Radiotherapy equipment alignment method and device, and electronic equipment

Abstract

The invention provides a radiotherapy equipment alignment method and device, and electronic equipment, and the method comprises the steps: building a mechanical arm tool coordinate system, and obtaining the pixel coordinates of the central position of a first feature mark located on the central axis of a tumor focus through a visual system; the pixel coordinates of the center position of the first feature mark are converted into mechanical arm coordinates, and the mechanical arm coordinates of the center position of the first feature mark are sent to a mechanical arm automatic alignment system; the mechanical arm automatic alignment system controls the mechanical arm to move, so that the center of the beam limiting opening moves to the central axis of a tumor focus, alignment of the beam limiting barrel and the center of the tumor focus is completed, accurate and automatic alignment of the radiotherapy equipment is achieved, the efficiency of automatic alignment of the beam limiting opening of the radiotherapy equipment is greatly improved, and the labor intensity of the radiotherapy equipment is reduced. The adjustment time of the radiotherapy equipment is greatly saved, and the intelligent degree, the usability and the reliability of the system are improved to a great extent.

Description

Technical Field

[0001] The present invention relates to the technical field of radiotherapy equipment alignment, and in particular to a radiotherapy equipment alignment method and device, and electronic equipment. Background Art

[0002] Radiotherapy refers to local treatment through radiation to eliminate and cure the primary and metastatic lesions of local tumors. Radiotherapy, together with surgery and chemotherapy, constitute the three basic treatment methods for tumors. However, radiotherapy has the advantages of wide application range, good efficacy, simple process, small side effects, and low requirements on the patient's own conditions. About 2 / 3 of patients need radiotherapy in the process of cancer treatment, which has become one of the main means of treatment. However, in radiotherapy, due to the radiation hazards of the rays themselves to normal tissues or the environment, in actual clinical operations, the existing radiotherapy equipment cannot be adjusted in place at one time due to the operation of moving in and out of the operating room, adjusting the patient's diseased site, and manual adjustment. It needs to be adjusted multiple times and takes a long time, which prolongs the operation time, greatly affects the efficiency of treatment, and increases the chance of infection in patients.

[0003] Therefore, the prior art needs to be further developed. Summary of the invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies and provide a radiotherapy equipment alignment method and device, and electronic equipment to solve the problems existing in the prior art.

[0005] To achieve the above technical purpose, according to a first aspect of the present invention, the present invention provides a method for aligning a radiotherapy device, wherein the radiotherapy device is fixedly mounted on the free end of a mechanical arm, a limited beam cylinder is fixedly mounted on the free end of the radiotherapy device, and a limited beam opening is arranged at one end of the limited beam cylinder away from the radiotherapy device, and the method comprises:

[0006] S100, establishing a robot arm tool coordinate system, and using a visual system to obtain the pixel coordinates of the center position of a first characteristic mark located on the central axis of the tumor lesion;

[0007] S200, converting the pixel coordinates of the center position of the first feature mark into robot arm coordinates, and sending the robot arm coordinates of the center position of the first feature mark to a robot arm automatic alignment system;

[0008] S300, the automatic alignment system of the robotic arm controls the movement of the robotic arm, thereby moving the center of the beam limiting port to the central axis of the tumor lesion, and completing the alignment of the beam limiting tube and the center of the tumor lesion.

[0009] Specifically, the method of using a visual system to obtain the pixel coordinates of the center position of the first characteristic mark located on the central axis of the tumor lesion includes:

[0010] The first characteristic mark is located at a first preset distance directly above the center of the tumor lesion, and the visual system includes at least one camera, which is used to obtain an image containing the first characteristic mark, and then obtain the pixel coordinates of the center position of the first characteristic mark.

[0011] Specifically, using the camera to acquire an image containing the first characteristic mark, and then acquiring the pixel coordinates of the center position of the first characteristic mark, includes:

[0012] Recording the field of view of the camera as a first recognition range;

[0013] A camera is used to acquire an image of the first feature mark, and the image is used to determine whether the center position of the first feature mark falls within the first recognition range of the camera. Based on the determination result, it is determined whether the pixel coordinates of the center position of the first feature mark are acquired by acquiring the pixel coordinates of the center position of the first reference point.

[0014] Specifically, judging whether to obtain the pixel coordinates of the center position of the first feature mark by obtaining the pixel coordinates of the center position of the first reference point according to the judgment result includes:

[0015] If the center position of the first feature mark falls within the first recognition range of the camera, directly acquiring the pixel coordinates of the center position of the first feature mark using the camera;

[0016] If the center position of the first feature mark does not fall within the first recognition range of the camera, the pixel coordinates of the center position of the first feature mark are obtained by obtaining the pixel coordinates of the center position of the first reference point.

[0017] Specifically, acquiring the pixel coordinates of the center position of the first feature mark by acquiring the pixel coordinates of the center position of the first reference point includes:

[0018] Using a camera to obtain pixel coordinates of a center position of a first reference point set at a target position, converting the pixel coordinates of the first reference point into robot arm coordinates, and moving the center of the camera field of view to the first reference point by controlling the robot arm to determine whether the first feature mark can be recognized after the robot arm moves. If so, obtaining the pixel coordinates of the center position of the first feature mark;

[0019] If the first feature mark is not recognized after the robot moves, the pixel coordinates of the next reference point on the target path from the first reference point to the direction of the first feature mark are continued to be acquired, and the robot is controlled to move until the first feature mark appears within the field of view of the camera.

