fourth image of the patient during the radiotherapy treatment process.

[0137] In this embodiment of the application, during the radiotherapy treatment of the patient, the head-mounted display device can acquire the third image of the patient's target area and the fourth image of the patient in real time.

[0138] For example, a radiotherapy system may also include: an image acquisition device that communicates with a head-mounted display device and multiple second optical cameras.

[0139] The image acquisition device is used to acquire third images of the target area of ​​the patient in real time during radiotherapy treatment and transmit these third images to a head-mounted display device in real time, enabling the head-mounted display device to obtain the third images of the patient's target area in real time. In this application, the image acquisition device can acquire multiple third images of the patient's target area taken from different perspectives in real time. During the patient positioning process, the image acquisition device can transmit multiple third images of the patient's target area taken from different perspectives to the head-mounted display device in real time.

[0140] Multiple second optical cameras are used to capture a fourth image of the patient in real time during radiotherapy treatment and transmit this fourth image to a head-mounted display device, enabling the display device to acquire the patient's fourth image in real time. These multiple second optical cameras can be distributed at different positions on the patient support device, and each second optical camera can have a different shooting angle, thus allowing different second optical cameras to capture fourth images from different perspectives. During patient positioning, each second optical camera can capture a fourth image of the patient on the patient support device in real time and transmit this fourth image to the head-mounted display device in real time.

[0141] It should be noted that when the head-mounted display device is a VR device, the multiple second optical cameras in the above embodiments can be multiple first optical cameras that are the same optical cameras.

[0142] Optionally, the image acquisition device can be an image acquisition device used for image guidance during radiotherapy treatment of the patient. In this case, the image acquisition device can typically be integrated into the radiotherapy device. For example, the image acquisition device may include a cone-beam CT (CBCT) device.

[0143] It should be noted that the image content of the third image of the patient acquired through this image acquisition device can be the same as the image content of the first image. This third image may also include not only images of the patient's body surface but also images of internal body tissues.

[0144] Step 306: Based on the third image, generate a real-time three-dimensional surface image of the patient's target area, and based on the fourth image, generate a second three-dimensional human body image of the patient.

[0145] In this embodiment of the application, the head-mounted display device can generate a real-time three-dimensional body surface image of the patient's target area based on the third image, and generate a second three-dimensional human body image of the patient based on the fourth image.

[0146] For example, the head-mounted display device can acquire multiple third images of the patient's target area from different perspectives in real time through an image acquisition device, and each third image includes the patient's body surface image. Therefore, the head-mounted display device can process the patient's body surface image based on these multiple third images to generate a three-dimensional real-time body surface image of the patient's target area during the treatment process.

[0147] Meanwhile, the head-mounted device can acquire second images in real time through multiple second optical cameras. Since different second optical cameras can capture fourth images from different perspectives, the head-mounted device can reconstruct the fourth images from different perspectives in real time and generate a second three-dimensional image of the patient during the treatment process.

[0148] Step 307: After receiving the switching operation of the displayed content, simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or only display the second three-dimensional human body image.

[0149] In this embodiment of the application, after the head-mounted display device generates a real-time three-dimensional body surface image of the patient's target area and a second three-dimensional human body image of the patient, the head-mounted display device can simultaneously display the three-dimensional body surface reference image and the real-time three-dimensional body surface image, or only display the second three-dimensional human body image.

[0150] In this application, when the wearer needs to switch the display content of the head-mounted display device, a switching command can be sent to the head-mounted display device (for example, the wearer presses a button for switching the display content), so that the head-mounted display device can receive the switching operation of the display content, thereby enabling the head-mounted display device to simultaneously display a three-dimensional body surface reference image and a three-dimensional body surface real-time image, or to display only a second three-dimensional human body image.

