Ray surgery position feedback device based on tooth bracket

Abstract

The invention provides a ray operation position feedback device based on a tooth bracket. The ray operation position feedback device comprises a ray therapy machine, a six-dimensional therapy bed, a first camera, a second camera, a head fixing assembly, a tooth positioning bracket and a tooth position marker, the tooth position marker body is mounted on the tooth positioning bracket, and the tooth positioning bracket is used for being fixed on palate teeth of a patient; the first camera and the second camera are used for collecting image information of the tooth position marker and transmitting the image information to the ray therapy machine; and the ray therapy machine determines the position information of the tooth position marker according to the received image information, so that the six-dimensional treatment bed is controlled to move, and the head treatment part of a patient lying on the six-dimensional treatment bed is kept at the ray focus position of the ray therapy machine. By means of the ray operation position feedback device, the problem of micro-deviation of the head of a patient can be effectively solved, and meanwhile the situation that the patient feels extremely uncomfortable and even shocks when screw placement is conducted on the head of the patient can be avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of biomedicine and relates to a radiation surgery position feedback device based on a tooth bracket. Background Art

[0002] At present, with the increasing maturity and perfection of radiation therapy methods such as Gamma Knife, CyberKnife, and Proton Knife, radiation therapy has undoubtedly become a better treatment option for tumor patients who are not suitable for traditional surgical operations, especially those who are restricted by factors such as intracranial tumors, high risk of craniotomy, lack of craniotomy doctors, and long waiting time for patients. However, radiation therapy also has its natural disadvantages. It requires high-precision positioning of patients before and during surgery. If the patient's positioning is offset due to breathing, heartbeat, physical discomfort, etc., it will directly affect the efficacy and safety of radiation therapy.

[0003] There are mainly three existing positioning methods for radiation therapy of intracranial tumors.

[0004] The first method is rigid head frame positioning. The advantages of this method are high positioning accuracy and good repeatability. It can eliminate relative errors from the source and make the position error less than 1mm. Its disadvantages are: it can cause physical trauma, bleeding, inflammation, fever, stress shock, psychological pressure and even fear to patients, which brings great discomfort to patients. The head pins cannot be removed during multiple treatments, and the displacement of the frame cannot be effectively controlled during multiple treatments. Although there are many disadvantages and uncomfortable experiences, the rigid connection positioning frame cannot be eliminated, because some treatments with high precision requirements cannot have any errors. For example, treatment at the optic nerve chiasm requires that the patient cannot have any displacement after getting on the machine. The patient's head micro-movement caused by personal comfort reasons will cause irreversible serious damage.

[0005] The second method is thermoplastic mask + foam headrest positioning. The advantage of this method is that it is more comfortable than a rigid frame, and the positioning accuracy can be controlled at about 1-2mm, which can meet general treatment needs. However, the disadvantage is that this type of positioner has a certain flexibility, and there is currently no way to eliminate the positioning error caused by the patient's body translation and rotation (especially for older patients) after entering the treatment chamber. The seemingly minor positioning error will have a serious impact on the accuracy of tumor radiotherapy, and may even cause the target area to be missed. If the positioning error causes the high-dose area to move to the range of endangered organs, it will cause serious damage to the patient's important organs.

[0006] The third method is to locate based on the three-dimensional reconstructed image of CBCT. However, this method takes a long time to operate, and both the two-dimensional fluoroscopic image and the three-dimensional reconstructed image will introduce additional dose exposure, which will cause certain damage to the patient and more dose exposure. The more frequently the imaging device is used, the higher the risk of sequelae for the patient, especially MV-level imaging equipment (EPID, Tomo, etc.).

[0007] In addition, the first two methods obtain the actual treatment position of the patient's head by monitoring the position of external fixators such as positioning head models. Therefore, due to individual differences (such as body fat thickness, softness, amount of hair, breathing rhythm, etc.), this measurement cannot truly reflect the position of the skull. And all three methods monitor the patient's position before surgery, and the patient is not tested after entering the treatment chamber. Therefore, the movement of the patient's skull position during the treatment process cannot be monitored, and even if there is a position deviation, it cannot be detected, and it is impossible to avoid causing harm to the patient. Summary of the invention

[0008] In order to solve the problems existing in several existing positioning methods, the purpose of the present invention is to provide a radiographic surgery position feedback device based on a dental bracket.