[0020] Specifically, the automatic alignment system of the robotic arm controls the movement of the robotic arm, thereby moving the center of the beam limiting port to the central axis of the tumor lesion, and completing the alignment of the beam limiting tube and the center of the tumor lesion, including:

[0021] The pixel coordinates of the center position of the first characteristic mark are converted into robot arm coordinates. The robot arm receives the robot arm coordinates of the center position of the first characteristic mark and moves to the center position of the first characteristic mark so that the center of the tumor lesion, the center position of the first characteristic mark and the beam limiting port are in the same straight line.

[0022] Specifically, the automatic alignment system of the robotic arm controls the movement of the robotic arm, thereby moving the center of the beam limiting port to the center position of the first characteristic mark, completing the alignment of the beam limiting cylinder and the center of the tumor lesion, and further comprising:

[0023] After completing the alignment of the beam limiting tube and the center of the tumor lesion, the height and angle of the robotic arm are adjusted, and then the radiotherapy system is started.

[0024] Specifically, the method further includes:

[0025] The hand-eye calibration method is used to convert the pixel coordinates of the center position of the first feature mark and the pixel coordinates of the center position of the reference point obtained by the visual system into robot arm coordinates.

[0026] According to a second aspect of the present invention, there is provided a radiotherapy equipment alignment device, comprising:

[0027] Acquisition module: used to establish a robot tool coordinate system, and use a visual system to acquire the pixel coordinates of the center position of the first characteristic mark located on the central axis of the tumor lesion;

[0028] Control module: used to convert the pixel coordinates of the center position of the first feature mark into robotic arm coordinates, and send the robotic arm coordinates of the center position of the first feature mark to the robotic arm automatic alignment system; or used for the robotic arm automatic alignment system to control the movement of the robotic arm, thereby moving the center of the beam limiting port to the central axis of the tumor lesion, thereby completing the alignment of the beam limiting tube and the center of the tumor lesion.

[0029] According to a third aspect of the present invention, there is provided an electronic device, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and the computer-readable instructions, when executed by the processor, implement the above-mentioned radiotherapy equipment alignment method.

[0030] Beneficial effects:

[0031] The present invention establishes a robotic arm tool coordinate system, utilizes a visual system to obtain the pixel coordinates of the center position of a first characteristic mark located on the central axis of a tumor lesion, converts the pixel coordinates of the center position of the first characteristic mark into robotic arm coordinates, and sends the robotic arm coordinates of the center position of the first characteristic mark to an automatic robotic arm alignment system. The automatic robotic arm alignment system controls the movement of the robotic arm, thereby moving the center of the beam limiting port to the central axis of the tumor lesion, and completing the alignment of the beam limiting tube and the center of the tumor lesion. This solves the technical problem that the treatment equipment cannot be adjusted into place at one time due to factors such as manual adjustment, resulting in multiple adjustments, thereby prolonging the operation time. This realizes the precise alignment of radiotherapy equipment, greatly improves the efficiency of the alignment of radiotherapy equipment, greatly saves the adjustment time of radiotherapy equipment, and greatly improves the intelligence, usability and reliability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a flow chart of a radiotherapy equipment alignment method provided in a specific embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the composition of the automatic alignment device for radiotherapy equipment provided in a specific embodiment of the present invention;

[0034] Figure 3 It is a structural schematic diagram of an automatic alignment device for radiotherapy equipment provided in a specific embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of the alignment process of the radiotherapy equipment provided in a specific embodiment of the present invention;

[0036] Figure 5 It is a schematic diagram of the operation flow of the radiotherapy equipment alignment method provided in a specific embodiment of the present invention;

[0037] Figure 6 is a schematic diagram of the positions of various characteristic marks provided in a specific embodiment of the present invention;

[0038] Figure 7 is a schematic diagram of the positions of points A, B, and C provided in a specific embodiment of the present invention;

[0039] Wherein, the reference numerals of the above-mentioned drawings are as follows:

[0040] 1. Radiotherapy equipment; 2. Beam limiting tube; 3. Beam limiting port; 4. First camera; 5. Second camera; 6. First characteristic marker; 7. Central axis; 8. Tumor lesion. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0042] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0043] See also Figure 1-Figure 7 This embodiment provides a radiotherapy device alignment method, wherein the radiotherapy device 1 is fixedly mounted on the free end of the robotic arm, a limited beam tube 2 is fixedly mounted on the free end of the radiotherapy device 1, and a limited beam opening 3 is provided at one end of the limited beam tube 2 away from the radiotherapy device 1. The radiotherapy device alignment method includes:

[0044] S100, establishing a robot arm tool coordinate system, and using a visual system to obtain the pixel coordinates of the center position of the first characteristic mark 6 located on the central axis 7 of the tumor lesion 8;

[0045] It can be understood that the central axis 7 is an associated line passing through the center of the tumor lesion 8 and related to the position of the tumor lesion 8, that is, the position of the tumor can be determined by the first characteristic mark 6. The relative position relationship between the first characteristic mark 6 and the tumor is related to the inclination of the beam limiting tube 2, and the inclination of the beam limiting tube 2 needs to be adjusted according to the actual contour of the tumor lesion 8. For example, in this embodiment, the tumor lesion 8 and the first characteristic mark 6 are located on the same vertical line. Figure 3 and Figure 4 As shown, the coordinates of the center of the tumor lesion in the XY plane are the same as the coordinates of the first characteristic mark in the XY plane. In other embodiments, the central axis may be an inclined straight line.

