Exercise management method and system and related equipment

Abstract

The invention discloses an exercise management method and system and related equipment, and relates to the technical field of radiotherapy, and the system comprises a real-time imaging module which is used for obtaining the body surface contour of a patient in real time, and obtaining the breathing curve of the patient according to the body surface contour; the body surface contour is used for auxiliary positioning of a patient; the 4D acquisition module is used for sending a time signal to the slide rail CT according to the breathing curve of the patient and establishing a breathing time phase synchronous time sequence; when the treatment bed is located at the CT scanning position of the sliding rail, 4DCT images or breath-holding images of the patient under different breathing time phases are collected through the sliding rail CT according to the real-time breathing signals of the patient; the 4DCT image or the breath-holding image is used for being registered with the positioned 4DCT image, the phenomena that only an image of a tumor at a certain breathing phase can be obtained in the prior art, the image is prone to having motion artifacts, and registration errors exist are avoided, the registration precision of the tumor greatly influenced by breathing motion is improved, and the clinical efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of radiotherapy technology, and in particular to a motion management method, system and related equipment. Background Art

[0002] Due to its unique energy deposition characteristics, proton beams can release the highest energy in the tumor tissue while minimizing the radiation received by healthy tissues around the tumor, thereby reducing the risk of complications and side effects. Proton therapy has the advantages of high precision and low side effects, and its treatment accuracy is extremely sensitive to path changes.

[0003] The accuracy of proton therapy is mainly affected by two factors: the first is range uncertainty. Changes in the patient's anatomical structure, breathing, and organ movement will cause the density of the proton beam on the penetration path to change, thereby affecting the dose distribution; the second is position uncertainty. The positioning error before treatment will directly affect the treatment accuracy.

[0004] For tumors such as lung cancer, liver cancer, and breast cancer that are greatly affected by respiratory movement, these uncertainties may lead to inconsistency between the planned dose and the actual dose, resulting in insufficient dose to the target area and excessive dose to normal tissue, thus affecting the treatment effect; these uncertainties are related to factors such as the movement amplitude of the patient's tumor and breathing pattern.

[0005] Reducing treatment uncertainty is the focus of clinical application of proton therapy. Currently, the probability of uncertainty can be reduced through positioning devices, image guidance before treatment, application of rescanning technology during treatment, and motion management (such as respiratory gating, breath-hold therapy, abdominal compression, surface guidance, etc.) to achieve precise radiotherapy.

[0006] In the conventional proton radiotherapy process, the first is the simulation positioning stage, in which the position fixation device needs to be customized according to the patient's treatment site, and then go to the CT simulation positioning room to scan a set of CT images containing the position fixation device for subsequent treatment plan preparation; for tumors that are greatly affected by respiratory motion, motion management methods will also be used at this stage, such as using pressure sensors, surface optical signals, etc. to collect 4DCT images, or asking patients to hold their breath before scanning CT images to consider the impact of respiratory motion on the tumor; followed by the target area delineation stage, in which the contours of the target area and organs at risk are outlined on the acquired positioning CT; if 4DCT images are collected, the corresponding phase must be selected and the maximum density projection image must be generated to ensure that the full range of target area motion is outlined. Next are the plan preparation, plan review and approval, plan quality control, plan scheduling and plan implementation stages.

[0007] In the planning and implementation phase, the first step is positioning. The patient lies on the treatment bed, and the clinical operator uses a position fixation device to fix the patient and aligns the laser light with the positioning line on the patient's body surface. The next step is the image guidance phase. In order to reduce positioning errors, proton therapy requires image guidance. The positioning image before each treatment is verified with the positioning image used in the plan to reduce the position uncertainty caused by positioning. At present, there is a lack of corresponding motion management methods in the image guidance phase to ensure the consistency of the respiratory phase between the positioning image and the positioning image collected each time. Therefore, it is necessary to improve it. Summary of the invention

[0008] Based on the above problems, the purpose of the present invention is to provide a motion management method, system and related equipment to achieve comprehensive monitoring and precise management of patient body surface changes, improve the registration accuracy of tumors that are significantly affected by respiratory motion, and improve clinical efficacy.

[0009] The purpose of the present invention is achieved by the following technical solutions:

[0010] In a first aspect, the present invention provides a motion management system for monitoring changes in a patient's body surface within a motion area, the system comprising:

[0011] A real-time imaging module, used to obtain the body surface contour of the patient in the motion area in real time through one or more fixed-position motion management devices, and obtain the patient's breathing curve according to the body surface contour; the body surface contour is used for auxiliary positioning of the patient;

[0012] The 4D acquisition module is used to send a respiratory signal to the CT according to the patient's respiratory curve to establish a respiratory phase synchronization sequence; when the treatment bed moves from the positioning position to the CT scanning position, the CT is used to collect 4DCT images or breath-holding images of the patient in different respiratory phases according to the patient's real-time respiratory signal; the 4DCT image or breath-holding image is used to be registered with the positioned 4DCT image, and the positioning error of the treatment bed is corrected according to the registration result.

