Dynamic source applicator system based on image guidance and close-range radiotherapy method thereof

Abstract

The invention discloses a close-range radiotherapy method based on image guidance, and the method comprises the following steps: a respiratory gating module carries out the real-time monitoring of a respiratory mode of a patient, and builds respiratory movement prediction model data; the IGRT image guiding module is used for fusing the multi-mode image data with respiratory movement prediction model data of the respiratory gating module to form a real-time position track of the tumor; the intelligent dynamic control module is used for generating a real-time radioactive source conveying path and a radiotherapy dose distribution diagram according to the multi-mode image data of the IGRT image guide module and the real-time position track of the tumor; the radioactive source applicator and afterloading integrated module performs high-precision dynamic adjustment on the source applicator according to a real-time radioactive source conveying path and a real-time radiotherapy dose distribution diagram of the intelligent dynamic control module, so as to ensure that the radioactive source is always accurately positioned; after the treatment is finished, the treatment effect is automatically evaluated, and the intelligent dynamic control module is optimized. According to the invention, the accuracy and the treatment effect of radiotherapy are obviously improved.

Description

Technical Field

[0001] The present invention belongs to the field of brachytherapy, and in particular relates to an image-guided dynamic applicator system and a brachytherapy method thereof. Background Art

[0002] Brachytherapy (BT) is a technique that achieves high-dose local radiotherapy by placing a radiation source directly at or close to the tumor site. It is widely used to treat a variety of cancers, such as cervical cancer and prostate cancer. The advantage of BT is that it can accurately target the tumor site and minimize damage to surrounding healthy tissues. However, traditional BT applicators rely on preoperative CT, MRI and other imaging technologies to formulate three-dimensional static treatment plans, and cannot respond in real time to the displacement of the tumor caused by factors such as breathing, body position, and organ movement during treatment. This static treatment method has obvious shortcomings in dealing with dynamic changes in tumors, especially in some treatment processes where the tumor has a large range of movement, such as lung and abdominal tumors, or organs affected by breathing.

[0003] In order to solve these problems, the field of radiotherapy has introduced image-guided radiotherapy (IGRT) technology. IGRT is mainly used for external radiotherapy, which uses real-time imaging (CT, MRI, ultrasound, etc.) to dynamically track the position of the tumor and adjust the irradiation angle and dose of radiation. The application of IGRT technology has greatly improved the accuracy and safety of external radiotherapy. However, in brachytherapy, the source applicator has not fully integrated IGRT technology, resulting in its inability to dynamically adjust according to the real-time movement of the tumor, and there are problems such as large errors in positioning the radiation source and limited treatment effects. In addition, manual adjustment of the position of the radiation source has problems such as insufficient precision and complex operation, which increases the uncertainty and risk of patient treatment.

[0004] Although the current respiratory gating technology can perform radiotherapy at a certain stage of the patient's breathing and reduce the treatment error caused by tumor movement, it still fails to completely solve the problem of synchronous regulation of the applicator in dynamic tumor treatment. Therefore, combining IGRT technology to achieve real-time tumor tracking and dynamic positioning of the radiation source in close-range radiotherapy has become the key to improving treatment accuracy.

[0005] Currently, there are limited solutions to solve the problem that the applicator cannot respond to tumor movement in real time, mainly focusing on the following aspects:

[0006] 1. Treatment planning based on three-dimensional static imaging: Tumor localization is performed through preoperative CT or MRI, and radiotherapy plans are made based on these images. However, this method cannot adapt to the real-time movement of the tumor during treatment.

[0007] 2. Manual adjustment: Some clinical methods use manual adjustment of the applicator position during surgery. Doctors manually adjust the applicator through real-time monitoring, but the accuracy is low and the treatment time is increased.

[0008] 3. Combination of respiratory gating and radiation applicator: Some systems combine respiratory gating technology to deliver treatment at specific stages of the respiratory cycle, but are unable to dynamically adjust the position of the radiation source.

[0009] 4. Although these solutions have alleviated the problem to a certain extent, they have failed to solve the problem of synchronization between the applicator and the tumor movement, and their accuracy and safety are insufficient. Summary of the invention

[0010] The purpose of the present invention is to provide a dynamic applicator system based on image guidance and a close-range radiotherapy method thereof, which reduces the positioning error of the radiation source, significantly improves the accuracy of radiotherapy, optimizes the radiotherapy dose distribution map, improves the treatment effect, and reduces the risk of side effects and complications.

