Real-time image-guided radiotherapy device

Abstract

The embodiment of the invention relates to the technical field of radiotherapy equipment, and discloses a real-time image-guided radiotherapy device, and the device comprises a main robot, the tail end of the main robot is loaded with a treatment part and an image generation part, the treatment part is aligned with a focus area, and the image generation part is installed in a direction which forms a first angle with the center line of a treatment beam generated by the treatment part; in the radiotherapy process, the main robot drives the treatment part and the image generation part to rotate synchronously so as to emit a treatment beam to the focus area and perform image scanning on the focus area continuously at the same time; an image receiving component is loaded at the tail end of the auxiliary robot, and in the radiotherapy process, the auxiliary robot drives the image receiving component to synchronously rotate along with the image generating component so as to receive image data obtained by image scanning; the image receiving part is located outside the range of the treatment beam in the rotating process and is orthogonal to the direction of the image beam generated by the image generating part. The problem of real-time image acquisition in the radiotherapy process of the image-guided radiotherapy system is solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of radiotherapy equipment, and in particular to a real-time image-guided radiotherapy device. Background Art

[0002] The technical solutions with real-time image guidance function in radiotherapy equipment mainly include: Electronic Portal Imaging Device (EPID), MRI (Magnetic Resonance Imaging) guided radiotherapy and CyberKnife image guidance system. The spatial resolution of EPID images is relatively low and can only provide two-dimensional information. The cost of MRI equipment is high, and the magnetic field environment may affect the normal operation of some radiotherapy equipment. The pair of X-ray sources used in the CyberKnife image guidance system irradiate the patient from different angles, and the position of the convergence point is fixed, which will cause its accelerator treatment rays to only treat the tumor part near the convergence point, while the tumor far away from the convergence point cannot be tracked in real time, so the patient needs to be repositioned and the position to be treated needs to be moved to the vicinity of the convergence point. The related technology also provides a multi-robot image-guided radiotherapy system, which solves the purpose of protecting the imaging detector from the treatment beam and the imaging detector to ensure the image quality of its detection, but cannot perform real-time image-guided treatment, that is, the treatment beam and the image detection cannot work synchronously. Summary of the invention

[0003] The purpose of the present invention is to at least provide a real-time image-guided radiotherapy device, which can at least solve the problem of real-time image acquisition of the image-guided radiotherapy system during radiotherapy, so as to improve the accuracy of radiotherapy operation.

[0004] In order to solve the above technical problems, an embodiment of the present application provides a real-time image-guided radiotherapy device, comprising: A main robot, a treatment component and an image generating component are mounted on the end thereof, the treatment component is aimed at the lesion area, and the image generating component is installed in a direction that forms a first angle with the center line of the treatment beam generated by the treatment component; during the radiotherapy process, the main robot drives the treatment component and the image generating component to rotate synchronously, so as to continuously perform image scanning on the lesion area while emitting the treatment beam to the lesion area; The auxiliary robot has an image receiving component mounted on its end. During radiotherapy, the auxiliary robot drives the image receiving component to rotate synchronously with the image generating component to receive image data obtained by image scanning. During the rotation, the image receiving component is located outside the range of the treatment beam and is orthogonal to the direction of the image beam generated by the image generating component.

[0005] In some optional embodiments, the main robot is loaded with a treatment component and an image generating component through a first connecting piece at the end, the treatment component is mounted on the central axis of the first connecting piece, and the centerline of the treatment beam generated by the treatment component is colinear with the central axis; the slave robot is loaded with an image receiving component through a second connecting piece at the end.

[0006] In some optional embodiments, the first connecting member and the second connecting member include flanges.

[0007] In some optional embodiments, the treatment component includes a treatment beam generating component and a treatment beam shaping component, wherein the treatment beam generating component is used to generate a treatment beam, and the treatment beam shaping component is used to control the shape of the treatment beam to produce a specific shape required for each specific irradiation field.

[0008] In some optional embodiments, the main robot drives the treatment beam generating component and the image generating component to rotate synchronously in the same direction, while the treatment molding component rotates synchronously in the opposite direction.

[0009] In some optional embodiments, the treatment beam shaping component includes a multi-leaf grating.

