Irradiation control system based on mechanical arm type stereotactic radiation system

Abstract

The invention relates to an irradiation control system based on a mechanical arm type stereotactic radiation system, belongs to the technical field of integrated stereotactic radiation, and solves the problems that in the prior art, an irradiation area and a non-irradiation area are difficult to accurately distinguish, and irradiation on a to-be-irradiated area is not accurate enough. Obtaining an image of a to-be-irradiated object, and establishing an irradiation scheme; the image processing and parameter design module is used for sketching an irradiation area and a sub-irradiation area of the obtained image and adding the irradiation area and the sub-irradiation area to an irradiation scheme; the scheme design and optimization module is used for designing a collimator irradiation scheme for the delineated irradiation area and the sub-irradiation area and optimizing the collimator irradiation scheme to obtain an optimized irradiation scheme; and the evaluation module is used for evaluating the optimized irradiation scheme and storing a final irradiation scheme according to an evaluation result.

Description

Technical Field

[0001] The invention relates to the technical field of integrated stereotactic radiation, and in particular to an irradiation control system based on a mechanical arm type stereotactic radiation system. Background Art

[0002] Spatially fractionated radiation therapy (SFRT) is a treatment technique that provides a highly uneven irradiation intensity distribution consisting of alternating areas of high and low irradiation intensities. SFRT is usually used for large, unresectable areas to be irradiated. Conventional radiation therapy (RT) technology has certain limitations in terms of toxicity and radiation reactions to high irradiation intensities. SFRT can provide low-intensity and high-intensity radiotherapy to the same area to be irradiated. Compared with conventional radiotherapy, SFRT has the characteristics of more flexible irradiation intensity distribution, more precise attack on lesions, higher single irradiation intensity, low edge irradiation intensity, and less damage to non-irradiated areas.

[0003] SFRT mainly includes four forms: 2D GRID therapy, lattice therapy (LRT), microbeam radiotherapy (MRT), and micro-beam radiotherapy (MBRT). Currently, 2D GRID therapy and lattice therapy (LRT) are widely used in clinical practice, while microbeam radiotherapy (MRT) and micro-beam radiotherapy (MBRT) are still mainly used in preclinical research. 2D GRID therapy is to segment the volume of the area to be irradiated in two dimensions. Lattice therapy (LRT) is an extension of 2D GRID therapy, which is performed by creating irradiation areas in the 3D volume geometry of the area to be irradiated. Segmenting the volume of the area to be irradiated in three dimensions makes the setting of high irradiation intensity areas in the area to be irradiated more reasonable, while the adjacent non-irradiated areas receive lower doses.

[0004] At present, lattice therapy is mainly implemented using traditional medical linear accelerators. Through the volumetric modulation of the airway (VMAT) technology, the distribution of high and low irradiation intensity areas is achieved to achieve clinical treatment effects. However, traditional medical linear accelerators can only irradiate the area to be irradiated from a limited angle and cannot effectively avoid the non-irradiated area, resulting in non-ideal irradiation of the non-irradiated area with medium and low irradiation intensities.

[0005] Therefore, there is a need in the art for a control system that can accurately distinguish between irradiated areas and non-irradiated areas, accurately irradiate the areas to be irradiated, and prevent the non-irradiated areas from being irradiated. Summary of the invention

[0006] The present invention provides an irradiation control system based on a mechanical arm stereotactic radiation system, which can identify the relationship between the area to be irradiated and the non-irradiated area, outline the irradiation area, move the sub-irradiation area, and modify the relevant parameters of the sub-irradiation area. According to the diameter of the sub-irradiation area, the system selects a suitable circular collimator combination to design an irradiation plan to meet the preset requirements.

[0007] According to one embodiment of the present invention, an irradiation control system based on a robotic arm stereotactic radiation system is provided, comprising:

[0008] An image acquisition module, which acquires an image of the object to be irradiated and establishes an irradiation plan;

[0009] An image processing and parameter design module is used to outline the irradiation area and sub-irradiation area of ​​the acquired image and add them to the irradiation plan;

[0010] A scheme design and optimization module designs a collimator irradiation scheme for the delineated irradiation area and sub-irradiation area, and optimizes the scheme to obtain an optimized irradiation scheme; and

[0011] An evaluation module evaluates the optimized irradiation plan and saves the final irradiation plan based on the evaluation results;