[0011] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0012] A dynamic applicator system based on image guidance, comprising a respiratory gating module, an IGRT image guidance module, an intelligent dynamic control module, a radiation source applicator and an after-loader integration module, wherein:

[0013] Respiratory gating module, used to monitor the patient's breathing pattern in real time and establish respiratory motion prediction model data;

[0014] The IGRT image guidance module fuses the multimodal imaging data with the respiratory motion prediction model data of the respiratory gating module to form a real-time position trajectory of the tumor;

[0015] The intelligent dynamic control module generates a real-time radiation source delivery path and a real-time radiotherapy dose distribution map through the multimodal imaging data of the IGRT image guidance module and the real-time position trajectory of the tumor;

[0016] The radiation source applicator and afterloader integration module can dynamically adjust the applicator with high precision through the real-time radiation source delivery path and real-time radiotherapy dose distribution map of the intelligent dynamic control module to ensure that the radiation source is always accurately positioned.

[0017] A method for brachytherapy based on image guidance comprises the following steps:

[0018] S1, the respiratory gating module monitors the patient's breathing pattern in real time and establishes respiratory motion prediction model data;

[0019] S2, the IGRT image guidance module fuses the multimodal imaging data with the respiratory motion prediction model data of the respiratory gating module to form a real-time position trajectory of the tumor;

[0020] S3, the intelligent dynamic control module, generates a real-time radiation source delivery path and radiotherapy dose distribution map through the multimodal imaging data of the IGRT image guidance module and the real-time position trajectory of the tumor;

[0021] S4, the radiation source applicator and afterloader integration module performs high-precision dynamic adjustment on the applicator according to the real-time radiation source delivery path and real-time radiotherapy dose distribution map of the intelligent dynamic control module to ensure that the radiation source is always accurately positioned;

[0022] S5, after the treatment, automatically evaluates the treatment effect and optimizes the intelligent dynamic control module.

[0023] Preferably, the specific steps of S2 are: acquiring real-time image data of the tumor through an IGRT image guidance module, applying multimodal imaging technology to the real-time image data to obtain multimodal image data, fusing the multimodal image data with the respiratory motion prediction model data of the respiratory gating module, and using an automatic image analysis algorithm to generate three-dimensional position information of the tumor to form a real-time position trajectory of the tumor.

[0024] Preferably, the specific steps of S3 are:

[0025] S301, the intelligent dynamic control module formulates a preliminary radiotherapy plan, obtains a preset radiotherapy dose distribution map and a preliminary radiation source delivery path;

[0026] S302, the intelligent dynamic control module adjusts the radiotherapy plan to obtain a real-time radiation source delivery path and a real-time radiotherapy dose distribution map.

[0027] Preferably, the specific steps of S301 are:

[0028] S30101, construct a three-dimensional anatomical model using multimodal imaging data from the IGRT image-guided module;

[0029] S30102, obtaining a preset radiotherapy dose distribution map according to the three-dimensional anatomical model;

[0030] S30103, plan the preliminary radiation source delivery path based on the real-time position trajectory of the tumor.

[0031] Preferably, the specific steps of S302 are: during the treatment process, the intelligent dynamic control module receives the multimodal imaging data and the real-time position trajectory of the tumor from the IGRT image guidance module in real time, dynamically updates the real-time radiotherapy dose distribution map, analyzes the position deviation, evaluates the changes in tumor displacement and respiratory state, and based on the treatment path planning algorithm, dynamically updates the real-time radiation source delivery path, and adjusts the real-time radiotherapy dose distribution map to ensure accurate irradiation and treatment effect.

[0032] Preferably, in S4, the process is executed in the afterloader at a response speed of milliseconds. The afterloader adopts a high-precision mechanical structure and performs real-time micrometer-level adjustment on the source applicator according to the real-time delivery path of the radiation source and the real-time radiotherapy dose distribution map.