[0010] In some optional embodiments, the real-time image-guided radiotherapy device further includes a control system for adjusting the postures of the main robot and the auxiliary robot according to image data obtained from image scanning during the radiotherapy process, so that the treatment component is always aligned with the current lesion area.

[0011] In some optional embodiments, the control system is configured with: A lesion recognition module, used to identify lesion areas and non-lesion areas based on image data obtained by image scanning; The regional registration module is used to adjust the posture of the main robot based on the difference between the identified lesion area and the original lesion area, so that the treatment component is always aligned with the current lesion area.

[0012] In some optional embodiments, the lesion recognition module is used to convert the two-dimensional image data obtained by image scanning into a three-dimensional image after filtering, denoising and grayscale correction, and use a preset grayscale threshold to identify the lesion area and the non-lesion area.

[0013] In some optional embodiments, the region registration module is used to calculate the target space transformation parameter value of the treatment component based on the difference between the identified lesion area and the original lesion area, and adjust the posture of the main robot based on the target space transformation parameter, and the target space transformation parameter includes a translation parameter value and / or a rotation parameter value.

[0014] The real-time image-guided radiotherapy device provided by the present invention has a main robot that drives the treatment component and the image generating component to rotate synchronously during radiotherapy, so as to continuously perform image scanning on the lesion area while emitting a treatment beam to the lesion area; the sub-robot drives the image receiving component to rotate synchronously with the image generating component to receive image data obtained by the image scanning. During the rotation, the image receiving component is located outside the range of the treatment beam and is orthogonal to the direction of the image beam generated by the image generating component, thereby solving the problem of real-time image acquisition by the image-guided radiotherapy system during radiotherapy, thereby improving the accuracy of radiotherapy operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0016] Figure 1 is a schematic diagram of a real-time image-guided radiotherapy device provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the installation positions of various components of the real-time image-guided radiotherapy device provided by an embodiment of the present invention; Figure 3 is a schematic diagram of the rotation principle of the treatment beam generating component and the treatment beam shaping component provided by an embodiment of the present invention; Figure 4 is a schematic top view of the projection relationship between the image beam and the treatment beam before and after rotation provided by an embodiment of the present application; Figure 5 It is a stereoscopic schematic diagram of the projection relationship between the image beam and the treatment beam before and after rotation provided in an embodiment of the present application.

[0017] In the figure, 101-main robot, 102-auxiliary robot, 103a-treatment beam generating component, 103b-treatment beam forming component, 104-image receiving component, 105-image generating component, 101a-first flange, 102a-second flange, 106-treatment beam, 107-image beam, 107a-rotated image beam, 108-lesion center. DETAILED DESCRIPTION

[0018] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0019] In the related technologies, the technical solutions for radiotherapy equipment with real-time image guidance function mainly include: 1) Electronic Portal Imaging Device (EPID): The radiation source is the same as the treatment beam. During the patient's treatment, two-dimensional planar images can be obtained in real time to monitor the patient's position and the position of the irradiation field. By analyzing these images, it is possible to quickly determine whether the patient's position is accurate so that the treatment parameters can be adjusted in time. For example, before or during each treatment, EPID can take anteroposterior and lateral images of the patient and compare them with the digitally reconstructed radiograph (DRR) in the treatment plan to ensure the accuracy of the treatment. However, the spatial resolution of EPID images is relatively low, and it can only provide two-dimensional information.

[0020] 2) MRI (Magnetic Resonance Imaging) guided radiotherapy: MRI has good soft tissue contrast and multi-parameter imaging capabilities, which can clearly display the structure of tumor tissue and surrounding normal tissue, and has unique advantages in the positioning and delineation of some soft tissue tumors. In MRI-guided radiotherapy, doctors can adjust the treatment plan based on real-time MRI images to achieve more accurate radiotherapy. In addition, MRI can also provide functional information, such as blood perfusion and metabolism of the tumor, which helps to evaluate the treatment effect. However, MRI equipment is expensive, and the magnetic field environment may affect the normal operation of some radiotherapy equipment.