[0012] The image acquisition module performs the following processing: acquiring and storing Dicom data of the object to be irradiated, the Dicom data including the image to be irradiated obtained by scanning the object to be irradiated, and creating a directory of the object to be irradiated; and creating an irradiation plan for the obtained Dicom data under the directory of the object to be irradiated;

[0013] The image processing and parameter design module performs the following processing: outlining the irradiation area and the non-irradiation area of ​​the image to be irradiated in the obtained Dicom data, and obtaining the parameters of the irradiation area and the parameters of the sub-irradiation area in the irradiation area, and adding the obtained parameters of the irradiation area and the parameters of the sub-irradiation area to the irradiation plan, wherein the parameters of the irradiation area include the maximum projection area and the minimum projection area of ​​the irradiation area, and the total volume of the irradiation area;

[0014] The scheme design and optimization module performs the following processing: select a collimator, select multiple collimators as a backup collimator combination according to the maximum projected area and the minimum projected area of ​​the irradiation area, the total volume of the irradiation area, and the parameters of the sub-irradiation area, and add them to the irradiation scheme; design an objective function according to the obtained delineated irradiation area and non-irradiation area, and the parameters of the sub-irradiation area in the irradiation area; optimize the objective function and the irradiation scheme to obtain an optimized objective function and an optimized irradiation scheme;

[0015] The evaluation module performs the following processing: evaluates the optimized irradiation plan to determine whether it meets the preset requirements. If the evaluation result is that it meets the preset requirements, the current optimized irradiation plan is output as the final irradiation plan and saved to the directory of the object to be irradiated; otherwise, the information is sent to the plan design and optimization module and the collimator is reselected.

[0016] In an optional embodiment, the image processing and parameter design module outlines the irradiation area and the sub-irradiation area for the image to be irradiated in the obtained Dicom data, specifically including:

[0017] Select the irradiation area to be outlined for the image to be irradiated in the obtained Dicom data;

[0018] Measure and calculate the parameters of the irradiated area, including the total volume, maximum projection area and minimum projection area of ​​the irradiated area;

[0019] Calculate the parameter threshold of the sub-irradiation area according to the parameter of the irradiation area;

[0020] A size warning parameter of the sub-irradiation area is set according to the parameter threshold of the sub-irradiation area, and a warning reminder is issued when the outlined sub-irradiation area exceeds the range of the size warning parameter;

[0021] Setting a warning distance between the center points of any two delineated sub-irradiation areas, for issuing a warning reminder when the distance between the center points of the delineated sub-irradiation areas is less than the warning distance;

[0022] Set the minimum depth value of the outlined sub-irradiation area, which is used to issue an early warning reminder when the distance between the edge of the sub-irradiation area and the non-irradiation area is less than the minimum depth value;

[0023] According to the obtained Dicom data, the parameters of the sub-irradiation area are calculated and the sub-irradiation area is outlined, wherein the parameters of the sub-irradiation area include: the diameter of the sub-irradiation area, the volume of the sub-irradiation area, the number of sub-irradiation areas, the sum of the volumes of the sub-irradiation areas, and the maximum distance, minimum distance, median distance and average distance between the center points of any two sub-irradiation areas in all sub-irradiation areas, and the maximum distance, minimum distance, median distance and average distance between any position of the edge of each sub-irradiation area and the non-irradiation area;

[0024] Perform a warning judgment on the calculated parameters of the sub-irradiation area, including: judging whether the size of the sub-irradiation area exceeds the size warning parameter; judging whether the minimum distance between the center points of any two sub-irradiation areas is less than the warning reminder distance; and judging whether the minimum distance between any position on the edge of the sub-irradiation area and the non-irradiation area is less than the minimum depth value; if the judgment result of any of the above three situations is yes, issue a warning reminder and return to recalculate the parameters of the sub-irradiation area; otherwise, add the parameters of the current irradiation area and the parameters of the sub-irradiation area to the irradiation plan, and output to the plan design and optimization module.

[0025] In an optional embodiment, the image processing and parameter design module calculates the parameters of the sub-irradiation area and outlines the sub-irradiation area according to the obtained Dicom data, specifically including:

[0026] First, the irradiation area is gridded into a set of candidate points, and the distances between the candidate points meet the set sub-irradiation area spacing limit;

[0027] Taking the geometric center of the irradiation area as the origin and the set sub-irradiation area as the unit length, the irradiation area is gridded, and the grid points falling in each irradiation area are a set of candidate points;

[0028] Deleting candidate points that do not satisfy the minimum depth value of the sub-irradiation area from the obtained candidate points, and selecting several candidate points as starting points for arranging the sub-irradiation area;

[0029] A candidate point is set for each starting point, and subsequent sub-irradiation areas are arranged based on geometric symmetry to form a uniform and regular pattern. Each time a sub-irradiation area is arranged, the candidate points that are invalidated by this sub-irradiation area are deleted from the corresponding set until all candidate points in the set are exhausted or the number of sub-irradiation areas has reached the set upper limit;

[0030] After all sets have completed the arrangement of sub-irradiation areas, these sub-irradiation area sets are compared to remove duplicate solutions.