[0151] During radiotherapy treatment of patients, the head-mounted display device can simultaneously display a three-dimensional reference image and a real-time three-dimensional image of the body surface, or only display a second three-dimensional image of the human body. The content displayed by the head-mounted display device varies, and its function also differs. This application will illustrate this with examples from the following two aspects:

[0152] Firstly, when the head-mounted display device simultaneously displays a three-dimensional body surface reference image and a three-dimensional body surface real-time image, in order to enable the wearer to better distinguish between the three-dimensional body surface reference image and the three-dimensional body surface real-time image, the simultaneous display of the three-dimensional body surface reference image and the three-dimensional body surface real-time image may include: the head-mounted display device processing the outline color of the three-dimensional body surface reference image and the outline color of the three-dimensional body surface real-time image into two different colors, and then simultaneously displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image.

[0153] For example, a head-mounted display device can process the outline of a 3D body surface reference image to be red and the outline of a real-time 3D body surface image to be blue.

[0154] In this application, after the head-mounted display device simultaneously displays a three-dimensional body surface reference image and a three-dimensional body surface real-time image, the position adjustment method may further include: the head-mounted display device can determine in real time whether the outline of the three-dimensional body surface real-time image exceeds the outline of the three-dimensional body surface reference image, and after determining that the outline of the three-dimensional body surface real-time image exceeds the outline of the three-dimensional body surface reference image, issue a prompt message. For example, the prompt message may be text or voice information, used to inform the wearer that the current target area of ​​the patient does not overlap with the three-dimensional body surface reference image.

[0155] It should be noted that since both the first and third images include images of the patient's internal body tissues, including the bones, the head-mounted display can generate a 3D reference image of the patient's bones based on the first image, and a real-time 3D image of the patient's bones based on the third image. During radiotherapy, real-time image guidance is required to ensure the patient's target points align with the isocenter of the radiotherapy equipment. After image guidance, the 3D reference image and the real-time 3D bone image should overlap. Therefore, after the head-mounted display issues a prompt, the wearer should check if the 3D reference image and the real-time 3D bone image overlap. If they overlap, no further action is needed; if they do not overlap, it may indicate a malfunction in the radiotherapy equipment, and treatment should be stopped to ensure the patient's safety.

[0156] Secondly, when the head-mounted display only shows a second three-dimensional image of the human body, the wearer can observe the patient's reactions during the treatment process in real time through the head-mounted display, thus making the patient's reactions observed by the wearer more accurate.

[0157] It should be noted that the order of the display method steps of the head-mounted display device provided in the embodiments of this application can be appropriately adjusted, and the steps can also be added or removed as appropriate. Any variation methods that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application, and therefore will not be elaborated further.

[0158] In summary, the position adjustment method provided in this application generates a three-dimensional surface reference image of the patient's target area using a head-mounted display device. After the wearer wears the head-mounted display device, it displays this three-dimensional surface reference image at a preset position on the radiotherapy equipment. Since this preset position is the location of the patient's target area when the patient's target point coincides with the isocenter point of the radiotherapy equipment, the wearer adjusts the patient's position based on the observed actual position of the patient's target area and the three-dimensional surface reference image. When the patient's target area coincides with the three-dimensional surface reference image, the patient's target point coincides with the isocenter point of the radiotherapy equipment, thus completing the patient's positioning. In this way, patient positioning can be achieved without using a laser lamp, effectively improving the accuracy of patient positioning and thus enhancing the subsequent treatment effect using the radiotherapy equipment.

[0159] This application also provides a head-mounted display device, such as... Figure 5 As shown, Figure 5 This is a structural block diagram of a head-mounted display device provided in an embodiment of this application. The head-mounted display device 101 may include a processor 101a and a display 101b. The processor 101a may be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), a modem, or other similar devices.

[0160] The processor 101a is used to acquire a first image of the target area of ​​the patient and generate a three-dimensional surface reference image of the target area of ​​the patient based on the first image.