[0009] The present invention is achieved through the following technical solutions: A radiation surgery position feedback device based on tooth brackets, comprising: a radiation therapy machine, a six-dimensional treatment bed, a first camera, a second camera, a head fixing component, a tooth positioning bracket and a tooth position marker; The head fixing assembly is used to fix the patient's head, the tooth position marker is installed on the tooth positioning bracket, and the tooth positioning bracket is used to be fixed on the patient's upper jaw teeth; The first camera and the second camera are used to collect image information of the tooth position marker and transmit the image information to the radiation therapy machine; The radiotherapy machine is used to perform radiotherapy on a treatment part of a patient's head; the position information of a tooth position marker is determined according to the received image information, and the six-dimensional treatment bed is controlled to move according to the position information of the tooth position marker, so that the treatment part of the head of the patient lying on the six-dimensional treatment bed remains at the radiation focus position of the radiotherapy machine.

[0010] Preferably, the radiation therapy machine is a gamma knife therapy machine, a proton therapy machine or a CyberKnife therapy machine.

[0011] Preferably, the head fixing assembly comprises an upper positioning head mold, a lower positioning head mold and a positioning head mold hook, and the upper positioning head mold and the lower positioning head mold are connected by the positioning head mold hook.

[0012] Furthermore, the lower positioning head mold is installed on the six-dimensional treatment bed.

[0013] Furthermore, the upper positioning head mold and the lower positioning head mold are manufactured by using 3D printing technology based on the three-dimensional reconstruction model.

[0014] Preferably, it also includes an oral limiting bracket, which is used to be contained in the patient's mouth to open the patient's lips so that the patient's lips are not in contact with the tooth position marker.

[0015] Preferably, the tooth position marker is triangular in shape.

[0016] Preferably, the surface of the tooth position marker is black.

[0017] Preferably, the tooth position marker is threadedly connected to the tooth positioning bracket.

[0018] Preferably, the first camera and the second camera are installed on a radiation therapy machine.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The radiation surgery position feedback device of the present invention introduces a tooth positioning bracket and a tooth position marker. When in use, the tooth positioning bracket is fixed on the patient's upper teeth. Since the upper teeth and the skull are the same entity, the real-time position of the tooth position marker can reflect the actual position of the skull, fundamentally avoiding the individual differences of the human body, and obtaining accurate position information of the treatment site. At the same time, the device of the present invention can provide real-time feedback of the micro-deviations of the patient during the treatment process through the tooth position marker, and according to the feedback results, the patient is driven to move by the six-dimensional treatment bed, and the patient's position is adjusted, so that the patient's head treatment site is always kept at the radiation focus position of the radiation therapy machine. The radiation surgery position feedback device of the present invention can effectively solve the problem of micro-deviations of the patient's head, and can also avoid the patient's great discomfort or even shock caused by the head nail placement. The use of the present invention can make the patient not need to perform the head frame nail placement operation before treatment, and does not need the patient to perform additional positioning irradiation during the treatment process, so as to obtain the real-time position change of the patient's skull, and effectively avoid treatment errors caused by the change of the patient's position.

[0020] Furthermore, the head fixing assembly of the present invention is designed to be composed of three parts: an upper positioning head mold, a lower positioning head mold and a positioning head mold hook, which is convenient for installation. The upper positioning head mold and the lower positioning head mold respectively fit tightly with the corresponding patient's head, thereby being able to stably fix the patient's head and achieve the purpose of accurate positioning.

[0021] Furthermore, the upper positioning head mold and the lower positioning head mold are manufactured through 3D molding, and can be designed according to the individual differences of the human body. The data of the corresponding parts can be modified according to the patient's comfort needs to achieve the purpose of convenience and comfort. At the same time, the data can be thickened to achieve the purpose of fixing strength.

[0022] Furthermore, the present invention also provides an oral limiting bracket, which is contained in the patient's mouth during the operation to open the lips, thereby preventing the lips from touching the tooth position markers and causing an impact.

