Mark-point-free radiotherapy positioning and resetting method and device

Abstract

The invention discloses a mark-point-free radiotherapy positioning reset method and device, and the method comprises the steps: obtaining a first image when a treatment bed carrying a patient moves to a positioning scanning position, and enabling the first image to comprise a mark line in a bed board; when the treatment couch carrying the patient moves to a reset scanning position, a second image is obtained, and the second image comprises a marking line in the couch board; comparing a coordinate system during positioning scanning with the first image, a coordinate system during resetting scanning and the second image, and obtaining the change of the body position of the patient according to a marking line in the bed board; and when the change falls into a threshold range, determining that the positioning and resetting are completed. According to the embodiment of the invention, the problems of high technical requirements, low speed and low accuracy of positioning and resetting in related technologies are solved.

Description

Technical Field

[0001] The present application relates to a method and device for positioning and resetting radiotherapy without marking points, and belongs to the field of radiotherapy. Background Art

[0002] At present, when positioning and repositioning for radiotherapy, the method is to place markers on the patient or on a phantom, establish a coordinate system, and locate the tumor through the coordinate system. The positioning system needs to be placed accurately before positioning, and should avoid being placed in areas that are prone to deformation. This places high demands on technicians, and there may be accidental errors in the markers on the patient or the fixed mold, as well as errors caused by the deformation of the fixed mold. These methods require manual operation and cannot meet the needs of accurate, fast, and automated positioning. Summary of the invention

[0003] In view of this, the present application provides a method and device for positioning and resetting radiotherapy without marking points. The embodiments of the present application at least solve the problems of high requirements, slow speed and low accuracy of positioning and resetting technology in related technologies.

[0004] In a first aspect, an embodiment of the present application discloses a method for positioning and resetting radiotherapy without marking points, the method comprising: when a treatment bed carrying a patient moves to a positioning scanning position, a first image is obtained, the first image includes marking lines inside the bed board; when the treatment bed carrying the patient moves to a resetting scanning position, a second image is obtained, the second image includes marking lines inside the bed board; according to a coordinate system during the positioning scan and the first image, the coordinate system during the resetting scan and the second image are compared, as well as the marking lines inside the bed board, a change in the patient's position is obtained; when the change falls within a threshold range, it is determined that the positioning and resetting is completed.

[0005] In some embodiments, there are two marking lines inside the bed board, wherein the first marking line is located in the middle and runs through the entire bed board; the second marking line forms a preset angle with the first marking line; the intersection of the first marking line and the second marking line is in the middle position of the head and foot direction of the bed board; the intersection is the origin of the coordinate system.

[0006] In some embodiments, the change in patient position is obtained by comparing the coordinate system during the positioning scan, the first image, the coordinate system during the reset scan, and the second image, as well as the marking lines inside the bed board, including: extracting first marking line points of the first image and second marking line points of the second image through an image comparison module; aligning the first marking line points and the second marking line points; after the alignment, comparing the coordinate system during the positioning scan, the coordinate system during the reset scan, and the second image, to obtain the change in patient position.

[0007] In some embodiments, before moving the treatment bed carrying the patient to the positioning scanning position to obtain the first image, the step further includes: recording the positioning information of the patient on the treatment bed, wherein the positioning information is used to indicate the fixed position and method of the patient on the treatment bed during resetting.

[0008] In some embodiments, the method further includes: establishing a coordinate system during the positioning scan and associating it with the first image; determining an offset based on the bed position during the positioning scan and the bed position during the resetting scan; and determining the tumor position for radiotherapy based on the offset, the tumor position obtained by the planning system and the first image.

[0009] In some embodiments, the method further includes: responding to a scanning operation of a stationary bed to obtain a third image, the third image including a marking line inside the bed board; comparing the coordinate system during the positioning scan and the first image with the coordinate system during the stationary bed scan and the third image, as well as the marking line inside the bed board, to obtain a change in the patient's position; when the change falls within a threshold range, determining that the positioning reduction is completed.

[0010] A second aspect of an embodiment of the present application discloses a device for positioning and resetting a radiotherapy treatment without marking points, the device comprising: a first scanning module, used to obtain a first image when a treatment bed carrying a patient moves to a positioning scanning position, the first image comprising marking lines inside a bed board; a second scanning module, used to obtain a second image when a treatment bed carrying a patient moves to a resetting scanning position, the second image comprising marking lines inside a bed board; a comparison module, used to compare the coordinate system during the positioning scan and the first image with the coordinate system during the resetting scan and the second image, as well as the marking lines inside the bed board, to obtain a change in the patient's body position; and a determination module, used to determine that the positioning and resetting is completed when the change falls within a threshold range.