[0161] The display 101b is used to display a three-dimensional body surface reference image at a preset position of the radiotherapy device under the control of the processor 101a after the wearer wears the head-mounted display device, so that the wearer can adjust the position of the patient according to the actual position of the target part of the patient observed and the three-dimensional body surface reference image.

[0162] The preset position is the location of the patient's target site when the patient's target point coincides with the isocenter of the radiotherapy equipment.

[0163] Optionally, the processor 101a is also used to: after generating the three-dimensional body surface reference image, adjust the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head-mounted display device.

[0164] Optionally, the processor 101a is further configured to: generate a three-dimensional volumetric image located within a three-dimensional body surface reference image based on the first image; adjust the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device so that, in the coordinate system of the head-mounted display device, the direction corresponding to the patient's height in the three-dimensional body surface reference image is parallel to the support surface of the patient support device, and the target point of the three-dimensional volumetric image coincides with the isocenter of the radiotherapy device.

[0165] Optionally, the processor 101a is used to: acquire a first image of the target site of the patient from a pre-defined treatment plan for the patient.

[0166] Optionally, the patient's target site has markers, and the three-dimensional surface reference image has a marker image corresponding to the markers; the display 101b is used to: display the three-dimensional surface reference image with marker images at a preset position of the radiotherapy device under the control of the processor 101a, so that the wearer can adjust the patient's position according to the observed markers and marker images.

[0167] Optionally, the head-mounted display device is an augmented reality (AR) device or a mixed reality (MR) device. The processor 101a is used to: acquire the positional relationship between the head-mounted display device and the radiotherapy device; and, based on the positional relationship between the head-mounted display device and the radiotherapy device, control the display 101b to display a three-dimensional body surface reference image at a preset position on the radiotherapy device.

[0168] Optionally, the head-mounted display device is a virtual reality (VR) device. The processor 101a is used to: acquire a second image of the patient located on the patient support device of the radiotherapy equipment in real time; generate a first three-dimensional human image of the patient based on the second image; and control the display 101b to display a three-dimensional body surface reference image at a preset position on the radiotherapy equipment while controlling the display 101b to display the first three-dimensional human image.

[0169] Optionally, the processor 101a is also configured to: acquire a third image of the patient's target site in real time during the radiotherapy treatment process; generate a three-dimensional real-time image of the patient's target site based on the third image; and control the display 101b to simultaneously display the three-dimensional reference image and the three-dimensional real-time image.

[0170] Optionally, the processor 101a is configured to: after processing the color of the outline of the three-dimensional body surface reference image and the color of the outline of the three-dimensional body surface real-time image into two different colors, control the display 101b to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image.

[0171] Optionally, the processor 101a is also configured to: issue a prompt message after determining that the contour of the real-time three-dimensional surface image exceeds the contour of the three-dimensional surface reference image.

[0172] Optionally, the processor 101a is also configured to: acquire a fourth image of the patient in real time during the radiotherapy treatment process; generate a second three-dimensional image of the patient based on the fourth image; and, upon receiving a switching operation for the display content, control the display 101b to simultaneously display the three-dimensional body surface reference image and the real-time three-dimensional body surface image, or to display only the second three-dimensional image of the patient.

[0173] In summary, the head-mounted display device provided in this application generates a three-dimensional surface reference image of the patient's target area. After the wearer wears the device, it displays this three-dimensional surface reference image at a preset position on the radiotherapy equipment. Since this preset position is the location of the patient's target area when the patient's target point coincides with the isocenter point of the radiotherapy equipment, the wearer can adjust the patient's position based on the observed actual position of the target area and the three-dimensional surface reference image. When the patient's target area coincides with the three-dimensional surface reference image, the patient's target point coincides with the isocenter point of the radiotherapy equipment, thus completing the patient's positioning. In this way, patient positioning can be achieved without using a laser lamp, effectively improving the accuracy of patient positioning and consequently enhancing the effectiveness of subsequent treatment with the radiotherapy equipment.