[0023] Furthermore, the surface of the tooth position marker is black, which forms a large color difference with the background, making it easier for the camera to distinguish its outline, thereby effectively capturing the target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is the overall structural diagram of the radiation surgery position feedback device based on the tooth bracket of the present invention; Figure 2 An exploded view of the tooth positioning bracket and positioning head mold parts of the present invention; Figure 3 It is a schematic diagram of the installation of the tooth positioning bracket of the present invention; Figure 4 It is a schematic diagram of the installation of the tooth position marker of the present invention; Figure 5 This is a schematic diagram of the installation of the oral limiting bracket of the present invention; Figure 6 It is a schematic diagram of the connection between the upper positioning head mold and the lower positioning head mold of the present invention; Figure 7 It is a parts diagram of the tooth positioning bracket of the present invention; Figure 8 It is a parts diagram of the tooth position marker of the present invention; Fig. 9 It is a parts diagram of the oral limiting bracket of the present invention; Fig.10 This is the schematic diagram of binocular vision; Fig.11 Schematic diagram of tooth position marker position offset.

[0026] In the figure: a radiation therapy machine 1, a six-dimensional treatment bed 2, a first camera 3, a second camera 4, an upper positioning head model 5, a lower positioning head model 6, a positioning head model hook 7, a tooth positioning bracket 8, a tooth position marker 9, and a mouth-containing limit bracket 10. DETAILED DESCRIPTION

[0027] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0028] It should be noted that the process equipment or devices not specifically specified in the following embodiments are all conventional equipment or devices in the art.

[0029] It should be noted that the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. Moreover, unless otherwise specified, the numbering of each method step is only a convenient tool for identifying each method step, and is not intended to limit the order of arrangement of each method step or to define the scope of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the present invention without substantially changing the technical content.

[0030] In addition, it should be noted that the terms "first", "second", etc. of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. The orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements.

[0031] like Figure 1 , 2As shown, the radiation surgery position feedback device based on tooth brackets of the present invention comprises: a radiation therapy machine 1, a six-dimensional treatment bed 2, a first camera 3, a second camera 4, a head fixing component, a tooth positioning bracket 8 and a tooth position marker 9; The head fixing assembly is used to fix the patient's head, and the tooth position marker 9 is installed on the tooth positioning bracket 8, and the tooth positioning bracket 8 is used to be fixed on the patient's upper jaw teeth; The first camera 3 and the second camera 4 are used to collect image information of the tooth position marker 9 and transmit the image information to the radiation therapy machine 1; The radiotherapy machine 1 is used to perform radiotherapy on the treatment part of the patient's head; determine the position information of the tooth position marker 9 based on the received image information, and control the six-dimensional treatment bed 2 to move based on the position information of the tooth position marker 9, so that the treatment part of the head of the patient lying on the six-dimensional treatment bed 2 remains at the radiation focus position of the radiotherapy machine 1.

[0032] The radiation therapy machine 1 is the main device of the system, which is used to perform radiation therapy on the patient's head. The radiation therapy machine 1 includes but is not limited to a gamma knife therapy machine, a proton therapy machine, a CyberKnife therapy machine, etc. Its function is to focus several beams of high-energy rays at the lesion target to generate high-density energy to kill abnormal tissue cells to achieve the purpose of treatment.

[0033] The six-dimensional treatment bed 2 is used to support the patient's body, and through its six-dimensional movement, the part of the patient to be treated is always kept at the radiation focus position of the radiation therapy machine 1.

[0034] In a specific embodiment of the present invention, the head fixing assembly includes an upper positioning head mold 5 , a lower positioning head mold 6 and a positioning head mold hook 7 , and the upper positioning head mold 5 and the lower positioning head mold 6 are connected by the positioning head mold hook 7 .

[0035] The upper positioning head model 5 and the lower positioning head model 6 are connected together through four positioning head model hooks 7, two on each side, to form a human head positioning head model, and are fastened to the six-dimensional treatment bed 2 through the mounting holes of the lower positioning head model 6. The generation method is to use CT / MRI and other data for three-dimensional reconstruction and produce it through three-dimensional printing technology.