[0011] A third aspect of the embodiments of the present application discloses a marker-free radiotherapy positioning and resetting system, comprising the radiotherapy positioning and resetting device of the above-mentioned embodiments, a patient information management module, a data transceiver module and a treatment bed motion control module.

[0012] A fourth aspect of an embodiment of the present application discloses a computer-readable storage medium, which includes a stored program, wherein when the program is run, the processor of the device where the program is located is controlled to execute the radiotherapy positioning and resetting method of the above embodiment.

[0013] The fifth aspect of an embodiment of the present application discloses a server, which includes: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors execute the radiotherapy positioning and resetting method of the above embodiment.

[0014] Compared with the prior art, the embodiments of the present application have the following beneficial effects: The embodiment of the present application provides a method and device for positioning and resetting radiotherapy without marking points. The treatment positioning and resetting method includes: when the treatment bed carrying the patient moves to the positioning scanning position, a first image is obtained, and the first image includes the marking line inside the bed board; when the treatment bed carrying the patient moves to the resetting scanning position, a second image is obtained, and the second image includes the marking line inside the bed board; according to the coordinate system during the positioning scan and the coordinate system during the resetting scan and the second image, and the marking line inside the bed board, the change of the patient's body position is obtained; when the change falls into the threshold range, it is determined that the positioning and resetting are completed. This embodiment realizes automatic positioning and resetting through the position information on the image, reduces the difficulty and workload of the technician, and improves the accuracy of patient positioning and resetting. At the same time, through the bed body marking, the technician can perform manual confirmation to avoid the occurrence of machine system errors. During the resetting process, the technician can use the marking inside the bed board to quickly confirm the posture change of the patient's body position. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application 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 only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0016] Figure 1 A schematic flow chart of a method for positioning and resetting radiotherapy without marker points provided in an embodiment of the present application.

[0017] Figure 2 A schematic diagram of the interior of a bed board provided in an embodiment of the present invention.

[0018] Figure 3 A schematic diagram of the structure of a marker-free radiotherapy positioning and resetting device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings 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 herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" 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 that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] Embodiment 1:

[0022] Figure 1 A flowchart of a method for positioning and resetting a radiotherapy treatment without a marker point provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method may include the following steps: 101 When the treatment bed carrying the patient moves to a positioning scanning position, a first image is obtained, wherein the first image includes a marking line inside the bed board.

[0023] In this embodiment, the positioning process is as follows: retrieve the patient information, and after verification, position the patient on the treatment bed. The operator uses the visible light laser and the scale lines on the treatment bed to confirm the bed position, record the patient's fixed position and method, and then move the bed to the scanning position. The system records its scanning starting position. The operator enters the scanning parameters on the image scanning device and scans. The system records its scanning parameters and the bed position after the scan is completed. After completion, the scanning parameters and range are set on the image acquisition and processing device and the scan is completed. After completion, the data is transmitted to the planning system for design, and after completion, the data is transmitted back. Specifically, the operator confirms the bed position in the following steps: first turn on the visible light lasers on both sides, the infrared rays generated by the lasers will coincide with the scale marks on the bed body, confirm the coincident position, observe whether the bed digital display position is consistent with the mark line position, and then enter the bed through the mark line to determine whether the bed entry value is consistent with the digital display.

[0024] In one embodiment, the patient information includes patient ID, name, age, gender, imaging number, radiotherapy number, and clinical diagnosis; the recorded information includes: the flip angle, front and rear tilt angle, deflection angle, left and right position, height, front and rear position, speed of the bed before and after scanning, the mold used to fix the patient and the fixed position; and the recorded information is associated with the retrieved information and stored in the server.

[0025] In one embodiment, the bed surface can directly fix the patient mask, phantom, vacuum pad, leg pad, head frame, ruler, or fix the adapter strip to adapt the positioning bed board. The outer surface of the bed body has scale markings distributed on both sides, and a visible light generator is used for quality control and confirmation.

[0026] In one embodiment, the imaging scanning equipment includes but is not limited to DR, KV, CBCT, CT, MR, PET-CT, and SPECT-CT.

[0027] 102 When the treatment bed carrying the patient moves to the reset scanning position, a second image is obtained, wherein the second image includes a marking line inside the bed board.