[0046] It should be noted here that the first preset distance and the first identification range are pre-set before step S100. The present invention does not limit the specific values ​​of the first preset distance and the first identification range, as long as the radiotherapy equipment alignment method proposed by the present invention can be applied.

[0047] Preferably, the present invention sets the first preset distance to 500 mm, and the present invention sets the first identification range to a circle with a radius of 500 mm. The above settings can further improve the efficiency of automatic positioning of the radiotherapy equipment 1 and greatly improve the adjustment time of the radiotherapy equipment 1.

[0048] It is understandable that before automatic alignment, Figure 3As shown, firstly, a robot tool coordinate system {D} is established with the center of the upper limit beam opening 3 of the beam limiting tube 2 of the radiotherapy equipment 1 away from the radiotherapy equipment 1 as the reference point, which is used to move the robot arm to the central axis of the tumor lesion according to the two-dimensional plane coordinates of the first characteristic mark 6.

[0049] Specifically, the method of using the visual system to obtain the pixel coordinates of the center position of the first characteristic mark 6 located on the central axis 7 of the tumor lesion 8 includes:

[0050] The first characteristic mark 6 is located at a first preset distance directly above the center of the tumor lesion 8. The visual system includes at least one camera, which uses the camera to obtain an image containing the first characteristic mark 6, and then obtains the pixel coordinates of the center position of the first characteristic mark 6.

[0051] It is understandable that the visual system includes at least one camera, which is detachably mounted on the radiotherapy device 1 and is used to take pictures to capture feature information, and then find the lesion site that needs to be treated. The position and number of cameras installed on the radiotherapy device 1 need to be determined according to the actual situation of different patients. The main principle is to be able to clearly capture all feature marks. It should be noted that the first feature mark 6 is located 500mm above the center of the tumor lesion 8 and can be marked by a small, colored sphere, a cross, etc. The volume of the sphere is preferably 2mm 3 , which can reduce positioning errors, and the color is also conducive to camera recognition, and fluorescent dots can also be used for marking;

[0052] Furthermore, the first characteristic mark 6 needs to be pre-set. The setting method can refer to Figure 4 A lifting rod is arranged next to the bed, and the lifting rod can move along the directions of the X-axis, Y-axis and Z-axis, and can also rotate around the X-axis, Y-axis and Z-axis. A first characteristic mark 6 is arranged on the lifting rod, and the first characteristic mark 6 and the center of the tumor lesion 8 are on the same vertical line, that is, the first characteristic mark 6 is located on the central axis 7 of the tumor lesion 8.

[0053] Specifically, the method of using the camera to acquire an image including the first characteristic mark 6 and then acquiring the pixel coordinates of the center position of the first characteristic mark 6 includes:

[0054] Record the camera's field of view as the first recognition range;

[0055] A camera is used to obtain an image of the first characteristic mark 6, and it is determined through the image whether the center position of the first characteristic mark 6 falls within the first recognition range of the camera. Based on the determination result, it is determined whether the pixel coordinates of the center position of the first characteristic mark 6 are obtained by obtaining the pixel coordinates of the center position of the first reference point.

[0056] Specifically, judging whether to obtain the pixel coordinates of the center position of the first characteristic mark 6 by obtaining the pixel coordinates of the center position of the first reference point according to the judgment result includes:

[0057] If the center position of the first characteristic mark 6 falls within the first recognition range of the camera, the pixel coordinates of the center position of the first characteristic mark 6 are directly acquired by using the camera;

[0058] If the center position of the first characteristic mark 6 does not fall within the first recognition range of the camera, the pixel coordinates of the center position of the first characteristic mark 6 are obtained by obtaining the pixel coordinates of the center position of the first reference point.

[0059] It can be understood that the camera's field of view is set to a circle with a radius of 500 mm. When the camera can photograph the first characteristic mark 6 at the initial position, the robotic arm moves directly to the center position of the first characteristic mark 6, and then starts the alignment. If the camera cannot photograph the first characteristic mark 6 at the current position, it is necessary to obtain the reference point position, and then move the camera to the reference point by moving the robotic arm, and photograph the first characteristic mark 6 at the reference point.

[0060] Specifically, obtaining the pixel coordinates of the center position of the first characteristic mark 6 by obtaining the pixel coordinates of the center position of the first reference point includes:

[0061] The pixel coordinates of the center position of the first reference point set at the target position are obtained by using the camera, and the pixel coordinates of the center position of the first reference point are converted into the coordinates of the robot arm. The center of the camera field of view is moved to the first reference point by controlling the robot arm, and it is determined whether the first characteristic mark 6 can be recognized after the robot arm moves. If so, the pixel coordinates of the center position of the first characteristic mark 6 are obtained;

[0062] If the first characteristic mark 6 is not recognized after the robot moves, the pixel coordinates of the next reference point on the target path from the first reference point to the first characteristic mark 6 are continuously acquired, and the robot is controlled to move until the first characteristic mark 6 appears within the field of view of the camera.