[0174] This application also provides a radiotherapy system, such as... Figure 1 As shown, the radiotherapy device 100 may include a head-mounted display device 101 and a radiotherapy device 102. The radiotherapy device 102 may include a patient support device 102a for supporting the patient. The head-mounted display device 101 may be... Figure 5 The head-mounted display device 101 is shown.

[0175] Optional, such as Figure 6 As shown, Figure 6 This is a schematic diagram of another radiotherapy system provided in this application embodiment. The head-mounted display device in the radiotherapy system 100 is an AR device or a MR device. The head-mounted display device 101 has a camera 1011. The camera 1011 is used to acquire images of the radiotherapy device 102.

[0176] In this case, the processor in the head-mounted display device 101 is used to determine the positional relationship between the head-mounted display device 101 and the radiotherapy device 102 based on the image of the radiotherapy device 102 acquired by the camera 1011, and based on the positional relationship between the head-mounted display device 101 and the radiotherapy device 102, control the display in the head-mounted display device 101 to display a three-dimensional body surface reference image, so that the three-dimensional body surface reference image displayed on the display coincides with the preset position of the radiotherapy device 102.

[0177] Optional, such as Figure 7 As shown, Figure 7 This is a schematic diagram of another radiotherapy system provided in this application embodiment, wherein the head-mounted display device in the radiotherapy system 100 is a VR device. The radiotherapy system 100 may further include: a plurality of first optical cameras 103. The plurality of first optical cameras 103 are used to acquire a second image of the patient located on the patient support device 102a in real time, and send the second image to the processor of the head-mounted display device 101 in real time.

[0178] The processor in the head-mounted display device 101 is used to generate a first three-dimensional image of the patient based on the second image, and to control the display of the head-mounted display device 101 to simultaneously display the three-dimensional body surface reference image and the first three-dimensional image of the patient.

[0179] Optional, such as Figure 8 As shown, Figure 8 This is a schematic diagram of another radiotherapy system provided in this application embodiment. The radiotherapy system 100 may further include an image acquisition device 104. The image acquisition device 104 is used to acquire a third image of the target area of ​​the patient in real time during the treatment of the patient by the radiotherapy device 102, and send the third image to the processor of the head-mounted display device 101 in real time.

[0180] The processor in the head-mounted display device 101 is used to generate a real-time three-dimensional body surface image of the target area of ​​the patient based on a third image, and to control the display of the head-mounted display device 101 to simultaneously display a three-dimensional body surface reference image and a real-time three-dimensional body surface image.

[0181] Optional, such as Figure 8 As shown, the radiotherapy system also includes multiple second optical cameras 105. These multiple second optical cameras 105 are used to acquire a fourth image of the patient in real time during the treatment process of the radiotherapy device 102, and send the fourth image to the processor of the head-mounted display device 101 in real time.

[0182] The processor in the head-mounted display device 101 is used to generate a second three-dimensional image of the patient based on the fourth image, and after receiving a switching operation on the display content, controls the display to simultaneously display a three-dimensional body surface reference image and a three-dimensional body surface real-time image, or to display only the second three-dimensional image of the patient.

[0183] Optionally, the radiotherapy system also includes a medical compression garment for the patient to wear. When treating a patient with this radiotherapy system, the patient can wear the medical compression garment. This allows for more precise alignment of the patient's target area with the three-dimensional surface reference image during patient positioning.

[0184] In summary, the radiotherapy system provided in this application includes a head-mounted display device and a radiotherapy device. The head-mounted display device generates a three-dimensional surface reference image of the patient's target area. After the wearer wears the head-mounted display device, it can display the three-dimensional surface reference image at a preset position on the radiotherapy device. Since the preset position is the location of the patient's target area when the patient's target point coincides with the isocenter point of the radiotherapy device, the wearer can adjust the patient's position based on the observed actual position of the patient's target area and the three-dimensional surface reference image. When the patient's target area coincides with the three-dimensional surface reference image, the patient's target point coincides with the isocenter point of the radiotherapy device, thus completing the patient's positioning. In this way, patient positioning can be achieved without the use of a laser lamp, effectively improving the accuracy of patient positioning and thus improving the subsequent treatment effect using the radiotherapy device.