[0028] In this embodiment, the repositioning process is as follows: after receiving the planning system data, the patient is first fixed to the position at the time of positioning. The system moves the patient to the position according to the parameter records at the time of positioning, or the operator moves the patient to the new scanning position by himself, and then completes the image acquisition.

[0029] 103 derives the change of the patient's body position according to the coordinate system during the positioning scan and the first image, the coordinate system during the resetting scan and the second image, and the marking lines inside the bed board.

[0030] 104 When the change falls within the threshold range, it is determined that the positioning reset is completed.

[0031] In this embodiment, whether correction is needed is determined based on a threshold set by the operator. If the threshold is exceeded, the operator can choose to make corrections manually or use the multi-dimensional treatment bed to automatically correct the scan to be consistent or within an acceptable error range.

[0032] In one embodiment, the multi-dimensional motion bed board performs offset correction based on up, down, left, right, front, and back.

[0033] In some embodiments, Figure 2 As shown, there are two marking lines 1 inside the bed board for coordinate system conversion and image registration, wherein the first marking line is located in the middle and runs through the entire bed board; the second marking line forms a preset angle with the first marking line; the intersection of the first marking line and the second marking line is in the middle position of the head and foot direction of the bed board; the intersection is the origin of the coordinate system.

[0034] Exemplarily, the marking line is a lead line.

[0035] It is worth noting that there are marking lines inside the bed, which are visible on the image and will not produce artifacts.

[0036] In some embodiments, the change in patient position is obtained by comparing the coordinate system during the positioning scan, the first image, the coordinate system during the reset scan, and the second image, as well as the marking lines inside the bed board, including: extracting first marking line points of the first image and second marking line points of the second image through an image comparison module; aligning the first marking line points and the second marking line points; after the alignment, comparing the coordinate system during the positioning scan, the coordinate system during the reset scan, and the second image, to obtain the change in patient position.

[0037] In this embodiment, the image comparison module finds the marking line on the image, which forms a dot on the image section, and the two marking points are automatically aligned to the same position after identification. The doctor compares the coordinate system during the positioning scan and the first image with the coordinate system during the resetting scan and the second image to obtain the change in the patient's body position.

[0038] In one embodiment, the image registration may be based on automatic registration of bed internal markers or automatic registration of patient images.

[0039] In some embodiments, before moving the treatment bed carrying the patient to the positioning scanning position to obtain the first image, the step further includes: recording the positioning information of the patient on the treatment bed, wherein the positioning information is used to indicate the fixed position and method of the patient on the treatment bed during resetting.

[0040] In some embodiments, the method further includes: establishing a coordinate system during the positioning scan and associating it with the first image; determining an offset based on the bed position during the positioning scan and the bed position during the resetting scan; and determining the tumor position for radiotherapy based on the offset, the tumor position obtained by the planning system and the first image.

[0041] In this embodiment, the system first establishes a coordinate system association based on the bed position during the positioning scan and the image during the imaging scan, and then forms an offset based on the bed position during the resetting scan and the bed position during the positioning scan. The system finds the tumor position based on the offset and the tumor position obtained by the planning system and the image during the positioning scan.

[0042] In some embodiments, the method further includes: responding to a scanning operation of a stationary bed to obtain a third image, the third image including a marking line inside the bed board; comparing the coordinate system during the positioning scan and the first image with the coordinate system during the stationary bed scan and the third image, as well as the marking line inside the bed board, to obtain a change in the patient's position; when the change falls within a threshold range, determining that the positioning reduction is completed.

[0043] In this embodiment, the scanning adopts a flat scan reconstruction mode without moving the bed, and hybrid automatic registration or local registration is performed based on the image of the first scan to confirm the position.

[0044] In actual applications, the steps of using the method of this embodiment are as follows: the first step is positioning scanning and generating data. The system records patient information data, scanning data, and image data, and transmits the image data to the planning system; the second step is patient position repositioning. The system obtains the error based on the parameters during the repositioning scan and the parameters during the positioning scan, and performs repositioning manually or using a multi-dimensional bed; the third step is calculating the tumor position. The system calculates the tumor position based on the image data transmitted back by the planning system and the scanning parameters during repositioning; the fourth step is bed movement and secondary confirmation. The system sends the position to the bed and moves it. The operator can choose whether to use the imaging system for secondary repositioning without moving the bed, and finally completes the repositioning.