[0063] It should be further explained that the first reference point can be manually marked by the user, can be marked with a cross or a circle, or can be randomly acquired through the control system of the radiotherapy equipment. The random acquisition of the first reference point requires setting boundary conditions in the control system, and then it can be achieved by acquiring it within the boundary. Then the camera is used to obtain the pixel coordinates of the center position of the first reference point marked by the user. The first reference point is preferably marked at the midpoint of the headrail of the operating bed. The first reference point can also be randomly selected by the camera within the field of view of the current position, and the pixel coordinates of the center position of the first reference point are obtained. The present invention does not further limit the method of obtaining the first reference point.

[0064] Furthermore, the path of the target is generated by MoveIt, a widely used robot manipulation software package for planning, controlling and executing robot movements. It provides a set of powerful tools and algorithms that can realize the robot's inverse kinematics solution, path planning, collision detection and other functions. The MoveIt module can be easily integrated with various types of robotic arms and provides an efficient solution for the motion planning of robotic arms.

[0065] Furthermore, the next reference point on the target path from the first reference point to the first characteristic marker 6 is obtained. The point can be automatically picked by the movement of the camera on the target path, and the camera stops and determines whether the first characteristic marker 6 above the tumor lesion 8 can be photographed at the current reference point. If the first characteristic marker 6 can be identified at the current reference point, the pixel coordinates of the center position of the first characteristic marker 6 are obtained. If the position of the first characteristic marker 6 cannot be identified at the current reference point, it is necessary to pick the point again until the first characteristic marker 6 can be photographed.

[0066] Furthermore, the user can also set an offset distance on the target path from the first reference point to the first feature marker 6. The offset distance is the distance from the first reference point to the next reference point, that is, the system can calculate the position of the next reference point based on the first reference point and the offset distance. The setting of the offset distance only needs to be guaranteed to be within a certain range. The condition that needs to be met is that when the robot moves to the position of the reference point, the camera can capture the center position of the first feature marker 6 within the camera's field of view, that is, the first recognition range. In addition, the present invention does not impose further restrictions on the target path from the first reference point to the first feature marker 6. It can be a straight line or a curve, as long as it is a path between the first reference point and the first feature marker 6. It should be added that, compared with the method of automatically picking points to obtain the first feature marker 6, using a preset offset distance to obtain the next reference point can effectively reduce the number of automatic point picking times, thereby saving alignment time.

[0067] It should be supplemented that the alignment in the present invention refers to the movement from point to line in space, that is, the center of the beam limiting tube 2 is moved to the central axis of the tumor lesion 8 .

[0068] S200 , converting the pixel coordinates of the center position of the first feature mark 6 into robot arm coordinates, and sending the robot arm coordinates of the center position of the first feature mark 6 to a robot arm automatic alignment system.

[0069] Specifically, the method further includes:

[0070] The hand-eye calibration method is used to convert the pixel coordinates of the center position of the first feature mark 6 and the pixel coordinates of the center position of the reference point obtained by the visual system into robot arm coordinates.

[0071] It is understood that the hand-eye calibration method is a technology that aims to unify the robot vision system and the robot coordinate system so that the position and posture of the object determined by the vision system can be understood and executed by the robot. This process involves determining the transformation relationship between the camera ("eye") on the robot arm ("hand") and the robot coordinate system. The hand-eye calibration method is mainly divided into two types: Eye-to-Hand and Eye-in-Hand. The present invention adopts the Eye-in-Hand calibration method, in which the camera is installed on the robot end effector and the calibration plate is placed in a fixed position. By moving the robot end effector to shoot the calibration plate from different angles, the transformation relationship between the camera and the robot end effector can be calculated. This method also relies on keeping the coordinate transformation relationship between the camera and the end of the robot arm unchanged, and the coordinate transformation relationship between the calibration plate and the robot base unchanged.

[0072] Furthermore, after first establishing a robot tool coordinate system {D} with the center of the upper limit beam opening 3 at one end of the beam limiting tube 2 of the radiotherapy device 1 away from the radiotherapy device 1 as the reference point, the relative calibration of the robot coordinates and the visual system coordinates is completed. The purpose of the system calibration is to associate the robot coordinates with the plane coordinates of the visual system pixels, so that the pixel coordinates of the feature marks obtained by the visual system can be directly converted into the robot coordinates. The robot coordinates and the visual system pixel coordinates are calibrated using the hand-eye calibration method. The specific steps are as follows:

[0073] (1) Prepare a calibration plate: You can use a special calibration plate, or draw nine circles on a piece of white paper as an alternative;

[0074] (2) Fixing the position of the camera and the robotic arm: Make sure that the camera and the robotic arm are fixed and do not move. The calibration pin is fixed on the robotic arm and its position must be at the same height as the gripper or suction cup to prevent the robotic arm from touching the patient.

[0075] (3) Take photos and record coordinates: Place the calibration plate under the camera, adjust the camera focus and take photos, then identify and record the coordinates of the centers of the nine circles;

[0076] (4) The robot moves and records the coordinates: The robot moves to the center of the nine circles in turn, and records the coordinates of the robot at each position;

[0077] (5) Calculate the calibration matrix: Through the pixel coordinates and robot arm coordinates obtained in the above steps, calculate a transformation matrix, namely the calibration matrix, which links the image coordinate system with the robot arm coordinate system;

[0078] The basic principle of nine-point calibration is to directly calculate the transformation matrix through the known image coordinates of the nine points and the corresponding mechanical coordinates. This process involves affine transformation, that is, by adjusting the parameters in the matrix, a linear relationship is established between the pixel coordinates (x′, y′) and the robot coordinates (x, y). This relationship can be obtained by solving a system of linear equations. Specifically, a transformation matrix is ​​fitted by the least squares method to minimize the mapping error of all points.