[0031] In an optional embodiment, the objective functions of the scheme design and optimization module design include: the illumination intensity value of the illumination area or sub-irradiation area, the maximum illumination intensity value of the illumination area or sub-irradiation area, the illumination intensity value of all parts of the illumination area or sub-irradiation area, and the uniform intensity value of the illumination area or sub-irradiation area.

[0032] In an optional embodiment, the scheme design and optimization module optimizes the objective function and the irradiation scheme specifically including:

[0033] Obtaining initial parameters of optimization calculation from a database of the robotic stereotactic radiation system, the initial parameters including parameters for controlling the initialization intensity field, parameters for guiding the optimization iteration execution, beam intensity, and optional parameters for controlling the total number of irradiation fields;

[0034] Iteratively optimize the objective function to obtain an optimized objective function;

[0035] Initialize the current irradiation plan, including: the path of the collimator in space, and the irradiation angle, irradiation intensity and irradiation time that need to be executed when stopping at each path point;

[0036] According to the results of intensity calculation of the optimized objective function, the irradiation plan is adjusted so that the intensity distribution of the irradiated area meets all the optimized objective functions, and the optimized irradiation plan is obtained and output to the evaluation module.

[0037] In an optional implementation manner, the scheme design and optimization module iteratively optimizes the objective function including:

[0038] In each round of iteration, firstly, the optimization function values ​​of all objective functions, the intensity penalty value and the beam penalty value, and the gradient value of the objective function are calculated according to the beam intensity in the initial parameters of the optimization calculation;

[0039] In the next round of iteration, the intensity of the ray beam will be increased or decreased according to the gradient value calculated in the previous round, and then compared to see whether the optimization function value of the objective function decreases after this round of iteration. If the optimization function value of the objective function decreases, the intensity of the ray beam will continue to be adjusted along the gradient direction, otherwise it will be adjusted appropriately in the opposite direction of the gradient.

[0040] In each round of iteration, the amplitude of adjusting the intensity of the ray beam is controlled by the penalty value. The scheme design and optimization module reduces the intensity penalty value and the ray beam penalty value while reducing the optimization function value of the objective function.

[0041] When the change of the optimization function value of the objective function is less than the set threshold, the number of iterations reaches the set upper limit, and the optimization function values ​​of all objective functions are less than the given lower limit, in any of the following three situations, the iterative optimization process is stopped and the current objective function is added to the irradiation plan as the optimized objective function.

[0042] Compared with the prior art, the irradiation control system based on the robotic arm stereotactic radiation system provided according to the embodiments of the present invention has at least the following advantages: the irradiation control system based on the robotic arm stereotactic radiation system provided according to the embodiments of the present invention realizes more accurate delineation and irradiation setting of the irradiation area and sub-irradiation area, avoids unnecessary irradiation of the non-irradiation area, and realizes the non-isocentric LRT technology; it not only simplifies the operation process, but also ensures that the irradiation plan meets the preset requirements, thereby providing an irradiation plan with improved safety and effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. The features and advantages of the present invention can be more clearly understood by referring to the drawings. The drawings are schematic and should not be understood as limiting the present invention in any way. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 It is a schematic diagram of modules included in an irradiation control system based on a robotic arm stereotactic radiation system according to an embodiment of the present invention.

[0045] Figure 2 The present invention provides a flowchart of an irradiation control system based on a robotic arm stereotactic radiation system according to an embodiment of the present invention.

[0046] Figure 3 A schematic diagram outlining an irradiation area and sub-irradiation areas in an example of an irradiation control system based on a robotic arm stereotactic radiation system provided for application of an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0048] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0049] The following describes in detail an irradiation control system based on a robotic arm stereotactic radiation system according to an embodiment of the present invention with reference to the accompanying drawings.