[0033] The beneficial effects of the present invention are:

[0034] By integrating image-guided radiotherapy (IGRT) technology, respiratory gating and the applicator can obtain tumor location information in real time, and dynamically adjust the delivery path and position of the radiation source according to the movement trajectory of the tumor to ensure that the radiation source and the tumor remain synchronized. This can not only reduce the positioning error of the radiation source and significantly improve the accuracy of radiotherapy, but also optimize the radiotherapy dose distribution map, ensure the concentration of the dose in the tumor target area, and improve the treatment effect. At the same time, the present invention can also reduce the radiation dose to surrounding healthy tissues, thereby reducing the risk of side effects and complications.

[0035] By combining IGRT technology with the applicator, the applicator of the present invention can be used in a variety of treatment scenarios, including but not limited to the treatment of gynecological cancer, prostate cancer and other tumors that require close-range radiotherapy, thereby improving the accuracy and safety of radiotherapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Flowchart of an image-guided brachytherapy approach. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention.

[0038] A dynamic applicator system based on image guidance, comprising a respiratory gating module, an IGRT image guidance module, an intelligent dynamic control module, a radiation source applicator and an after-loader integration module, wherein:

[0039] The respiratory gating module is used to monitor the patient's breathing pattern in real time and establish respiratory movement prediction model data.

[0040] The IGRT image guidance module fuses the multimodal imaging data with the respiratory motion prediction model data of the respiratory gating module to form a real-time position trajectory of the tumor.

[0041] The intelligent dynamic control module generates a real-time radiation source delivery path and a real-time radiotherapy dose distribution map through the multimodal imaging data of the IGRT image guidance module and the real-time position trajectory of the tumor.

[0042] The radiation source applicator and afterloader integration module can dynamically adjust the applicator with high precision through the real-time radiation source delivery path and real-time radiotherapy dose distribution map of the intelligent dynamic control module to ensure that the radiation source is always accurately positioned.

[0043] The system combines respiratory gating and image-guided radiotherapy (IGRT) technology to solve the problem of radiation source positioning error caused by changes in tumor position (such as displacement caused by patient breathing or organ movement). The system can monitor tumor displacement in real time and dynamically adjust the position of the radiation source to ensure that the radiation source is always accurately aimed at the tumor target during treatment, thereby improving the accuracy and efficacy of brachytherapy (BT).

[0044] 1. Respiratory gating module:

[0045] The respiratory gating module monitors the patient's breathing pattern (such as breathing cycle, amplitude and stability) in real time based on external monitoring equipment (such as infrared sensors, surface marker monitoring equipment, and in-vivo sensors). The respiratory gating module collects the patient's motion information during the respiratory cycle, generates a respiratory waveform through a data processing algorithm, and predicts the tumor displacement range in each respiratory cycle through a data processing algorithm to establish accurate respiratory motion prediction model data. The respiratory motion prediction model data can dynamically reflect the movement state of the tumor in different respiratory stages and provide dynamic update support for the delivery path of the radiation source. The respiratory gating module also has adaptive adjustment capabilities and can be adjusted according to the patient's individual respiratory characteristics (such as shallow breathing, deep breathing, etc.) to ensure radiotherapy accuracy and individualized treatment effects.

[0046] 2. IGRT image-guided module:

[0047] The IGRT image-guided module uses real-time imaging technology (such as CT, MRI or 4D CT) to locate the tumor with high precision. The module is equipped with an automatic image analysis algorithm that can convert the detected tumor position data into precise position information in a three-dimensional coordinate system. Compared with static images, the module can provide continuous and real-time updated tumor position change data, thereby achieving real-time alignment of the radiation source and the tumor, avoiding radiation exposure of normal tissue caused by radiation source errors. In addition, the system can monitor changes in the tissue surrounding the tumor in real time to ensure the accuracy and safety of radiation source positioning during treatment.

[0048] 3. Intelligent dynamic control module:

[0049] The intelligent dynamic control module is the core of this system. This module integrates the data input of the respiratory gating module and the IGRT image guidance module, uses advanced treatment path planning algorithms to analyze the tumor movement trajectory, and generates a real-time radiation source delivery path. The treatment path planning algorithm takes into account the movement speed and acceleration of the tumor and the patient's individual breathing pattern, predicts and compensates for tumor movement, and ensures that the dynamic adjustment process of the radiation source is accurate and stable. The prediction model in the module continuously learns and adaptively adjusts the tumor movement, so that the intelligent dynamic control module can still ensure accurate positioning when facing complex tumor movement patterns.