[0021] 3) CyberKnife image guidance system: It includes an X-ray source, which is installed on the ceiling of the treatment room and is responsible for emitting X-rays. It provides the radiation source required for imaging, similar to the X-ray emitting device in an ordinary X-ray machine. During the CyberKnife treatment, the X-ray source irradiates the patient from different angles to obtain the image information inside the patient. Digital image detector: It is located on both sides of the treatment bed and is used to receive X-rays and convert them into digital signals to form an image. The performance of the detector directly affects the quality and resolution of the acquired image. The high-resolution detector can more clearly display the anatomical structure and tumor location in the patient's body, providing accurate image information for subsequent treatment. Its advantage is that it can track the tumor synchronously with breathing, ensuring that the accelerator is always aimed at the tumor during irradiation, minimizing damage to normal tissue. Its disadvantage is that a pair of X-ray sources are used to irradiate the patient from different angles, and the position of the convergence point is fixed, resulting in that the accelerator treatment beam can only treat the tumor near it. Tumors far away from this convergence point cannot be tracked in real time, so the patient needs to be repositioned and the position to be treated needs to be moved to the vicinity of the convergence point.

[0022] 4) In the related art, a multi-robot image-guided radiotherapy system and an imaging method thereof are provided, which relate to the field of radiotherapy technology. The multi-robot image-guided radiotherapy system includes a treatment device, a main robot, an auxiliary robot and an imaging device. One or both of the radiation blocker and the imaging detector can move, so that when emitting an imaging beam, the imaging detector can be oriented toward the X-ray source and the radiation blocker can be away from the X-ray source, and the radiation blocker will not hinder the detection of the imaging detector; and when emitting a treatment beam, the radiation blocker can be oriented toward the treatment device and the imaging detector can be away from the treatment device, so that the treatment beam will not be directly irradiated onto the imaging detector, thereby protecting the imaging detector to ensure the image quality of its detection. This solution solves the problem of the treatment beam and the imaging detector being away from each other to protect the imaging detector to ensure the image quality of its detection, but real-time image-guided treatment cannot be performed, that is, the treatment beam and the image detection cannot work synchronously.

[0023] In order to solve the problem of real-time image acquisition during radiotherapy in the above-mentioned image-guided radiotherapy system, the present invention proposes a real-time image-guided radiotherapy device. The implementation details of a real-time image-guided radiotherapy device of this embodiment are described in detail below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for the implementation of this solution.

[0024] like Figure 1 and Figure 2 As shown, the real-time image-guided radiotherapy device of this embodiment includes: The main robot 101 is equipped with a treatment component and an image generating component 105 at its end. The treatment component 103 is aimed at the lesion area, and the image generating component 105 is installed in a direction that forms a first angle α with the center line of the treatment beam 106 generated by the treatment component 103. During the radiotherapy process, the main robot 101 drives the treatment component 103 and the image generating component 105 to rotate synchronously, so as to continuously perform image scanning on the lesion area while emitting the treatment beam 106 to the lesion area. The sub-robot 102 has an image receiving component 104 mounted on its end. During radiotherapy, the sub-robot 102 drives the image receiving component 104 to rotate synchronously with the image generating component 105 to receive image data obtained by image scanning. During the rotation, the image receiving component 104 is located outside the range of the treatment beam 106 and is orthogonal to the direction of the image beam 107 generated by the image generating component 105.

[0025] In one example, the main robot 101 and the auxiliary robot 102 may be multi-axis robots, also known as multi-axis manipulators. The radiotherapy device may be a linear accelerator device. The first angle α is less than 30° to ensure that the image beam can capture the lesion area. The image receiving component 104 may be a flat panel detector.

[0026] In a specific implementation, the ends of the main robot 101 and the slave robot 102 are both provided with connecting parts. The main robot 101 is loaded with the treatment component 103 and the image generating component 105 through the first connecting part at the end. The treatment component 103 is installed on the central axis of the first connecting part. The center line of the treatment beam 106 generated by the treatment component 103 is colinear with the central axis; the slave robot 102 is loaded with the image receiving component 104 through the second connecting part at the end.

[0027] In one example, the first connection member and the second connection member include flanges. The first connection member is a first flange 101a, and the second connection member is a second flange 102a.