[0050] like Figure 1 and Figure 2 As shown, the irradiation control system based on the mechanical arm stereotactic radiation system provided according to the embodiment of the present invention includes an image acquisition module for acquiring an image of an object to be irradiated, an image processing and parameter design module for outlining the irradiation area and sub-irradiation area of ​​the acquired image, a scheme design and optimization module for designing and optimizing the collimator irradiation scheme for the outlined irradiation area and sub-irradiation area, and an evaluation module for evaluating the optimized irradiation scheme. The specific working process of each module is described in detail below.

[0051] The specific process of the image acquisition module acquiring the image and related information of the object to be irradiated is as follows. First, the image acquisition module acquires the Dicom (Digital Imaging and Communications in Medicine) data of the object to be irradiated and stores it. Specifically, the Dicom data is acquired through the data management system in the robotic arm stereotactic radiation system, and the Dicom data is imported into the TPS (Treatment Planning System) system of the robotic arm stereotactic radiation system. The Dicom data is the image to be irradiated obtained by scanning the object to be irradiated, and the image to be irradiated can be a universal format CT image data. The Dicom format data is imported into the DMS system (Database Management System) of the robotic arm stereotactic radiation system, and a directory of the object to be irradiated is created. After the creation is completed, the basic information of the object to be irradiated is entered, the purpose of which is to associate the Dicom data with the object to be irradiated.

[0052] Next, the image acquisition module creates an irradiation plan for the loaded Dicom data in the directory of the object to be irradiated. The irradiation plan may include the parameters of the irradiation area and non-irradiation area obtained by subsequent processing, and the parameters of the sub-irradiation area are automatically filled; the collimator is selected; the objective function is added to the irradiation area and the non-irradiation area; the objective function is optimized; the evaluation results of the irradiation plan, etc.

[0053] The image processing and parameter design module obtains the Dicom data of the object to be irradiated from the image acquisition module, outlines the irradiated area and the non-irradiated area for the image to be irradiated in the obtained Dicom data, and obtains the parameters of the sub-irradiated area in the irradiated area. The sub-irradiated area is initially set to a diameter of 1.5 cm (if the diameter exceeds 1-2 cm, a warning pops up). And the sub-irradiated area is only placed within the irradiated area. The center-to-center distance between the two sub-irradiated areas must be maintained in any direction, which is initially set to 3 cm (if the distance is <3 cm, a warning pops up). The edge of any sub-irradiated area is initially set to 1 cm away from any non-irradiated area (if the distance is <1 cm, a warning pops up). Fill the inside of the irradiated area with as many sub-irradiated areas as possible. Through this step, the area to be irradiated is divided, so that the high-intensity area in the area to be irradiated is set more reasonably, and the adjacent non-irradiated area receives a lower dose. See. Figure 3 ,The image processing and parameter design module specifically performs the following processing.

[0054] First, the image processing and parameter design module selects the irradiation area to be delineated for the image to be irradiated in the obtained Dicom data, and adds the delineated irradiation area information to the irradiation plan.

[0055] Next, the image processing and parameter design module measures and calculates the parameters of the selected and outlined irradiation area, the parameters of the irradiation area including the maximum projection area and the minimum projection area of ​​the irradiation area, and the total volume of the irradiation area.

[0056] Next, the image processing and parameter design module calculates the parameter threshold of the sub-irradiation area according to the total volume of the irradiation area.

[0057] The image processing and parameter design module sets the size warning parameter of the sub-irradiation area according to the parameter threshold of the sub-irradiation area. The sub-irradiation area is divided, and then the data of the divided sub-irradiation area is compared with the size warning parameter. When the outlined sub-irradiation area exceeds the range of the size warning parameter, a warning reminder is issued. For example, the warning diameter of the sub-irradiation area can be set to 1.5cm; the warning reminder range is 1cm-2cm.

[0058] Furthermore, the image processing and parameter design module sets a warning distance between the center points of any two sub-irradiation areas, and issues a warning when the distance between the center points of the sub-irradiation areas is less than the warning distance. For example, the warning distance between the center points of any two sub-irradiation areas can be set to 3 cm; then a warning is issued when the distance between the center points of the sub-irradiation areas is less than 3 cm.

[0059] Then, the image processing and parameter design module sets the minimum depth value of the outlined sub-irradiation area, that is, the distance between any position of the edge of the sub-irradiation area and the non-irradiation area, and issues an early warning when the distance between the edge of the sub-irradiation area and the non-irradiation area is less than the minimum depth value. For example, the minimum depth value of the sub-irradiation area can be set to 1 cm.