[0050] 4. Radioactive source applicator and after-installation integrated module:

[0051] The radiation source applicator and afterloader integrated module includes a radiation source, an applicator and an afterloader. The radiation source is placed inside the applicator. The afterloader is designed with a multi-axis drive structure, which can realize real-time adjustment of the radiation source delivery path according to the instructions of the intelligent dynamic control module. Compared with the preset fixed trajectory mode of the traditional applicator, the multi-axis drive structure of the present invention cooperates with the servo motor system with high response speed, so that the applicator can quickly adjust and accurately align the tumor. This design realizes the precise dynamic adjustment function of the radiation source, significantly improves the alignment accuracy of the applicator, meets the real-time needs of different treatment stages, and further reduces the impact of tumor movement on the treatment effect.

[0052] like Figure 1 As shown, a method for brachytherapy based on image guidance comprises the following steps:

[0053] S1, the respiratory gating module monitors the patient's breathing pattern in real time and establishes respiratory movement prediction model data.

[0054] Debug and calibrate the external monitoring equipment of the respiratory gating module and calibrate the IGRT image guidance module.

[0055] (1) Conduct a comprehensive assessment of the patient.

[0056] Before the patient received treatment, a detailed medical history was recorded and physiological characteristics were assessed, with particular attention paid to the dynamic characteristics of the breathing pattern (such as breathing cycle, amplitude and stability) and tumor location.

[0057] Develop personalized treatment strategies based on the characteristics of different lesion sites (such as cervix, lungs, prostate, etc.).

[0058] (2) Debug the external monitoring equipment of the respiratory gating module.

[0059] According to the individual patient's breathing pattern (such as breathing cycle, amplitude and stability), debug the external monitoring equipment of the respiratory gating module (such as infrared sensors, surface marker monitoring devices), and perform sensitivity tests on the respiratory gating module to ensure that the external monitoring equipment can track respiratory movements in real time and accurately capture respiratory signals.

[0060] (3) Calibrate the IGRT image guidance module.

[0061] Use imaging equipment such as CT, MRI or 4D CT to perform preliminary calibration of the IGRT image guidance module to ensure that the image guidance module can effectively obtain the tumor location.

[0062] The respiratory gating module monitors the patient's respiratory pattern (such as respiratory cycle, amplitude and stability) in real time. The specific steps for establishing the respiratory motion prediction model data are as follows:

[0063] Start the respiratory gating module to collect the patient's respiratory movement information in real time when at rest and in motion, and record key indicators such as respiratory cycle, frequency, and amplitude.

[0064] A continuous breathing waveform is generated through a data processing algorithm, and respiratory motion prediction model data is established to provide basic data support for dynamic path planning.

[0065] Apply deep learning algorithms to optimize motion prediction models and improve adaptability to irregular breathing patterns.

[0066] S2, the IGRT image guidance module fuses the multimodal imaging data with the respiratory motion prediction model data of the respiratory gating module to form a real-time position trajectory of the tumor.

[0067] At different stages of each respiratory cycle, the IGRT image-guided module is used to obtain real-time imaging data of the tumor and capture the dynamic changes in its position and morphology.

[0068] Multimodal imaging technology (such as CT / MRI fusion) is used on real-time image data to obtain multimodal image data and improve the resolution of tumors and surrounding tissues.

[0069] The multimodal imaging data is integrated with the respiratory motion prediction model data of the respiratory gating module, and the three-dimensional position information of the tumor is generated using the automatic image analysis algorithm to form the real-time position trajectory of the tumor. At the same time, the real-time position trajectory of the tumor is stored in the tumor position database.

[0070] Real-time position trajectory provides accurate dynamic positioning information of tumors.

[0071] S3, the intelligent dynamic control module, generates a real-time radiation source delivery path and a real-time radiotherapy dose distribution map through the multimodal imaging data of the IGRT image guidance module and the real-time position trajectory of the tumor.

[0072] S301, the intelligent dynamic control module formulates a preliminary radiotherapy plan to obtain a preset radiotherapy dose distribution map and a preliminary radiation source delivery path.

[0073] S30101, construct a three-dimensional anatomical model through the multimodal imaging data of the IGRT image guidance module.

[0074] Integrate the multimodal imaging data of the IGRT image-guided module to construct a three-dimensional anatomical model of the tumor and surrounding tissues, and clarify the target area boundaries and the spatial relationship with key organs.