[0028] In the above structure, on the one hand, the image generating component 105 is installed in the direction of the first angle α with the center line of the treatment beam 106 generated by the treatment component 103, and the image scanning of the lesion area is continuously performed during the radiotherapy process; on the other hand, the image receiving component 104 is located outside the range of the treatment beam 106 and is orthogonal to the direction of the image beam 107 generated by the image generating component 105, and the lesion center 108 is located in the overlapping area of ​​the treatment beam 106 and the image beam 107, so that during the radiotherapy process, the image scanning can be performed in real time while the lesion area is being radiotherapy, and then the main robot 101 is guided to adjust its posture according to the image scanning results, so that the treatment beam generated by the treatment component 103 is always aimed at the lesion area, and the image generating component 105 and the image receiving component 104 are also adjusted accordingly to realize real-time image-guided radiotherapy.

[0029] In some embodiments, the treatment component 103 includes a treatment beam generating component 103a and a treatment beam shaping component 103b. The treatment beam generating component 103a is used to generate a treatment beam 106. The treatment beam shaping component 103b is used to control the shape of the treatment beam 106 to produce a specific shape required for each specific irradiation field.

[0030] In one example, the treatment beam generating component 103a includes a linear accelerator core component composed of a magnetron, a waveguide, and an accelerating tube, and the treatment beam shaping component 103b includes a multi-leaf grating. The multi-leaf grating is a device that controls the shape of the treatment beam, which is composed of multiple lead sheets. Each leaf can move independently to form a specific shape, which can be used in a linear accelerator. The treatment beam generating component 103 generates a conical treatment beam, which is controlled in shape by the treatment beam shaping component 103b to produce a specific shape for each specific irradiation field of clinical treatment. The treatment beam shaping component 103b is driven by a turntable to rotate along the center of the treatment beam 106.

[0031] During radiotherapy, the main robot 101 drives the treatment beam generating component 103a and the image generating component 105 to rotate synchronously in the same direction, while the treatment shaping component 103b rotates synchronously in the opposite direction.

[0032] like Figure 3 As shown, driven by the main robot 101, the treatment beam generating component 103a and the image generating component 105 rotate synchronously in the same direction by a second angle β. The treatment molding component 103b rotates synchronously in the opposite direction by a second angle β. The second angle β is set to perform multi-angle shooting around the central axis of the end (flange) of the main robot 101, and to model and process the 2D images shot at multiple angles into 3D images through an image processing algorithm. The required β angle may be different depending on the image processing algorithm.

[0033] When performing real-time image-guided treatment, after the main robot 101 adjusts the position and posture of each joint, the central axis of the flange at the end of the main robot 101 is aligned with the lesion area. While the treatment component 103 generates a treatment beam, the flange at the end of the main robot 101 drives the image generating component 105 to rotate around the central axis of the end flange, and generates an image beam 107 while moving. While the flange rotates, the treatment molding component 103b rotates synchronously in the opposite direction to keep the specific shape of the treatment beam unchanged, and the treatment beam does not rotate along the central axis, and the relative movement angle of the treatment beam is 0. The auxiliary robot 102 drives the image receiving component 104 to move in a direction orthogonal to the image beam 107 to ensure that it receives the image in the correct posture. The image receiving component 104 is outside the beam range of the treatment beam to avoid being damaged by the treatment beam 106.

[0034] Figure 4The top view schematic diagram shows the projection relationship between the image beam and the treatment beam before and after rotation. Figure 5 A stereoscopic schematic diagram of the projection relationship between the image beam and the treatment beam before and after rotation is shown. It can be seen that the projection ranges of the image beam 107 before rotation and the image beam 107a after rotation are both outside the projection range of the treatment beam, thereby avoiding damage due to irradiation by the treatment beam 106.

[0035] In some embodiments, the real-time image-guided radiotherapy device also includes a control system, which is used to adjust the postures of the main robot 101 and the auxiliary robot 102 according to the image data obtained by image scanning during the radiotherapy process, so that the treatment component 103 is always aimed at the current lesion area.