[0013] Preferably, the movement area includes the movement of the treatment bed from the positioning area to the CT area and the CT scanning position, and the movement of the treatment bed from the slide rail CT scanning position to the treatment area.

[0014] Preferably, the real-time imaging module includes a motion management device, and the motion management device includes a digital light processing projector and a CCD camera; the execution steps of the real-time imaging module include:

[0015] The digital light processing projector emits a structured light image with a specific code to the patient's body surface; the CCD camera synchronously captures the structured light image;

[0016] Decoding the captured structured light image to determine the corresponding relationship between the CCD camera image points and the structured light image points;

[0017] According to the corresponding relationship, the three-dimensional coordinates of the patient's body surface points are obtained;

[0018] The three-dimensional coordinates of the patient's body surface points are used to perform three-dimensional reconstruction of the body surface to obtain the patient's body surface contour;

[0019] The patient's breathing curve is obtained according to the changes of the patient's body surface contour over time.

[0020] Preferably, the motion management device comprises a first device located within a preset distance range of a rotating gantry in a treatment room and a second device located in a CT area.

[0021] Preferably, the motion management system further comprises:

[0022] A positioning module, used for matching the real-time body surface contour of the patient obtained by the first device with the reference body surface contour in the treatment plan during the positioning stage, thereby completing the positioning of the patient in the first stage;

[0023] The image guidance module is used to move the treatment bed from the positioning position to the CT scanning position and perform image guidance through CT; in the CT area, the real-time body surface contour of the patient is collected through the second device.

[0024] Preferably, the motion management system further comprises:

[0025] A display module, used to display a real-time monitoring interface, wherein the real-time monitoring interface includes a real-time body surface contour of a patient in a motion area, a reference body surface contour, a real-time respiratory curve, a reference respiratory curve, a contour offset result, and a gated window;

[0026] The prompt module is used to prompt and correct the positioning error of the treatment bed according to the patient's contour deviation result.

[0027] Preferably, the motion management system further comprises:

[0028] The VR guidance module is used to feedback the real-time inhalation volume of the patient undergoing breath-holding therapy and the relative position of the preset gating window through the VR device; through the relative position, the patient is enabled to actively maintain an accurate and stable breath-holding state to scan the CT image in the breath-holding state; the real-time inhalation volume is obtained through the changes in the patient's body surface contour.

[0029] Preferably, the motion management system further comprises: a beam output control module; the beam output control module comprises a body surface guiding unit and a respiratory gating unit;

[0030] The body surface guiding unit is used to determine whether to emit a beam according to the patient's real-time body surface contour and a preset offset tolerance, and if the patient's real-time body surface contour offset value is within the preset offset tolerance range, the beam is emitted; if the offset value exceeds the preset offset tolerance range, the beam is suspended;

[0031] The respiratory gating unit is used to control the beam output in a specific respiratory phase according to the patient's respiratory curve.

[0032] In a second aspect, the present application proposes a motion management method for monitoring changes in the patient's body surface within a motion area, the method comprising:

[0033] The body surface contour of the patient in the motion area is obtained in real time by one or more fixed motion management devices, and the patient's breathing curve is obtained according to the body surface contour; the body surface contour is used for auxiliary positioning of the patient;

[0034] According to the patient's respiratory curve, a respiratory signal is sent to the CT to establish a respiratory phase synchronization sequence; when the treatment bed moves from the positioning position to the CT scanning position, according to the patient's real-time respiratory signal, the CT is used to collect 4DCT images or breath-holding images of the patient in different respiratory phases; the 4DCT image or breath-holding image is used to be registered with the positioned 4DCT image, and the positioning error of the treatment bed is corrected according to the registration result.

[0035] Preferably, the motion management device comprises a digital light processing projector and a CCD camera; the method comprises:

[0036] The digital light processing projector emits a structured light image with a specific code to the patient's body surface; the CCD camera synchronously captures the structured light image;

[0037] Decoding the captured structured light image to determine the corresponding relationship between the CCD camera image points and the structured light image points;

[0038] According to the corresponding relationship, the three-dimensional coordinates of the patient's body surface points are obtained;

[0039] The three-dimensional coordinates of the patient's body surface points are used to perform three-dimensional reconstruction of the body surface to obtain the patient's body surface contour;

[0040] The patient's breathing curve is obtained according to the changes of the patient's body surface contour over time.

[0041] Preferably, the motion management device comprises a first device located within a preset distance range of a rotating gantry in a treatment room and a second device located in a CT area, and the method further comprises:

[0042] In the positioning stage, the real-time body surface contour of the patient obtained by the first device is matched with the reference body surface contour in the treatment plan, thereby completing the first stage positioning of the patient;

[0043] The treatment bed is moved from the setup position to the CT scanning position, and image guidance is performed through CT; the real-time body surface contour of the patient is collected through a second device in the CT area.