[0185] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the radiotherapy system and head-mounted display device described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0186] This application also provides a computer-readable storage medium. The computer-readable storage medium stores instructions that, when executed on a processing component, cause the processing component to perform... Figure 2 or Figure 3 The method for adjusting the position is shown.

[0187] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0188] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A position adjustment method, characterized in that, Applied to a head-mounted display device, the method includes: Acquire a first image of the target area of ​​the patient, and generate a three-dimensional surface reference image of the target area of ​​the patient based on the first image; Based on the first image, a three-dimensional volume image located within the three-dimensional body surface reference image is also generated; After generating the three-dimensional body surface reference image, the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head-mounted display device. Adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with a preset position of the radiotherapy device in the coordinate system of the head-mounted display device includes: The position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head-mounted display device so that the direction of the three-dimensional body surface reference image corresponding to the patient's height direction is parallel to the support surface of the patient support device in the radiotherapy device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device. After the wearer puts on the head-mounted display device, the three-dimensional body surface reference image is displayed at a preset position on the radiotherapy device, so that the wearer can adjust the position of the patient based on the actual position of the patient's target area observed and the three-dimensional body surface reference image; wherein, the preset position is the position of the patient's target area when the patient's target point coincides with the isocenter of the radiotherapy device.

2. The method according to claim 1, characterized in that, The acquisition of the first image of the target area of ​​the patient includes: Obtain first images of the target sites of the patient from the pre-defined treatment plan for the patient.

3. The method according to claim 1, characterized in that, The target area of ​​the patient has markers, and the three-dimensional body surface reference image has a marker image corresponding to the markers; The three-dimensional body surface reference image is displayed at a preset position on the radiotherapy device, so that the wearer can adjust the position of the patient based on the observed actual position of the target area of ​​the patient and the three-dimensional body surface reference image, including: The three-dimensional body surface reference image with the marker image is displayed at a preset position on the radiotherapy device so that the wearer can adjust the patient's position based on the observed marker and the marker image.

4. The method according to any one of claims 1 to 3, characterized in that, The head-mounted display device is an augmented reality (AR) device or a mixed reality (MR) device, which displays the three-dimensional body surface reference image at a preset position on the radiotherapy device, including: Obtain the positional relationship between the head-mounted display device and the radiotherapy device; Based on the positional relationship between the head-mounted display device and the radiotherapy device, the three-dimensional body surface reference image is displayed at a preset position on the radiotherapy device.

5. The method according to any one of claims 1 to 3, characterized in that, The head-mounted display is a virtual reality (VR) device that displays the three-dimensional body surface reference image at a preset position on the radiotherapy device, including: Real-time acquisition of a second image of the patient located on the patient support device of the radiotherapy equipment; Based on the second image, a first three-dimensional human image of the patient is generated; While displaying the first three-dimensional human body image, the three-dimensional body surface reference image is displayed at a preset position on the radiotherapy device.

6. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Real-time acquisition of third images of the target area of ​​the patient during the treatment process of the patient by the radiotherapy device; Based on the third image, a three-dimensional real-time image of the patient's target area is generated; Simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image.

7. The method according to claim 6, characterized in that, Simultaneously displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image, including: After processing the outline color of the three-dimensional body surface reference image and the outline color of the three-dimensional body surface real-time image into two different colors, the three-dimensional body surface reference image and the three-dimensional body surface real-time image are displayed simultaneously.

8. The method according to claim 7, characterized in that, The method further includes: Once it is determined that the outline of the real-time three-dimensional body surface image exceeds the outline of the three-dimensional body surface reference image, a prompt message is issued.