[0045] The method of this embodiment utilizes the coordinate system of the bed and the image itself to realize automatic positioning and resetting according to the position on the image and the recorded bed data, which reduces the difficulty of operation and workload of the technician, increases the accuracy of the patient's positioning and resetting, and improves the precision. In addition, the bed marking allows the technician to perform manual confirmation to avoid machine system errors. During resetting, the patient's posture changes can be quickly confirmed through the markings inside the bed board. The software can be used to make corrections using a multi-dimensional bed and a second confirmation can be performed using a scan of a stationary bed. This prevents normal tissue from being irradiated by mistake and tumor tissue from being missed, thereby improving the safety of treatment, reducing side effects during treatment, and improving treatment efficiency and work efficiency.

[0046] Embodiment 2:

[0047] Figure 3 A schematic diagram of a radiotherapy positioning and resetting device without marking points provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the device may include the following modules: The first scanning module 301 is used to obtain a first image when the treatment bed carrying the patient moves to a positioning scanning position, wherein the first image includes a marking line inside the bed board.

[0048] The second scanning module 302 is used to obtain a second image when the treatment bed carrying the patient moves to the reset scanning position, wherein the second image includes a marking line inside the bed board.

[0049] The comparison module 303 is used to compare the coordinate system during the positioning scan and the first image with the coordinate system during the resetting scan and the second image, as well as the marking lines inside the bed board, to obtain the change in the patient's body position.

[0050] The determination module 304 is used to determine that the positioning reset is completed when the change falls into a threshold range.

[0051] In some embodiments, a marker-free radiotherapy positioning and resetting system includes the radiotherapy positioning and resetting device of the above-mentioned embodiment, a patient information management module, a data transceiver module and a treatment bed motion control module.

[0052] Among them, the patient information management module is used to record patient information.

[0053] The data transceiver module is used for receiving and sending image data and planned receipts.

[0054] The treatment bed motion control module is used to control the bed motion, record the bed position and correct the position error.

[0055] In some embodiments, there are two marking lines inside the bed board, wherein the first marking line is located in the middle and runs through the entire bed board; the second marking line forms a preset angle with the first marking line; the intersection of the first marking line and the second marking line is in the middle position of the head and foot direction of the bed board; the intersection is the origin of the coordinate system.

[0056] In some embodiments, the change in patient position is obtained by comparing the coordinate system during the positioning scan, the first image, the coordinate system during the reset scan, and the second image, as well as the marking lines inside the bed board, including: extracting first marking line points of the first image and second marking line points of the second image through an image comparison module; aligning the first marking line points and the second marking line points; after the alignment, comparing the coordinate system during the positioning scan, the coordinate system during the reset scan, and the second image, to obtain the change in patient position.

[0057] In some embodiments, before moving the treatment bed carrying the patient to the positioning scanning position to obtain the first image, the step further includes: recording the positioning information of the patient on the treatment bed, wherein the positioning information is used to indicate the fixed position and method of the patient on the treatment bed during resetting.

[0058] In some embodiments, the method further includes: establishing a coordinate system during the positioning scan and associating it with the first image; determining an offset based on the bed position during the positioning scan and the bed position during the resetting scan; and determining the tumor position for radiotherapy based on the offset, the tumor position obtained by the planning system and the first image.

[0059] In some embodiments, the method further includes: responding to a scanning operation of a stationary bed to obtain a third image, the third image including a marking line inside the bed board; comparing the coordinate system during the positioning scan and the first image with the coordinate system during the stationary bed scan and the third image, as well as the marking line inside the bed board, to obtain a change in the patient's position; when the change falls within a threshold range, determining that the positioning reduction is completed.

[0060] Embodiment 3:

[0061] An embodiment of the present application further provides a server, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0062] The above-mentioned memory may refer to a device inside a computer for storing data and programs, and may include memory, hard disk, etc., wherein the memory may be used to temporarily store running programs and data, the hard disk may be used to store programs and data for a long time, and the memory may be used to enable the computer to read and write data, and execute programs; the above-mentioned processor may be responsible for executing instructions in computer programs and performing data processing, and may be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0063] Embodiment 4:

[0064] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0065] The above-mentioned computer storage medium may refer to a medium in a computer memory used to store certain discontinuous physical quantities. Computer storage media mainly include semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser disks, etc.; the stored program included in the computer-readable storage medium may be a set of instructions that can be recognized and executed by a computer, running on an electronic computer, and is an information tool that meets certain needs of people.