[0060] The image processing and parameter design module calculates the parameters of the sub-irradiation area based on the obtained Dicom data, and previews and displays them on the display module in the robotic arm stereotactic radiation system, where the parameters of the sub-irradiation area include: the diameter of the sub-irradiation area, the volume of the sub-irradiation area, the number of sub-irradiation areas, the sum of the volumes of the sub-irradiation areas, and the maximum distance, minimum distance, median distance and average distance between the center points of any two sub-irradiation areas in all sub-irradiation areas, and the maximum distance, minimum distance, median distance and average distance between any position on the edge of each sub-irradiation area and the non-irradiation area.

[0061] See also Figure 3, the image processing and parameter design module calculates the parameters of the sub-irradiation area and may include: first, gridding the irradiation area into a set of candidate points, and the distance between the candidate points meets the sub-irradiation area spacing limit set by the user. Taking the geometric center of the irradiation area as the origin, the irradiation area is gridded with the set sub-irradiation area as the unit length, and the grid points falling in each irradiation area are a set of candidate points. Then, the candidate points that do not meet the minimum depth value of the sub-irradiation area are deleted first. Next, try to select several candidate points as the starting points for arranging the sub-irradiation area. The selection basis of the candidate points includes but is not limited to the center point, the boundary point and other points with geometric significance. The image processing and parameter design module sets a candidate point for each starting point. Then, based on geometric symmetry, the subsequent sub-irradiation areas are arranged to form a uniform and regular pattern. Each time a sub-irradiation area is arranged, the candidate points that are invalidated due to this sub-irradiation area will be deleted in the corresponding set until all the candidate points in the set are exhausted or the number of sub-irradiation areas has reached the set upper limit. When all sets have completed the arrangement of the sub-irradiation areas, these sub-irradiation area sets are compared to remove possible duplicate solutions (i.e., sub-irradiation areas that are repeatedly outlined).

[0062] The image processing and parameter design module then performs a warning judgment on the calculated parameters of the sub-irradiation area, including: judging whether the size of the sub-irradiation area exceeds the size warning parameter; judging whether the minimum distance between the center points of any two sub-irradiation areas is less than the warning reminder distance; and judging whether the minimum distance between any position on the edge of the sub-irradiation area and the non-irradiation area is less than the minimum depth value; if the judgment result of any of the above three situations is yes, a warning reminder is issued, and the parameters of the sub-irradiation area are returned to recalculate; otherwise, the current parameters of the sub-irradiation area and the parameters of the irradiation area are added to the irradiation plan, and output to the plan design and optimization module.

[0063] The user can also select the most appropriate sub-irradiation area arrangement plan (even if an alarm is triggered), or use other parameter configurations to restart the process to search for a new sub-irradiation area arrangement plan.

[0064] The scheme design and optimization module first selects a collimator according to the parameters of the irradiation area and the parameters of the sub-irradiation area, and adds the selected collimator to the irradiation scheme. Specifically, according to the maximum and minimum projection areas of the irradiation area, the total volume of the irradiation area, and the volume of the sub-irradiation area, multiple collimators are selected as a backup collimator combination. The user can specify collimators of any size and type according to needs. For example, in one example, three sizes of circular collimators can be selected. The collimator will limit the irradiation intensity within the circular projection of the collimator. Through irradiation at different positions, different angles, and different times, a specific uneven intensity distribution will be formed in space. The smaller the collimator diameter, the finer the edge contour of the high-intensity area can be outlined. The larger the collimator diameter, the shorter the irradiation time can be to form a large volume of high-intensity area. By appropriately adjusting the position, angle, irradiation time, collimator diameter, etc. of each collimator in the collimator combination, the most conformable irradiation intensity distribution can be provided in the shortest possible irradiation time. Optionally, this step can be performed by the optimization module (Optimazation module) of the robotic arm stereotactic radiation system.

[0065] Next, the scheme design and optimization module designs an objective function based on the obtained parameters of the irradiation area and the non-irradiation area, as well as the sub-irradiation area in the irradiation area, and adds the objective function to the irradiation scheme. The designed objective function may include: the lower limit of the irradiation intensity of the irradiation area or the sub-irradiation area, the upper limit of the irradiation intensity of the irradiation area or the sub-irradiation area, the lower limit of the irradiation intensity of all parts of the irradiation area or the sub-irradiation area, and the uniform intensity value of the irradiation area or the sub-irradiation area. More specific objective functions are shown in the following table.