[0075] S30102, obtaining a preset radiotherapy dose distribution map based on the three-dimensional anatomical model.

[0076] Based on the three-dimensional anatomical model, a personalized dose distribution plan is designed to optimize the target area dose distribution and obtain a preset radiotherapy dose distribution map to minimize the radiation exposure of normal tissues.

[0077] S30103, plan the preliminary radiation source delivery path based on the real-time position trajectory of the tumor.

[0078] The intelligent dynamic control module formulates a preliminary radiation source delivery path based on the real-time position trajectory (maximum displacement range of the tumor, breathing pattern characteristics) and the preset radiotherapy dose distribution map according to the treatment path planning algorithm to ensure the feasibility and robustness of the path planning.

[0079] S302, the intelligent dynamic control module adjusts the radiotherapy plan to obtain a real-time radiation source delivery path and a real-time radiotherapy dose distribution map.

[0080] During the treatment process, the intelligent dynamic control module receives the multimodal imaging data and the real-time position trajectory of the tumor from the IGRT image guidance module in real time, dynamically updates the real-time radiotherapy dose distribution map, analyzes the position deviation, evaluates the changes in tumor displacement and respiratory status, and based on the treatment path planning algorithm, dynamically updates the real-time radiation source delivery path, and adjusts the real-time radiotherapy dose distribution map to ensure accurate irradiation and treatment effect.

[0081] This adjustment ensures that the delivery path of the radiation source always accurately matches the tumor location, so that the dose in the tumor target area is continuously maintained at the optimal level and radiation to surrounding healthy tissue is minimized.

[0082] S4, the radiation source applicator and afterloader integration module performs high-precision dynamic adjustment of the radiation source according to the real-time radiation source delivery path and real-time radiotherapy dose distribution map of the intelligent dynamic control module to ensure that the radiation source is always accurately positioned.

[0083] S401, micron-level radiation source positioning control.

[0084] This process is executed at a millisecond response speed in the afterloader, which uses a high-precision mechanical structure (multi-axis drive structure) to make real-time micrometer-level adjustments to the source applicator based on the real-time delivery path of the radiation source and the real-time radiotherapy dose distribution map. This ensures that the positioning accuracy of the radiation source remains at the sub-millimeter level even when the tumor is breathing rapidly or moving drastically, ensuring that the radiation source is always accurately positioned.

[0085] S402, Individualized Adaptive Adjustment

[0086] The intelligent dynamic control module will dynamically adjust the backup machine parameters to meet different treatment needs according to the characteristics of different tumor sites (such as cervix, prostate or lung). For example, when treating gynecological tumors, the applicator will aim the radiation source at the tumor in the uterine area, while when treating prostate cancer, it ensures that the radiation source covers the prostate area to avoid affecting surrounding organs.

[0087] According to the characteristics of different tumor sites, the patient's breathing pattern (such as breathing cycle, amplitude and stability) and personalized needs, the treatment path planning algorithm and system configuration are optimized in real time to improve the treatment effect.

[0088] The system can support a variety of cancer treatment scenarios and automatically adjust according to specific treatment needs, enhancing the system's adaptability and flexibility in treating different tumors.

[0089] S5, after the treatment, automatically evaluates the treatment effect and optimizes the intelligent dynamic control module.

[0090] S501, automatically evaluating treatment effect.

[0091] After completing each treatment cycle, the dynamic applicator system will automatically evaluate the treatment effect, analyze the tumor's response and verify the dose distribution data, generate a comprehensive treatment effect report, and provide a reference for subsequent treatment.

[0092] Analyze tumor response.

[0093] Subsequent imaging examinations were used to evaluate tumor response to treatment, including volume reduction, morphological changes, and local control rate.

[0094] Verify dose distribution data.

[0095] The dose distribution data recorded during the treatment process was verified to confirm that the actual irradiation situation was consistent with the expected plan.

[0096] Comprehensive treatment effect report

[0097] Generate a comprehensive treatment effect report including tumor control rate, healthy tissue protection effect and patient treatment experience to provide data support for subsequent treatment.

[0098] S502, closed-loop feedback and iterative optimization.

[0099] Treatment data storage and analysis

[0100] The key data generated during the treatment process are stored in the central database, and big data analysis methods are used to explore the patterns and optimize the treatment pathway planning algorithm.