[0036] When in use, the tooth positioning bracket 8 can be fixed to the positioning element on the patient's upper jaw teeth by a photosensitive adhesive, and a threaded hole is provided on the bracket to install the tooth position marker 9 ( Figure 7 and Figure 8 ).

[0037] like Fig. 9As shown, the tooth position marker 9 is triangular and has a black surface. Its function is to form a large color difference with the background, so that the camera can more easily distinguish its outline, thereby effectively capturing the target position. The dynamic position information generated by the tooth position marker 9 is fed back to the radiation therapy machine 1 through the binocular vision system generated by the left and right cameras. The radiation therapy machine 1 adjusts the position of the six-dimensional treatment bed 2 according to the real-time position of the tooth position marker 9, so that the radiation focus and the target point (i.e., the treatment site) are always in a matching state. Since the position of the maxillary teeth and the entire skull are the same fixed body, the real-time position of the tooth position marker can reflect the actual position of the skull.

[0038] In a specific embodiment of the present invention, a mouth-containing limit bracket 10 ( Fig. 9 ), the function of the oral limiting bracket 10 is to be contained in the patient's mouth during the operation to open the lips, thereby preventing the lips from touching the tooth position marker 9 and causing an impact.

[0039] The dental bracket-based radiosurgery position feedback device of the present invention can effectively solve the problem of slight deviation of the patient's head during head mold positioning, and can also avoid the patient's great discomfort or even shock during head nail placement.

[0040] The specific operation method of the device of the present invention is as follows: S1, fix the lower positioning head mold 6 to the six-dimensional treatment bed 2; S2, the patient's head is inserted into the lower positioning head mold 6; S3, fasten the two tooth positioning brackets 8 to the two teeth on the upper jaw of the patient with light-cured gutta-percha ( Figure 3 ), during the entire course of treatment, the two tooth positioning brackets 8 are not removed to keep the position fixed; S4, fasten the tooth position marker 9 to the two tooth positioning brackets 8 with two screws ( Figure 4 ); S5, place the oral limiting bracket 10 in the patient's mouth ( Figure 5 ); S6, fasten the upper positioning head mold 5 to the lower positioning head mold 6 with four positioning head mold hooks 7 ( Figure 6 ); S7, using binocular vision distance measurement principle (such as Fig.10 As shown) to monitor and provide feedback on the position of the tooth position marker 9; S8. Since the monitored surface of the tooth position marker 9 is a triangular surface, the spatial positions of the three vertices (assuming the original positions are P1, P2, and P3) of the triangular surface of the tooth position marker 9 can be measured (e.g. Fig.11As shown in the figure, when the patient's head is displaced, the position of the tooth position marker 9 is also displaced. Assume that the spatial position of point P1 is (X1, Y1, Z1), the spatial position of point P2 is (X2, Y2, Z2), and the spatial position of point P3 is (X3, Y3, Z3). When the three vertices on the tooth position marker 9 move to P1', P2' and P3' respectively, the spatial movement of point P1 is △X1, △Y1, △Z1; the spatial movement of point P2 is △X2, △Y2, △Z2; the spatial movement of point P3 is △X3, △Y3, △Z3; at this time, the actual position of the tooth position marker 9 is P1' (X1+△X1, Y1+△Y1, Z1+△Z1), P2' (X2+△X2, Y2+△Y2, Z2+△Z2), and P3' (X3+△X3, Y3+△Y3, Z3+△Z3).

[0041] S9. During the treatment process, when the actual position of the tooth position marker 9 [P1' (X1+△X1, Y1+△Y1, Z1+△Z1), P2' (X2+△X2, Y2+△Y2, Z2+△Z2), P3' (X3+△X3, Y3+△Y3, Z3+△Z3)] and the original position [P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3)], the difference △X1, △Y1, △Z1; X2, △Y2, △Z2; △X3, △Y3, △Z3; exceeds the error threshold, the six-dimensional treatment bed 2 will dynamically adjust the spatial position according to the above difference, so that the patient's head actively shifts in the opposite direction until the tooth position marker 9 returns to the original position. The entire control process described above is completed in a single cycle within the millisecond range, which is actually a dynamic fine-tuning process performed at all times to ensure that the offset of the entire treatment process is within an allowable threshold range.