9. The method according to claim 6, characterized in that, The method further includes: A fourth image of the patient is acquired in real time during the treatment process by the radiotherapy device. Based on the fourth image, a second three-dimensional human image of the patient is generated; Upon receiving a switching operation on the displayed content, the three-dimensional body surface reference image and the three-dimensional body surface real-time image are displayed simultaneously, or only the second three-dimensional human body image is displayed.

10. A head-mounted display device, characterized in that, include: Processor and display; The processor is configured to acquire a first image of the target area of ​​the patient and generate a three-dimensional surface reference image of the target area of ​​the patient based on the first image. The processor is also configured to generate a three-dimensional volumetric image located within the three-dimensional body surface reference image based on the first image. The processor is further configured to, after generating the three-dimensional body surface reference image, adjust the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head-mounted display device. Adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device so that the three-dimensional body surface reference image coincides with a preset position of the radiotherapy device in the coordinate system of the head-mounted display device includes: The position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head-mounted display device so that the direction of the three-dimensional body surface reference image corresponding to the patient's height direction is parallel to the support surface of the patient support device in the coordinate system of the head-mounted display device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device. The display is used to display the three-dimensional body surface reference image at a preset position of the radiotherapy device under the control of the processor after the wearer wears the head-mounted display device, so that the wearer can adjust the position of the patient according to the actual position of the target part of the patient observed and the three-dimensional body surface reference image; The preset position is the location of the patient's target site when the patient's target point coincides with the isocenter of the radiotherapy device.

11. A radiotherapy system, characterized in that, include: Radiotherapy equipment and head-mounted display devices; The radiotherapy equipment includes a patient support device for supporting the patient; The head-mounted display device is the head-mounted display device according to claim 10.

12. The radiotherapy system according to claim 11, characterized in that, The head-mounted display device is an AR device or a MR device, and the head-mounted display device has a camera; The processor in the head-mounted display device is used to determine the positional relationship between the head-mounted display device and the radiotherapy device based on the image of the radiotherapy device acquired by the camera, and to control the display in the head-mounted display device to display the three-dimensional body surface reference image based on the positional relationship between the head-mounted display device and the radiotherapy device, so that the three-dimensional body surface reference image displayed on the display coincides with the preset position of the radiotherapy device.

13. The radiotherapy system according to claim 11, characterized in that, The head-mounted display is a VR device, and the radiotherapy system further includes: Multiple first optical cameras are used to capture second images of the patient located on the patient support device in real time, and send the second images to the processor of the head-mounted display device in real time; The processor is configured to generate a first three-dimensional human image of the patient based on the second image, and to control the display of the head-mounted display device to simultaneously display the three-dimensional body surface reference image and the first three-dimensional human image.

14. The radiotherapy system according to any one of claims 11 to 13, characterized in that, The radiotherapy system also includes: An image acquisition device is used to acquire a third image of the target area of ​​the patient in real time during the treatment of the patient by the radiotherapy device, and to send the third image to the processor of the head-mounted display device in real time. The processor is configured to generate a real-time three-dimensional body surface image of the target area of ​​the patient based on the third image, and control the display of the head-mounted display device to simultaneously display the three-dimensional body surface reference image and the real-time three-dimensional body surface image.

15. The radiotherapy system according to claim 14, characterized in that, The radiotherapy system also includes: Multiple second optical cameras are used to acquire a fourth image of the patient in real time during the treatment process of the radiotherapy device, and send the fourth image to the processor of the head-mounted display device in real time. The processor is configured to generate a second three-dimensional human image of the patient based on the fourth image, and upon receiving a switching operation for the display content, control the display to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or to display only the second three-dimensional human image.

16. The radiotherapy system according to any one of claims 11 to 13, characterized in that, The radiotherapy system also includes a medical compression garment for the patient to wear.

Images