[0066]

[0067] Next, it is necessary to optimize the objective function based on the preset requirements according to the type of irradiation area that has been outlined. Each optimization objective function is a quantitative limiting condition for the intensity distribution of the irradiation area or sub-irradiation area. For example, the total intensity in the irradiation area must not exceed the set threshold. During this process, the user can also add other optimization objective functions, or modify the previously set objective function as needed.

[0068] The scheme design and optimization module optimizes the objective function and the current irradiation scheme to obtain an optimized objective function and an optimized irradiation scheme. The initial parameters for the optimization calculation are obtained from the database of the robotic stereotactic radiation system. The initial parameters may include parameters for controlling the initialization intensity field, parameters for guiding how the optimization iteration is performed, and optional parameters for controlling the total number of irradiation fields. Optimizing these parameters helps to obtain the highest quality irradiation scheme possible with the fewest number of iterations possible. In this process, the optimization iteration process can be started directly using the recommended parameters, or the objective function and initial parameters can be modified as needed, and the optimization iteration can be started after the optimized objective function is obtained.

[0069] The scheme design and optimization module optimizes the objective function by specifically including the following processing.

[0070] First, the scheme design and optimization module obtains the initial parameters of the optimization calculation from the database of the robotic stereotactic radiation system. The initial parameters include parameters for controlling the initialization intensity field, parameters for guiding the optimization iteration execution, beam intensity, and optional parameters for controlling the total number of irradiation fields.

[0071] Next, the scheme design and optimization module iteratively optimizes the objective function to obtain the optimized objective function. In each round of iteration, the optimization function values, intensity penalty values, beam penalty values, and gradient values ​​of all objective functions are calculated based on the beam intensity in the initial parameters of the optimization calculation. In the next round of iteration, the beam intensity is increased or decreased based on the gradient value calculated in the previous round, and then compared to see whether the optimization function value of the objective function decreases after this round of iteration. If the optimization function value of the objective function decreases, the beam intensity is adjusted in the gradient direction, otherwise it is adjusted appropriately in the reverse gradient direction. In this process, the penalty value controls the amplitude of each round of adjustment, so that the intensity penalty value and beam penalty value are minimized while reducing the optimization function value of the objective function.

[0072] When the change in the optimization function value of the objective function is less than the set threshold, the number of iterations reaches a given upper limit, or the optimization function values ​​of all objective functions are less than a given lower limit, the optimization iteration will automatically stop and the current objective function will be added to the irradiation plan as the optimized objective function.

[0073] Next, the scheme design and optimization module initializes the current irradiation scheme, including: the path of the collimator in space, and the irradiation angle, irradiation intensity and irradiation time that need to be executed when stopping at each path point.

[0074] The current irradiation scheme includes generating all possible irradiation beams according to the preset collimator travel path, the spatial position of the sub-irradiation area, and the preset irradiation strategy. In order to control the computational complexity, a certain number of ray beams can be sampled according to the limit parameters set by the user, and an intensity value can be set for each ray beam.

[0075] Next, the scheme design and optimization module adjusts the irradiation scheme according to the intensity calculation results of the optimized objective function, so that the intensity distribution of the irradiation area meets all the optimized objective functions, obtains the optimized irradiation scheme, and outputs it to the evaluation module. The objective function is set to allow the TPS calculation to optimize the reasonable path and irradiation time of the collimator in space, that is, the optimization result meets the preset requirements. The preset requirements can be clinical requirements.

[0076] The evaluation module evaluates the optimized irradiation plan to determine whether it meets the preset requirements. If the evaluation result is that it meets the preset requirements, the current optimized irradiation plan is output as the final irradiation plan and saved to the directory of the object to be irradiated; otherwise, the information is sent to the plan design and optimization module and the collimator is reselected. The final irradiation plan can be used as an irradiation guidance plan for the object to be irradiated.

[0077] Users can use the software's evaluation tools to assess whether the irradiation plan meets their needs. If not, they can adjust the objective function and calculation parameters and iterate again until a irradiation plan that meets their needs is generated.

[0078] Select the corresponding irradiation area and set the optimization function to achieve the optimization goal. The optimization function can use Min Dose, Min DVH, Max Dose, Max DVH, etc., and set the weight according to the optimization result. Optionally, the Dose Optimazation-Optimazation function of the robotic stereotactic radiation system can be selected for multiple iterations.

[0079] The following is an illustrative example to illustrate the execution process of the evaluation module. In this example, the optimized irradiation plan is as follows:

[0080] D RX =2000cGy

[0081] D max =2842.4 cGy (142.12%);

[0082] Valley intensity = 600 cGy

[0083] Peak-to-valley intensity ratio (PVDR) = 4.7

[0084] Among them, D RXDenotes a given intensity, D max Indicates peak intensity.