[0101] Real-time plan updates

[0102] According to the changes in tumor volume or position deviation, the delivery path and dose distribution map of the radiation source can be dynamically adjusted in subsequent treatments to improve the adaptability and accuracy of treatment.

Claims

1. A dynamic applicator system based on image guidance, characterized in that: It includes respiratory gating module, IGRT image guidance module, intelligent dynamic control module, radiation source applicator and after-loading integration module, among which: Respiratory gating module, used to monitor the patient's breathing pattern in real time and establish respiratory motion prediction model data; The IGRT image guidance module fuses the multimodal imaging data with the respiratory motion prediction model data of the respiratory gating module to form a real-time position trajectory of the tumor; The intelligent dynamic control module generates a real-time radiation source delivery path and a real-time radiotherapy dose distribution map through the multimodal imaging data of the IGRT image guidance module and the real-time position trajectory of the tumor; The radiation source applicator and afterloader integration module can dynamically adjust the applicator with high precision through the real-time radiation source delivery path and real-time radiotherapy dose distribution map of the intelligent dynamic control module to ensure that the radiation source is always accurately positioned.

2. An image-guided brachytherapy method, implemented by the image-guided dynamic applicator system according to claim 1, characterized in that: The following steps are involved: S1, the respiratory gating module monitors the patient's breathing pattern in real time and establishes respiratory motion prediction model data; S2, the IGRT image guidance module fuses the multimodal imaging data with the respiratory motion prediction model data of the respiratory gating module to form a real-time position trajectory of the tumor; S3, the intelligent dynamic control module, generates a real-time radiation source delivery path and radiotherapy dose distribution map through the multimodal imaging data of the IGRT image guidance module and the real-time position trajectory of the tumor; S4, the radiation source applicator and afterloader integration module performs high-precision dynamic adjustment on the applicator according to the real-time radiation source delivery path and real-time radiotherapy dose distribution map of the intelligent dynamic control module to ensure that the radiation source is always accurately positioned; S5, after the treatment, automatically evaluates the treatment effect and optimizes the intelligent dynamic control module.

3. The image-guided brachytherapy method according to claim 2, characterized in that: The specific steps of S2 are: obtaining real-time image data of the tumor through the IGRT image guidance module, applying multimodal imaging technology to the real-time image data to obtain multimodal image data, fusing the multimodal image data with the respiratory motion prediction model data of the respiratory gating module, and using the automatic image analysis algorithm to generate the three-dimensional position information of the tumor to form a real-time position trajectory of the tumor.

4. The image-guided brachytherapy method according to claim 2, characterized in that: The specific steps of S3 are: S301, the intelligent dynamic control module formulates a preliminary radiotherapy plan, obtains a preset radiotherapy dose distribution map and a preliminary radiation source delivery path; S302, the intelligent dynamic control module adjusts the radiotherapy plan to obtain a real-time radiation source delivery path and a real-time radiotherapy dose distribution map.

5. The image-guided brachytherapy method according to claim 4, characterized in that: The specific steps of S301 are: S30101, construct a three-dimensional anatomical model using multimodal imaging data from the IGRT image-guided module; S30102, obtaining a preset radiotherapy dose distribution map according to the three-dimensional anatomical model; S30103, plan the preliminary radiation source delivery path based on the real-time position trajectory of the tumor.

6. The image-guided brachytherapy method according to claim 4, characterized in that: The specific steps of S302 are as follows: during the treatment process, the intelligent dynamic control module receives the multimodal imaging data and the real-time position trajectory of the tumor from the IGRT image guidance module in real time, dynamically updates the real-time radiotherapy dose distribution map, analyzes the position deviation, evaluates the changes in tumor displacement and respiratory status, and dynamically updates the real-time radiation source delivery path based on the treatment path planning algorithm, while adjusting the real-time radiotherapy dose distribution map to ensure accurate irradiation and treatment effect.

7. The image-guided brachytherapy method according to claim 2, characterized in that: In S4, the process is executed in the afterloader at a response speed of milliseconds. The afterloader adopts a high-precision mechanical structure and performs real-time micrometer-level adjustment on the source applicator according to the real-time delivery path of the radiation source and the real-time radiotherapy dose distribution map.

Images