[0036] During radiotherapy, the main robot 101 drives the treatment component 103 and the image generating component 105 to rotate synchronously, so as to continuously scan the lesion area while emitting a treatment beam 106 to the lesion area; the sub-robot 102 drives the image receiving component 104 to rotate synchronously with the image generating component 105, so as to receive the image data obtained by the image scanning, and the control system adjusts the postures of the main robot 101 and the sub-robot 102 according to the image data obtained by the image scanning, so that the treatment component 103 is always aligned with the current lesion area.

[0037] Specifically, the control system configuration includes: A lesion recognition module, used to identify lesion areas and non-lesion areas based on image data obtained by image scanning; The regional registration module is used to adjust the posture of the main robot based on the difference between the identified lesion area and the original lesion area, so that the treatment component is always aligned with the current lesion area.

[0038] Furthermore, the lesion recognition module is used to convert the two-dimensional image data obtained by image scanning into a three-dimensional image after filtering, denoising and grayscale correction, and use a preset grayscale threshold to identify the lesion area and the non-lesion area.

[0039] In one example, the image generating component 105 and the corresponding image receiving component 104 are used to perform image scanning on the target lesion area by rotational motion, and a series of two-dimensional slice image data are obtained and stored in DICOM format. The two-dimensional slice image data contains the attenuation information of the X-ray (image beam) at different angles inside the object; the image data is denoised by a filtering algorithm to improve the signal-to-noise ratio of the image. The filtering algorithm may be, but is not limited to, Gaussian filtering, median filtering, etc. For example, the Gaussian filtering algorithm is used to reduce the influence of noise by weighted averaging the grayscale values ​​of each pixel point and its neighboring pixel points in the image data; the grayscale of the image data is corrected so that the grayscale value of the image can accurately reflect the density information of the object. The grayscale correction method may be, but is not limited to, histogram equalization, grayscale stretching, etc. The two-dimensional slice image data is converted into a three-dimensional image, and the internal structure of the object is presented by assigning color and transparency to each voxel (pixel in three-dimensional space) in the three-dimensional image data. According to the difference in grayscale value between the lesion and the surrounding normal tissue, an appropriate grayscale threshold is set to divide the pixels in the image data into two categories: lesion and non-lesion, so as to identify the lesion area and the non-lesion area.

[0040] Furthermore, the regional registration module is used to calculate the target space transformation parameter value of the treatment component based on the difference between the identified lesion area and the original lesion area, and adjust the posture of the main robot based on the target space transformation parameter to achieve 3D registration. The target space transformation parameter includes a translation parameter value and / or a rotation parameter value.

[0041] During the treatment process, the image generating component 105 and the image receiving component 104 form an image guidance system, which continuously scans and obtains the patient's three-dimensional image, and compares and analyzes the original lesion area image data in the treatment plan, so as to promptly find the difference between the lesion position and the treatment plan. Once a difference is found, the control system will calculate the direction and displacement that the main robot 101 needs to adjust based on the real-time three-dimensional image (including information such as the lesion position and the patient's body position change). The control system drives the treatment component 103 to make real-time dynamic adjustments through the position and posture adjustment system of the main robot 101, so that the treatment component 103 is always aligned with the lesion area. During the adjustment process, the image guidance system continues to monitor the patient's image information to ensure the accuracy of the adjustment and the effectiveness of the treatment.

[0042] In some examples, the DRR (Digitally Reconstructured Radiograph) generated by the aforementioned image scan is 3D registered with the DRR generated by the pre-radiotherapy CT scan. The purpose is to accurately align the two images from different sources but both related to the patient's anatomical structure in three-dimensional space to better formulate, evaluate and implement radiotherapy plans.

[0043] Using feature point-based 3D registration method: a) Feature point extraction: Feature points are extracted from the DRR (three-dimensional image converted by the lesion recognition module) generated by the current image scan and the DRR generated by the CT scan before radiotherapy. These feature points refer to points with obvious anatomical features in the image, such as bone joints, specific bony landmarks, etc. For the DRR generated by image scanning, its relatively high spatial resolution and clear display of local anatomical structures can be used to extract accurate feature points; and for the DRR generated by the CT scan before radiotherapy, feature points are also selected based on obvious structures such as bones. The method of extracting feature points can use automatic algorithms such as edge detection, corner detection and other algorithms to identify possible feature points.