[0066] Embodiment 5:

[0067] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0068] The above-mentioned computer program product may refer to a software program that has been written, tested and released and can be run on a computer or other device. The computer program product may include an application, an operating system, tool software, etc., which is used to implement specific functions or solve specific problems.

[0069] Embodiment 6:

[0070] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0071] The above-mentioned non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can keep the data from being lost when the power is off, and can be used to store long-term data, such as operating systems, applications, and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical disks, and flash memory storage devices, etc.

[0072] Embodiment 7:

[0073] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0074] The above-mentioned computer program may refer to a collection of instructions used to tell a computer to perform a specific task or operation. A computer program may be written by a programmer using a specific programming language and may include algorithms, data structures, logic, and control flows. A computer program may be used for a variety of purposes, including application software, operating systems, and the like.

[0075] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0077] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0078] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0079] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0080] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for positioning and resetting radiotherapy without marking points, characterized in that: include: When the treatment bed carrying the patient moves to the positioning scanning position, a first image is obtained, wherein the first image includes a marking line inside the bed board; When the treatment bed carrying the patient moves to the reset scanning position, a second image is obtained, wherein the second image includes a marking line inside the bed board; Comparing the coordinate system during the positioning scan and the first image with the coordinate system during the resetting scan and the second image, as well as the marking lines inside the bed board, to obtain the change in the patient's body position; When the change falls within the threshold range, it is determined that the positioning reset is completed.

2. The radiotherapy positioning and repositioning method according to claim 1, characterized in that: There are two marking lines inside the bed board, where: The first marking line is located in the middle and runs through the entire bed board; a second marking line, forming a preset angle with the first marking line; The intersection of the first marking line and the second marking line is at the middle position of the head and foot direction of the bed board; The intersection point is the origin of the coordinate system.

3. The radiotherapy positioning method according to claim 1, characterized in that: The method of comparing the coordinate system during the positioning scan and the first image with the coordinate system during the resetting scan and the second image, and the marking line inside the bed board to obtain the change in the patient's body position includes: Extracting first marking line points of the first image and second marking line points of the second image by an image comparison module; Aligning the first marking line point with the second marking line point; After the registration, the change in the patient's body position is obtained by comparing the coordinate system during the positioning scan and the first image with the coordinate system during the resetting scan and the second image.

4. The radiotherapy positioning method according to claim 1, characterized in that: Before the step of moving the treatment bed carrying the patient to the positioning scanning position to obtain the first image, the method further includes: The positioning information of the patient on the treatment bed is recorded, and the positioning information is used to indicate the fixed position and method of the patient on the treatment bed during resetting.

5. The radiotherapy positioning and repositioning method according to claim 1, characterized in that: The method further comprises: Establishing a coordinate system for positioning scanning and associating it with the first image; Determine the offset according to the bed position during the positioning scan and the bed position during the resetting scan; The tumor position for radiation therapy is determined based on the offset, the tumor position obtained by the planning system and the first image.

6. The radiotherapy positioning method according to claim 1, characterized in that: The method further comprises: In response to the scanning operation of the stationary bed, a third image is obtained, wherein the third image includes a marking line inside the bed board; Comparing the coordinate system during the positioning scan and the first image with the coordinate system during the bed-free scan and the third image, as well as the marking lines inside the bed board, to obtain the change in the patient's body position; When the change falls within the threshold range, it is determined that the positioning reset is completed.

7. A positioning and resetting device for radiotherapy without marking points, characterized in that: include: A first scanning module, used for obtaining a first image when the treatment bed carrying the patient moves to a positioning scanning position, wherein the first image includes a marking line inside the bed board; A second scanning module, used for obtaining a second image when the treatment bed carrying the patient moves to a reset scanning position, wherein the second image includes a marking line inside the bed board; A comparison module, used for comparing the coordinate system during the positioning scan and the first image with the coordinate system during the resetting scan and the second image, as well as the marking lines inside the bed board, to obtain a change in the patient's body position; The determination module is used to determine that the positioning reset is completed when the change falls into a threshold range.

8. A radiotherapy positioning and repositioning system without marker points, characterized in that: It comprises the radiotherapy positioning and resetting device as claimed in claim 7, a patient information management module, a data transceiver module and a treatment bed motion control module.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the method according to any one of claims 1 to 6 is executed in a processor of a device where the program is controlled.

10. A server, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors execute the method according to any one of claims 1 to 6.

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