[0079] The mathematical expression can be expressed as:

[0080] X′=aX+bY+c;

[0081] Y′=a′X+b′Y+c′;

[0082] Where (x′, y′) is the pixel coordinate, (x, y) is the robot coordinate, and a, b, c, a′, b′, c′ are the transformation matrix parameters to be determined;

[0083] By providing the coordinate information of 9 points (9 pixel coordinates and 9 robot arm coordinates), a linear equation system containing 18 equations can be constructed. By solving this equation system, the specific value of the transformation matrix can be obtained.

[0084] The calibration method of the above-mentioned robot coordinates and the pixel coordinates of the visual system is used to complete the calibration of the pixel coordinates and the robot coordinates. By using multiple calibration points, the accuracy of the coordinate conversion is further improved. The nine-point calibration usually does not require manual calculation of the transformation matrix, but can be completed directly through the visual software tool. This greatly simplifies the calibration process, greatly enhances the flexibility and automation capabilities of the system, and greatly improves the automation level and adaptability of the system.

[0085] In fact, the calibration method actually requires at least three points of coordinate information to find the conversion coefficient of the calibration matrix, and the three unknowns can be solved according to the following three equations. The present invention uses nine points for calibration in order to reduce the error:

[0086] X′1 =aX 1 +bY 1 +c;

[0087] X′ 2 =ac+bY 2 +c;

[0088] X′ 3 =aX 3 +bY 3 +c;

[0089] Among them, X′ 1 , X′ 2 , X′ 3 are pixel coordinates, (X 1 , Y 1 )、(X 2 , Y 2 )、(X 3 , Y 3 ) are the robot arm coordinates.

[0090] S300 , the robot arm automatic alignment system controls the movement of the robot arm, thereby moving the center of the beam limiting port 3 to the central axis 7 of the tumor lesion 8 , thereby completing the alignment of the beam limiting tube 2 and the center of the tumor lesion 8 .

[0091] Specifically, the automatic alignment system of the robot arm controls the movement of the robot arm, thereby moving the center of the beam limiting port 3 to the central axis 7 of the tumor lesion 8, and completing the alignment of the beam limiting tube 2 and the center of the tumor lesion 8, including:

[0092] The pixel coordinates of the center position of the first characteristic mark 6 are converted into robot arm coordinates. The robot arm receives the robot arm coordinates of the center position of the first characteristic mark 6 and moves to the central axis 7 of the tumor lesion 8, so that the center of the tumor lesion 8, the center position of the first characteristic mark 6 and the limiting port 3 are on the same straight line.

[0093] Specifically, the automatic alignment system of the robot arm controls the movement of the robot arm, so that the center of the beam limiting port 3 moves to the central axis 7 of the tumor lesion 8, and the alignment of the beam limiting cylinder 2 and the center of the tumor lesion 8 is completed, and also includes:

[0094] After the alignment of the beam limiting tube 2 and the center of the tumor lesion 8 is completed, the height and angle of the robotic arm are adjusted, and then the radiotherapy system is started.

[0095] Furthermore, since the nine-point calibration method used for the robot arm coordinates and the visual system pixel coordinates is a two-dimensional plane calibration, after completing the automatic alignment, it only ensures that the center of the tumor lesion 8, the center position of the first characteristic mark 6 and the beam limiting port 3 of the radiotherapy equipment 1 are in the same straight line. In the actual radiotherapy process, it is also necessary to consider the distance from the radiation source to the patient's skin surface, and the need to consider factors such as the beam limiting tube 2 cannot touch the patient's lesion, or the contour of the lesion surface. Therefore, the height and angle of the robot arm need to be adjusted so that the radiotherapy can achieve the desired effect.

[0096] See also Figure 3-Figure 7 The working principle of the present invention is described below by using specific examples:

[0097] The present invention aims at the electron beam in the radiotherapy operation process, and the different lesion sites of the patient in other radiotherapy processes, and proposes a method for automatically completing the rapid and accurate positioning of the lesion after taking multiple photos and capturing feature information by a visual system. According to the actual situation of different patients, medical staff preset the size information of the operating table used by the patient in the system or preset the vertical distance from the patient's lesion site to the edge of the special diagnosis mark point on the operating table (Note: This distance does not need to be very accurate, it only needs to ensure that the preset distance is within the range of a circle with the patient's lesion as the dot and the best field of view of the visual system as the radius. If the best field of view of the visual system is 500mm, the vertical distance from the patient's lesion site to the edge with the feature information The actual value is 800mm, so the preset distance for medical staff is 300mm-1300mm). It is only necessary to ensure that the feature information is within the field of view of the camera. After completing the positioning of the patient and the operating table, make a feature mark that can be recognized by the visual system above the patient's lesion site, and then move the radiotherapy equipment 1 using a six-axis robotic arm structure to the robotic arm activity area, where the robotic arm activity area can cover the working area of ​​the patient's lesion site, and start the robotic arm automatic alignment system. The robotic arm begins to enter the automatic alignment mode. After the robotic arm completes the automatic alignment, the medical staff only needs to adjust the angle and height of the robotic arm according to the situation to complete all the alignment work. The specific steps are as follows:

[0098] Step 1: First, establish a robot tool coordinate system with the center of the beam limiting port 3 of the beam limiting tube 2 of the radiotherapy device 1 away from the end of the radiotherapy device 1 as the reference point, and then complete the relative calibration of the robot coordinates and the visual system coordinates. The purpose of system calibration is to associate the robot coordinates with the plane coordinates of the visual system pixels, so that the pixel coordinates of the pre-set feature marks obtained by the visual system can be directly converted into the robot coordinates;

[0099] Step 2: The visual system in this preferred embodiment is equipped with two cameras for shooting, and the nine-point calibration method is used to calibrate the robot arm coordinates and the visual system pixel coordinates, such as Figure 3As shown, a two-dimensional coordinate system {F} with the center of the first camera 4 as the reference point and a two-dimensional coordinate system {E} with the center of the second camera 5 as the reference point are established respectively. The above calibration method of the robot arm coordinates and the visual system pixel coordinates completes the calibration of the pixel coordinates of the two cameras and the robot arm coordinates respectively;

[0100] Step 3: If Figure 6 As shown, the operating bed used needs to preset a feature mark that can be recognized and photographed by the visual system at the midpoint of the bedside railing in advance, and the center position of the feature mark is defined as point A, which can be marked by a cross point or a circle;

[0101] Step 4: After the medical staff moves the patient who needs radiotherapy to a suitable position, here it means that the patient's lesion position is within the arm span of the manipulator, for example, the arm span of the manipulator is within 2.5m;

[0102] Step 5: The medical staff also makes a feature mark preset in advance by the visual system just above the lesion that needs to be treated, and defines the center position of the feature mark as point C. Point A is located at the center of the railing, and it is only necessary for the first camera 4 to be able to recognize it. Point C is a point determined by the medical staff, and point C must be on the same vertical line as the center of the lesion;

[0103] Step 6: After presetting an approximate offset distance from the patient's lesion to the bedside railing according to the patient's current position, move the radiotherapy robot arm to the effective working range of the robot arm. Here, it means that the patient's lesion position is within the arm span of the robot arm. For example, the arm span of the robot arm is 2.5m, which can cover the characteristic mark of the bedside railing and the lesion area of ​​the patient to be radiotreated;

[0104] Step 7: The medical staff starts the automatic alignment system of the robotic arm, and the first camera 4 in the visual system starts taking pictures. When point C does not fall within the field of view of the camera, the first camera 4 is used to identify the operating bed head railing and point A. The visual system automatically calculates a straight line passing through point A and perpendicular to the operating bed head railing. The straight line is within the plane of the operating bed. Then, the visual system calculates the pixel coordinates of point B based on the preset approximate offset distance from the patient's lesion to the treatment bed head railing. Then, the visual system converts the pixel coordinates of point B into robotic arm coordinates and uses them as the moving target point of the robotic arm.

[0105] Among them, Figure 1-Figure 7 As shown, the offset distance only needs to be guaranteed to be within a certain range. The condition that needs to be met is that when the robot arm moves to point B, point C can be photographed within the field of view of the second camera 5. For example, if the field of view of the camera is 500, then it is necessary to ensure that point B after the offset is within a circle with the camera as the center and a radius of 500mm. Figure 7 The middle circle is the camera’s field of view;

[0106] Step 8: After receiving the coordinate information of point B, the robot arm automatically unfolds and moves to the position of point B, the second camera 5 starts taking pictures, identifies and captures point C, the visual system converts the pixel coordinates of point C into robot arm coordinates, and uses the robot arm coordinates of point C as the moving target point of the robot arm. The robot arm receives the coordinate information of point C and automatically moves to the straight line where point C is located, so that the tumor lesion 8, point C and the center point of the beam limiting port 3 of the radiotherapy device 1 are on the same straight line, that is, the automatic alignment function of the system is completed;

[0107] Step 9: Finally, medical staff only need to adjust the height and angle of the robotic arm according to actual conditions to start the radiotherapy system and treat the patient's lesions.

[0108] This embodiment uses two cameras for taking pictures. The main reason is that when photographing point A, the manipulator is in a folded state, and the position of the first camera 4 can ensure a larger field of view, so that point A can be photographed clearly and accurately. When the second camera 5 photographs the lesion position at point B, the manipulator is in an unfolded state, and the position of the first camera 4 can ensure a larger field of view, so that the lesion position can be photographed more clearly and accurately. If one camera can ensure that point A is photographed clearly, and can also ensure that the center of the lesion is photographed clearly at point B, then one camera can also implement this solution. The specific selection can be made according to actual conditions. The present invention does not further limit the number of cameras in the visual system.

[0109] The following is a brief introduction to the prior art to which the present invention relates:

[0110] Using pictures to obtain feature point coordinates mainly includes:

[0111] 1. Read the image: First, you need to use an appropriate image processing library (such as OpenCV) to read the image, which usually involves calling functions in the library to load the image file.

[0112] 2. Preprocess the image: Before feature point detection, the image needs to be preprocessed, such as converting it into a grayscale image, to reduce the computational complexity or improve the accuracy of feature detection.