[0042] S10, when the treatment is finished, the upper positioning head mold 5, the mouth-containing limit bracket 10, and the tooth position marker 9 are removed in sequence. For patients undergoing a single treatment, the tooth positioning bracket 8 needs to be removed, and for patients undergoing multiple treatments, it can be removed after the last treatment.

[0043] The present invention mainly solves two technical difficulties: First, the existing technology obtains the actual treatment position of the patient's head by monitoring the position of an external fixator such as a positioning head model. Therefore, due to individual differences (such as body fat thickness, softness, amount of hair, breathing rhythm, etc.), this measurement cannot truly reflect the skull position. The present invention installs a tooth position marker 9 on the upper teeth. Since the teeth and the skull are connected as a rigid solid, the real position of the skull can be measured, thereby fundamentally avoiding individual differences in the human body.

[0044] Second, the prior art monitors the patient's position before the operation, but does not detect the patient after entering the treatment chamber. Therefore, the movement of the patient's skull position during the treatment process cannot be monitored, and even if a position deviation occurs, it cannot be detected, which cannot avoid causing harm to the patient. The present invention uses the detection advantage of binocular vision to track the tooth position marker 9 in real time through two cameras after the patient enters the treatment chamber, thereby obtaining the patient's real-time position and making adjustments.

Claims

1. A position feedback device for radiosurgery based on dental brackets, characterized in that: include: A radiation therapy machine (1), a six-dimensional treatment bed (2), a first camera (3), a second camera (4), a head fixing component, a tooth positioning bracket (8) and a tooth position marker (9); The head fixing assembly is used to fix the patient's head, the tooth position marker (9) is mounted on the tooth positioning bracket (8), and the tooth positioning bracket (8) is used to be fixed on the patient's upper jaw teeth; The first camera (3) and the second camera (4) are used to collect image information of the tooth position marker (9) and transmit the image information to the radiation therapy machine (1); The radiotherapy machine (1) is used to perform radiotherapy on a treatment part of a patient's head; position information of a tooth position marker (9) is determined based on received image information, and the six-dimensional treatment bed (2) is controlled to move based on the position information of the tooth position marker (9), so that the treatment part of the head of the patient lying on the six-dimensional treatment bed (2) is maintained at the radiation focus position of the radiotherapy machine (1).

2. The dental bracket-based radiation surgery position feedback device according to claim 1, characterized in that: The radiation therapy machine (1) is a gamma knife therapy machine, a proton therapy machine or a CyberKnife therapy machine.

3. The dental bracket-based radiation surgery position feedback device according to claim 1, characterized in that: The head fixing assembly comprises an upper positioning head mold (5), a lower positioning head mold (6) and a positioning head mold hook (7); the upper positioning head mold (5) and the lower positioning head mold (6) are connected via the positioning head mold hook (7).

4. The dental bracket-based radiation surgery position feedback device according to claim 3, characterized in that: The lower positioning head mold (6) is installed on the six-dimensional treatment bed (2).

5. The dental bracket-based radiosurgery position feedback device according to claim 3, characterized in that: The upper positioning head mold (5) and the lower positioning head mold (6) are manufactured using 3D printing technology based on the three-dimensional reconstruction model.

6. The dental bracket-based radiosurgery position feedback device according to claim 1, characterized in that: It also comprises a mouth-containing limiting bracket (10), wherein the mouth-containing limiting bracket (10) is used to be contained in the patient's mouth to open the patient's lips so that the patient's lips are not in contact with the tooth position marker (9).

7. The dental bracket-based radiosurgery position feedback device according to claim 1, characterized in that: The tooth position marker (9) is in the shape of a triangle.

8. The dental bracket-based radiosurgery position feedback device according to claim 1, characterized in that: The surface of the tooth position marker (9) is black.

9. The dental bracket-based radiosurgery position feedback device according to claim 1, characterized in that: The tooth position marker (9) is threadedly connected to the tooth positioning bracket (8).

10. The dental bracket-based radiosurgery position feedback device according to claim 1, characterized in that: The first camera (3) and the second camera (4) are installed on the radiation therapy machine (1).

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