[0044] b) Feature point matching: Feature point matching is achieved based on the geometric relationship and similarity between feature points. For example, by calculating the distance, angle and other geometric parameters between feature points, we can find point pairs with similar geometric relationships in two sets of feature points and match them. We can also use some similarity measurement-based methods, such as mutual information, normalized cross-correlation, etc., to evaluate the similarity between two sets of feature points, so as to determine the best matching point pairs. Taking mutual information as an example, it is a measurement method that determines the similarity between two sets of data by calculating the degree of information sharing between them. When the mutual information value is the largest, the corresponding feature point matching scheme may be the best.

[0045] c) Calculate the spatial transformation parameters, including translation parameter values ​​and / or rotation parameter values: After the feature point matching is completed, the spatial transformation parameters required to transform the DRR generated by the current image scan to align with the DRR generated by the pre-radiotherapy CT examination in three-dimensional space are calculated based on the matched feature point pairs.

[0046] The translation parameter value may refer to the translation vector, and the rotation parameter value may refer to the rotation angle. Taking the rigid body transformation model (assuming that the patient's body is mainly an overall translation and rotation movement between two imagings) as an example, the translation vector (the translation amount in the three directions of X, Y, and Z) and the rotation angle (the rotation angle around the three axes of X, Y, and Z) and other parameters are calculated. Mathematical methods such as the least squares method can be used. For example, for rigid body transformation, the coordinates of the matched feature point pair in the DRR generated by the image scan are (x1, y1, z1), and the coordinates in the DRR generated by the CT scan before radiotherapy are (x2, y2, z2). The least squares method can be used to solve the translation vector and rotation angle parameters that minimize the sum of the squares of the distances between the two sets of feature point pairs after transformation.

[0047] d) Apply spatial transformation: The calculated spatial transformation parameters (translation vector and rotation angle) are applied to the currently generated DRR to achieve 3D registration with the DRR image generated by the pre-radiotherapy CT examination.

[0048] The control system drives the treatment components to make real-time dynamic adjustments through the robot position and posture adjustment system, so that the treatment components are always aligned with the lesion area. Each voxel in the generated DRR is translated according to the calculated translation vector and rotated according to the rotation angle, so that it is accurately aligned with the DRR image generated by the pre-radiotherapy CT examination in three-dimensional space.

[0049] Some embodiments of the present invention also provide a control method for a real-time image-guided radiotherapy device, comprising: adjusting the postures of the main robot 101 and the auxiliary robot 102 according to image data obtained by image scanning during the radiotherapy process so that the treatment component 103 is always aligned with the current lesion area.

[0050] Specifically, the control methods include: Step 101, identifying a lesion area and a non-lesion area based on image data obtained by image scanning; Step 102: Based on the difference between the identified lesion area and the original lesion area, the posture of the main robot is adjusted so that the treatment component is always aligned with the current lesion area.

[0051] In a specific implementation, the lesion area and the non-lesion area are identified based on the image data obtained by image scanning, including: filtering, denoising and grayscale correcting the two-dimensional image data obtained by image scanning and converting it into a three-dimensional image, and using a preset grayscale threshold to identify the lesion area and the non-lesion area.

[0052] In one example, the image generating component 105 and the corresponding image receiving component 104 are used to perform image scanning on the target lesion area by rotational motion, and a series of two-dimensional slice image data are obtained and stored in DICOM format. The two-dimensional slice image data contains the attenuation information of the X-ray (image beam) at different angles inside the object; the image data is denoised by a filtering algorithm to improve the signal-to-noise ratio of the image. The filtering algorithm may be, but is not limited to, Gaussian filtering, median filtering, etc. For example, the Gaussian filtering algorithm is used to reduce the influence of noise by weighted averaging the grayscale values ​​of each pixel point and its neighboring pixel points in the image data; the grayscale of the image data is corrected so that the grayscale value of the image can accurately reflect the density information of the object. The grayscale correction method may be, but is not limited to, histogram equalization, grayscale stretching, etc. The two-dimensional slice image data is converted into a three-dimensional image, and the internal structure of the object is presented by assigning color and transparency to each voxel (pixel in three-dimensional space) in the three-dimensional image data. According to the difference in grayscale value between the lesion and the surrounding normal tissue, an appropriate grayscale threshold is set to divide the pixels in the image data into two categories: lesion and non-lesion, so as to identify the lesion area and the non-lesion area.