[0113] 3. Feature point detection: Use image processing technology to locate specific areas in the image, which can be achieved through edge detection, corner detection, etc. OpenCV provides a variety of edge detection algorithms, such as Canny edge detection, which is used to identify edges in images.

[0114] 4. Get coordinates: Once you have the edge detection results, you can use OpenCV to get the two-dimensional pixel point set of the feature mark edge, and get the coordinates of the center position of the feature point based on the two-dimensional pixel point set.

[0115] Judging whether there are required feature points in the picture mainly includes:

[0116] 1. Grayscale the image;

[0117] 2. Detect whether there are points where the grayscale value of the image changes dramatically.

[0118] The above-mentioned prior art is a conventional technical means in this technical field, and the present invention will not elaborate on it any more.

[0119] It should be noted here that the present invention establishes a robotic arm tool coordinate system, uses a visual system to obtain the pixel coordinates of the center position of the first feature mark located on the central axis of the tumor lesion, converts the pixel coordinates of the center position of the first feature mark into robotic arm coordinates, and sends the robotic arm coordinates of the center position of the first feature mark to the robotic arm automatic alignment system. The robotic arm automatic alignment system controls the movement of the robotic arm, thereby moving the center of the beam limiting port to the central axis of the tumor lesion, completing the alignment of the beam limiting tube and the center of the tumor lesion, solving the technical problem that the treatment equipment cannot be adjusted into place at one time due to factors such as manual adjustment, resulting in multiple adjustments, thereby prolonging the operation time, and realizes the precise automatic alignment of the radiotherapy equipment, greatly improves the efficiency of the automatic alignment of the radiotherapy equipment, greatly saves the adjustment time of the radiotherapy equipment, and greatly improves the intelligence, usability and reliability of the present invention.

[0120] See also Figure 2 , Figure 3 and Figure 4 This embodiment provides a radiotherapy device treatment head alignment device, the device comprising:

[0121] Acquisition module 100: used to establish a robot tool coordinate system, and to acquire the pixel coordinates of the center position of the first characteristic mark 6 located on the central axis 7 of the tumor lesion 8 by using a visual system;

[0122] Control module 200: used to convert the pixel coordinates of the center position of the first characteristic mark 6 into robotic arm coordinates, and send the robotic arm coordinates of the center position of the first characteristic mark 6 to the robotic arm automatic alignment system; or used for the robotic arm automatic alignment system to control the movement of the robotic arm, thereby moving the center of the beam limiting port 3 to the central axis 7 of the tumor lesion 8, thereby completing the alignment of the beam limiting tube 2 and the center of the tumor lesion 8.

[0123] It should be noted here that the present invention establishes a robotic arm tool coordinate system, uses a visual system to obtain the pixel coordinates of the center position of the first feature mark located on the central axis of the tumor lesion, converts the pixel coordinates of the center position of the first feature mark into robotic arm coordinates, and sends the robotic arm coordinates of the center position of the first feature mark to the robotic arm automatic alignment system. The robotic arm automatic alignment system controls the movement of the robotic arm, thereby moving the center of the beam limiting port to the central axis of the tumor lesion, completing the alignment of the beam limiting tube and the center of the tumor lesion, solving the technical problem that the treatment equipment cannot be adjusted into place at one time due to factors such as manual adjustment, resulting in multiple adjustments, thereby prolonging the operation time, and realizes the precise automatic alignment of the radiotherapy equipment, greatly improves the efficiency of the automatic alignment of the radiotherapy equipment, greatly saves the adjustment time of the radiotherapy equipment, and greatly improves the intelligence, usability and reliability of the present invention.

[0124] In a preferred embodiment, the present application further provides an electronic device, the electronic device comprising:

[0125] A memory; and a processor, wherein the memory stores computer-readable instructions, and the radiotherapy device alignment method is implemented when the computer-readable instructions are executed by the processor. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0126] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0127] It should be noted here that the present invention establishes a robotic arm tool coordinate system, uses a visual system to obtain the pixel coordinates of the center position of the first feature mark located on the central axis of the tumor lesion, converts the pixel coordinates of the center position of the first feature mark into robotic arm coordinates, and sends the robotic arm coordinates of the center position of the first feature mark to the robotic arm automatic alignment system. The robotic arm automatic alignment system controls the movement of the robotic arm, thereby moving the center of the beam limiting port to the central axis of the tumor lesion, completing the alignment of the beam limiting tube and the center of the tumor lesion, solving the technical problem that the treatment equipment cannot be adjusted into place at one time due to factors such as manual adjustment, resulting in multiple adjustments, thereby prolonging the operation time, and realizes the precise automatic alignment of the radiotherapy equipment, greatly improves the efficiency of the automatic alignment of the radiotherapy equipment, greatly saves the adjustment time of the radiotherapy equipment, and greatly improves the intelligence, usability and reliability of the present invention.