[0085] In this example, the default requirements are as follows:

[0086] Preset required maximum intensity D of the irradiation area max 'At the given strength D required by the preset RX ' is between 120% and 140%, that is, the preset requirement is

[0087] D max ' = (120% - 140%) D RX '

[0088] D RX ′=15Gy-20Gy

[0089] The preset required peak-to-valley intensity ratio (PVDR) is between 2 and 5.

[0090] Therefore, in this example, the evaluation module determines that the peak-to-valley intensity ratio of the optimized irradiation plan is 4.7, which is between 2-5 and meets the preset requirements, and outputs the current optimized irradiation plan.

[0091] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0092] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0093] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An irradiation control system based on a robotic arm stereotactic radiation system, characterized in that: include: An image acquisition module, which acquires an image of the object to be irradiated and establishes an irradiation plan; An image processing and parameter design module is used to outline the irradiation area and sub-irradiation area of ​​the acquired image and add them to the irradiation plan; The scheme design and optimization module designs the collimator irradiation scheme for the delineated irradiation area and sub-irradiation area, and optimizes it to obtain the optimized irradiation scheme; and An evaluation module evaluates the optimized irradiation plan and saves the final irradiation plan based on the evaluation results; The image acquisition module performs the following processing: acquiring and storing Dicom data of the object to be irradiated, the Dicom data including the image to be irradiated obtained by scanning the object to be irradiated, and creating a directory of the object to be irradiated; and creating an irradiation plan for the obtained Dicom data under the directory of the object to be irradiated; The image processing and parameter design module performs the following processing: outlining the irradiation area and the non-irradiation area of ​​the image to be irradiated in the obtained Dicom data, and obtaining the parameters of the irradiation area and the parameters of the sub-irradiation area in the irradiation area, and adding the obtained parameters of the irradiation area and the parameters of the sub-irradiation area to the irradiation plan, wherein the parameters of the irradiation area include the maximum projection area and the minimum projection area of ​​the irradiation area, and the total volume of the irradiation area; The scheme design and optimization module performs the following processing: select a collimator, select multiple collimators as a backup collimator combination according to the maximum projected area and the minimum projected area of ​​the irradiation area, the total volume of the irradiation area, and the parameters of the sub-irradiation area, and add them to the irradiation scheme; design an objective function according to the obtained delineated irradiation area and non-irradiation area, and the parameters of the sub-irradiation area in the irradiation area; optimize the objective function and the irradiation scheme to obtain an optimized objective function and an optimized irradiation scheme; The evaluation module performs the following processing: evaluates the optimized irradiation plan to determine whether it meets the preset requirements. If the evaluation result is that it meets the preset requirements, the current optimized irradiation plan is output as the final irradiation plan and saved to the directory of the object to be irradiated; otherwise, the information is sent to the plan design and optimization module and the collimator is reselected.

2. The irradiation control system based on the robotic arm stereotactic radiation system according to claim 1, characterized in that: The image processing and parameter design module specifically outlines the irradiation area and sub-irradiation area of ​​the image to be irradiated in the obtained Dicom data: Select the irradiation area to be outlined for the image to be irradiated in the obtained Dicom data; Measure and calculate the parameters of the irradiated area, including the total volume, maximum projection area and minimum projection area of ​​the irradiated area; Calculate the parameter threshold of the sub-irradiation area according to the parameter of the irradiation area; A size warning parameter of the sub-irradiation area is set according to the parameter threshold of the sub-irradiation area, and a warning reminder is issued when the outlined sub-irradiation area exceeds the range of the size warning parameter; Setting a warning distance between the center points of any two delineated sub-irradiation areas, for issuing a warning reminder when the distance between the center points of the delineated sub-irradiation areas is less than the warning distance; Set the minimum depth value of the outlined sub-irradiation area, which is used to issue an early warning reminder when the distance between the edge of the sub-irradiation area and the non-irradiation area is less than the minimum depth value; According to the obtained Dicom data, the parameters of the sub-irradiation area are calculated and the sub-irradiation area is outlined, wherein the parameters of the sub-irradiation area include: the diameter of the sub-irradiation area, the volume of the sub-irradiation area, the number of sub-irradiation areas, the sum of the volumes of the sub-irradiation areas, and the maximum distance, minimum distance, median distance and average distance between the center points of any two sub-irradiation areas in all sub-irradiation areas, and the maximum distance, minimum distance, median distance and average distance between any position of the edge of each sub-irradiation area and the non-irradiation area; Perform a warning judgment on the calculated parameters of the sub-irradiation area, including: judging whether the size of the sub-irradiation area exceeds the size warning parameter; judging whether the minimum distance between the center points of any two sub-irradiation areas is less than the warning reminder distance; and judging whether the minimum distance between any position on the edge of the sub-irradiation area and the non-irradiation area is less than the minimum depth value; if the judgment result of any of the above three situations is yes, issue a warning reminder and return to recalculate the parameters of the sub-irradiation area; otherwise, add the parameters of the current irradiation area and the parameters of the sub-irradiation area to the irradiation plan, and output to the plan design and optimization module.