[0053] In a specific implementation, based on the difference between the identified lesion area and the original lesion area, the posture of the main robot is adjusted so that the treatment component is always aligned with the current lesion area, including: based on the difference between the identified lesion area and the original lesion area, the target space transformation parameter value of the treatment component is calculated, and the posture of the main robot is adjusted based on the target space transformation parameters, and the target space transformation parameters include translation parameter values ​​and / or rotation parameter values.

[0054] In some examples, the three-dimensional image generated by image scanning refers to DRR (Digitally Reconstructed Radiograph), which is 3D registered with the DRR generated by the pre-radiotherapy CT examination. The purpose is to accurately align the two images from different sources but both related to the patient's anatomical structure in three-dimensional space, so as to better formulate, evaluate and implement radiotherapy plans. A 3D registration method based on feature points can be used. The specific 3D registration method can be found in the above content and will not be repeated here.

[0055] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A real-time image-guided radiotherapy device, characterized in that: include: A main robot, a treatment component and an image generating component are mounted on the end thereof, the treatment component is aimed at the lesion area, and the image generating component is installed in a direction that forms a first angle with the center line of the treatment beam generated by the treatment component; during the radiotherapy process, the main robot drives the treatment component and the image generating component to rotate synchronously, so as to continuously perform image scanning on the lesion area while emitting the treatment beam to the lesion area; The auxiliary robot has an image receiving component mounted on its end. During radiotherapy, the auxiliary robot drives the image receiving component to rotate synchronously with the image generating component to receive image data obtained by image scanning. During the rotation, the image receiving component is located outside the range of the treatment beam and is orthogonal to the direction of the image beam generated by the image generating component.

2. The real-time image-guided radiotherapy device according to claim 1, characterized in that: The main robot is loaded with a treatment component and an image generating component through a first connecting piece at the end, the treatment component is mounted on the central axis of the first connecting piece, and the center line of the treatment beam generated by the treatment component is colinear with the central axis; the sub-robot is loaded with an image receiving component through a second connecting piece at the end.

3. The real-time image-guided radiotherapy device according to claim 2, characterized in that: The first connection member and the second connection member include flanges.

4. The real-time image-guided radiotherapy device according to claim 1, characterized in that: The treatment component comprises a treatment beam generating component and a treatment beam shaping component. The treatment beam generating component is used to generate a treatment beam, and the treatment beam shaping component is used to control the shape of the treatment beam to generate a specific shape required for each specific irradiation field.

5. The real-time image-guided radiotherapy device according to claim 4, characterized in that: The main robot drives the treatment beam generating component and the image generating component to rotate synchronously in the same direction, while the treatment molding component rotates synchronously in the opposite direction.

6. The real-time image-guided radiotherapy device according to claim 4, characterized in that: The treatment beam shaping component includes a multi-leaf collimator.

7. The real-time image-guided radiotherapy device according to claim 1, characterized in that: It also includes a control system for adjusting the postures of the main robot and the auxiliary robot according to image data obtained by image scanning during radiotherapy, so that the treatment component is always aligned with the current lesion area.

8. The real-time image-guided radiotherapy device according to claim 7, characterized in that: The control system is configured with: A lesion recognition module, used to identify lesion areas and non-lesion areas based on image data obtained by image scanning; The regional registration module is used to adjust the posture of the main robot based on the difference between the identified lesion area and the original lesion area, so that the treatment component is always aligned with the current lesion area.

9. The real-time image-guided radiotherapy device according to claim 8, characterized in that: The lesion recognition module is used to convert the two-dimensional image data obtained by image scanning into a three-dimensional image after filtering, denoising and grayscale correction, and to identify the lesion area and the non-lesion area using a preset grayscale threshold.

10. The real-time image-guided radiotherapy device according to claim 7, characterized in that: The regional registration module is used to calculate the target space transformation parameter value of the treatment component based on the difference between the identified lesion area and the original lesion area, and adjust the posture of the main robot based on the target space transformation parameter, and the target space transformation parameter includes a translation parameter value and / or a rotation parameter value.

Images