[0128] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0129] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A radiotherapy equipment alignment method, characterized in that: The radiotherapy device (1) is fixedly mounted on the free end of the mechanical arm, a beam limiting tube (2) is fixedly mounted on the free end of the radiotherapy device (1), and a beam limiting opening (3) is provided at one end of the beam limiting tube (2) away from the radiotherapy device (1). The method comprises: S100, establishing a robot arm tool coordinate system, and using a visual system to obtain the pixel coordinates of the center position of a first characteristic mark (6) located on the central axis (7) of the tumor lesion (8); S200, converting the pixel coordinates of the center position of the first characteristic mark (6) into robot arm coordinates, and sending the robot arm coordinates of the center position of the first characteristic mark (6) to the robot arm automatic alignment system; S300, the automatic positioning system of the robotic arm controls the movement of the robotic arm, thereby moving the center of the beam limiting port (3) to the central axis (7) of the tumor lesion (8), thereby completing the positioning of the beam limiting tube (2) and the center of the tumor lesion (8).

2. The radiotherapy equipment alignment method according to claim 1, characterized in that: The method of using a visual system to obtain the pixel coordinates of the center position of a first characteristic mark (6) located on the central axis (7) of a tumor lesion (8) comprises: The first characteristic mark (6) is located at a first preset distance directly above the center of the tumor lesion (8), and the visual system includes at least one camera, which is used to obtain an image containing the first characteristic mark (6) and further obtain the pixel coordinates of the center position of the first characteristic mark (6).

3. The radiotherapy equipment alignment method according to claim 2, characterized in that: The method of using the camera to acquire an image containing the first characteristic mark (6), and then acquiring the pixel coordinates of the center position of the first characteristic mark (6), comprises: Recording the field of view of the camera as a first recognition range; An image of the first characteristic mark (6) is acquired by using a camera, and it is determined through the image whether the center position of the first characteristic mark (6) falls within a first recognition range of the camera; and based on the determination result, it is determined whether the pixel coordinates of the center position of the first characteristic mark (6) are acquired by acquiring the pixel coordinates of the center position of the first reference point.

4. The radiotherapy equipment alignment method according to claim 3, characterized in that: The step of determining whether to obtain the pixel coordinates of the center position of the first feature mark (6) by obtaining the pixel coordinates of the center position of the first reference point according to the determination result comprises: If the center position of the first characteristic mark (6) falls within the first recognition range of the camera, the pixel coordinates of the center position of the first characteristic mark (6) are directly acquired by using the camera; If the center position of the first characteristic mark (6) does not fall within the first recognition range of the camera, the pixel coordinates of the center position of the first characteristic mark (6) are obtained by obtaining the pixel coordinates of the center position of the first reference point.

5. The radiotherapy equipment alignment method according to claim 4, characterized in that: The step of obtaining the pixel coordinates of the center position of the first feature mark (6) by obtaining the pixel coordinates of the center position of the first reference point comprises: Using a camera to obtain pixel coordinates of a center position of a first reference point set at a target position, converting the pixel coordinates of the center position of the first reference point into robot arm coordinates, and moving the center of the camera field of view to the first reference point by controlling the robot arm to determine whether the first feature mark (6) can be identified after the robot arm moves. If so, obtaining the pixel coordinates of the center position of the first feature mark (6); If the first characteristic mark (6) is not recognized after the robot arm moves, the pixel coordinates of the next reference point on the target path from the first reference point to the direction of the first characteristic mark (6) are continuously obtained, and the robot arm is controlled to move until the first characteristic mark (6) appears within the field of view of the camera.

6. The radiotherapy equipment alignment method according to claim 5, characterized in that: The automatic positioning system of the robot arm controls the movement of the robot arm, thereby moving the center of the beam limiting port (3) to the central axis (7) of the tumor lesion (8), and completing the positioning of the beam limiting cylinder (2) and the center of the tumor lesion (8), including: The pixel coordinates of the center position of the first characteristic mark (6) are converted into robot arm coordinates. The robot arm receives the robot arm coordinates of the center position of the first characteristic mark (6) and moves to the central axis (7) of the tumor lesion (8), so that the center of the tumor lesion (8), the center position of the first characteristic mark (6) and the limiting port (3) are on the same straight line.

7. The radiotherapy equipment alignment method according to claim 6, characterized in that: The automatic positioning system of the robot arm controls the movement of the robot arm, thereby moving the center of the beam limiting port (3) to the central axis (7) of the tumor lesion (8), completing the positioning of the beam limiting cylinder (2) and the center of the tumor lesion (8), and further comprising: After the alignment of the beam limiting tube (2) and the center of the tumor lesion (8) is completed, the height and angle of the mechanical arm are adjusted, and then the radiotherapy system is started.

8. The radiotherapy equipment alignment method according to claim 7, characterized in that: The method further comprises: The hand-eye calibration method is used to convert the pixel coordinates of the center position of the first feature mark (6) and the pixel coordinates of the center position of the reference point acquired by the visual system into robot arm coordinates.

9. A radiotherapy equipment alignment device, characterized in that: include: An acquisition module (100): used to establish a robot tool coordinate system, and to use a visual system to acquire the pixel coordinates of the center position of a first characteristic mark (6) located on the central axis (7) of a tumor lesion (8); A control module (200): used to convert the pixel coordinates of the center position of the first characteristic mark (6) into robot arm coordinates, and send the robot arm coordinates of the center position of the first characteristic mark (6) to the robot arm automatic alignment system; or used for the robot arm automatic alignment system to control the movement of the robot arm, thereby moving the center of the beam limiting port (3) to the central axis (7) of the tumor lesion (8), thereby completing the alignment of the center of the beam limiting tube (2) and the tumor lesion (8).

10. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the radiotherapy equipment alignment method according to any one of claims 1 to 8 is implemented.

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