3. The irradiation control system based on the robotic arm stereotactic radiation system according to claim 2, characterized in that: The image processing and parameter design module calculates the parameters of the sub-irradiation area according to the obtained Dicom data and outlines the sub-irradiation area, specifically including: First, the irradiation area is gridded into a set of candidate points, and the distances between the candidate points meet the set sub-irradiation area spacing limit; Taking the geometric center of the irradiation area as the origin and the set sub-irradiation area as the unit length, the irradiation area is gridded, and the grid points falling in each irradiation area are a set of candidate points; Deleting candidate points that do not satisfy the minimum depth value of the sub-irradiation area from the obtained candidate points, and selecting several candidate points as starting points for arranging the sub-irradiation area; A candidate point is set for each starting point, and subsequent sub-irradiation areas are arranged based on geometric symmetry to form a uniform and regular pattern. Each time a sub-irradiation area is arranged, the candidate points that are invalidated by this sub-irradiation area are deleted from the corresponding set until all candidate points in the set are exhausted or the number of sub-irradiation areas has reached the set upper limit; After all sets have completed the arrangement of sub-irradiation areas, these sub-irradiation area sets are compared to remove duplicate solutions.

4. The irradiation control system based on a robotic arm stereotactic radiation system according to claim 2, characterized in that: The objective functions of the scheme design and optimization module design include: the irradiation intensity value of the irradiation area or sub-irradiation area, the maximum irradiation intensity of the irradiation area or sub-irradiation area, the irradiation intensity value of all parts of the irradiation area or sub-irradiation area, and the uniform intensity value of the irradiation area or sub-irradiation area.

5. The irradiation control system based on a robotic arm stereotactic radiation system according to claim 4, characterized in that: The scheme design and optimization module optimizes the objective function and the irradiation scheme specifically including: Obtaining initial parameters of optimization calculation from a database of the robotic stereotactic radiation system, the initial parameters including parameters for controlling the initialization intensity field, parameters for guiding the optimization iteration execution, beam intensity, and optional parameters for controlling the total number of irradiation fields; Iteratively optimize the objective function to obtain an optimized objective function; Initialize the current irradiation plan, including: the path of the collimator in space, and the irradiation angle, irradiation intensity and irradiation time that need to be executed when stopping at each path point; According to the results of intensity calculation of the optimized objective function, the irradiation plan is adjusted so that the intensity distribution of the irradiated area meets all the optimized objective functions, and the optimized irradiation plan is obtained and output to the evaluation module.

6. The irradiation control system based on a robotic arm stereotactic radiation system according to claim 5, characterized in that: The scheme design and optimization module iteratively optimizes the objective function including: In each round of iteration, firstly, the optimization function values ​​of all objective functions, the intensity penalty value and the beam penalty value, and the gradient value of the objective function are calculated according to the beam intensity in the initial parameters of the optimization calculation; In the next round of iteration, the intensity of the ray beam will be increased or decreased according to the gradient value calculated in the previous round, and then compared to see whether the optimization function value of the objective function decreases after this round of iteration. If the optimization function value of the objective function decreases, the intensity of the ray beam will continue to be adjusted along the gradient direction, otherwise it will be adjusted appropriately in the opposite direction of the gradient. In each round of iteration, the amplitude of adjusting the intensity of the ray beam is controlled by the penalty value. The scheme design and optimization module reduces the intensity penalty value and the ray beam penalty value while reducing the optimization function value of the objective function. When the change of the optimization function value of the objective function is less than the set threshold, the number of iterations reaches the set upper limit, and the optimization function values ​​of all objective functions are less than the given lower limit, in any of the following three situations, the iterative optimization process is stopped and the current objective function is added to the irradiation plan as the optimized objective function.

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