[0044] Preferably, the method further comprises:

[0045] Displaying a real-time monitoring interface through a display module, wherein the real-time monitoring interface includes a real-time body surface contour, a reference body surface contour, a real-time breathing curve, a reference breathing curve, a contour offset result, and a gating window of a patient in a motion area;

[0046] According to the patient's contour deviation results, it is prompted to correct the positioning error of the treatment bed.

[0047] Preferably, the method further comprises:

[0048] The VR device is used to feed back the real-time inspiratory volume of the patient undergoing breath-hold therapy and the relative position of the preset gating window. Through the relative position, the patient is enabled to actively maintain an accurate and stable breath-hold state to scan the CT image in the breath-hold state. The real-time inspiratory volume is obtained through changes in the patient's body surface contour.

[0049] Preferably, the method further comprises:

[0050] Determine whether to emit a beam according to the patient's real-time body surface contour and the preset offset tolerance. If the offset value of the patient's real-time body surface contour is within the preset offset tolerance range, the beam is emitted; if the offset value exceeds the preset offset tolerance range, the beam is suspended.

[0051] In gated therapy, the beam is controlled within a specific respiratory phase according to the patient's respiratory curve.

[0052] In a third aspect, the present invention provides a treatment system, the system comprising:

[0053] Radiotherapy devices, used to deliver radiation therapy to patients according to treatment plans;

[0054] Any of the motion management systems described in the present invention is used to monitor changes in the patient's body surface within the motion area, and perform positioning adjustments and radiotherapy beam control according to the changes in the body surface.

[0055] In a fourth aspect, the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the functions of any system described in the present invention or executes the steps of any method described in the present invention when implementing the computer program.

[0056] In a fifth aspect, the present invention provides a computer-readable storage medium, characterized in that the storage medium stores computer instructions, and when a computer reads the computer instructions, the computer implements the functions of any system described in the present invention or executes the steps of any method described in the present invention.

[0057] Compared with the prior art, the beneficial effects of the present invention include at least: the real-time imaging module accurately captures the dynamic changes of the patient's body surface, providing accurate reference information for treatment; the 4D acquisition module can obtain images under different respiratory phases and align them with the positioning image to ensure the accuracy of treatment; it realizes comprehensive monitoring and precise management of changes in the patient's body surface; it makes up for the phenomenon that only images of tumors under a certain respiratory phase can be obtained, and the images are prone to motion artifacts, resulting in errors in registration, and improves the registration accuracy of tumors that are greatly affected by respiratory movement, thereby improving clinical efficiency; the beam control module controls the beam according to the patient's real-time body surface contour and respiratory curve, avoiding treatment errors caused by changes in body surface position or respiratory movement. The VR guidance module helps patients maintain an accurate breath-holding state, reducing image blur and treatment errors caused by respiratory movement. The auxiliary positioning and correction prompt functions can simplify the preparation work before treatment and improve treatment efficiency. The real-time monitoring interface provides operators with intuitive information display, which is convenient for quick decision-making; the VR guidance module reduces the anxiety and fear of patients by providing real-time feedback on the inhaled volume and the door control window position. Motion management equipment can reduce the time spent using motion management devices and improve clinical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 is a schematic diagram of a motion management system according to an embodiment of the present invention;

[0059] Figure 2 is a schematic diagram of the position of a motion management device according to an embodiment of the present invention;

[0060] Figure 3 is a schematic diagram of the location layout of a motion management device according to an embodiment of the present invention;

[0061] Figure 4 is a schematic flow chart of a motion management method according to an embodiment of the present invention;

[0062] Figure 5 Schematic diagram of a motion management method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0063] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; on the contrary, these embodiments are provided to make the present invention more comprehensive and complete and to fully convey the concepts of example embodiments to those skilled in the art; the same reference numerals in the drawings represent the same or similar structures, and thus their repeated description will be omitted.

[0064] The words expressing positions and directions described in the present invention are all explained with reference to the accompanying drawings as examples, but they can be changed as needed, and all such changes are included in the protection scope of the present invention.

[0065] Refer to the attached Figure 1 The present invention provides a motion management system for monitoring changes in the patient's body surface within a motion area, the system comprising:

[0066] A real-time imaging module, used to obtain the body surface contour of the patient in the motion area in real time through one or more fixed-position motion management devices, and obtain the patient's breathing curve according to the body surface contour; the body surface contour is used for auxiliary positioning of the patient;

[0067] The 4D acquisition module is used to send a respiratory signal to the CT according to the patient's respiratory curve to establish a respiratory phase synchronization sequence; when the treatment bed is at the CT scanning position, the CT is used to collect 4DCT images or breath-holding images of the patient at different respiratory phases according to the patient's real-time respiratory signal; the 4DCT image or breath-holding image is used to be registered with the positioned 4DCT image, and the positioning error of the treatment bed is corrected according to the registration result; wherein the positioned 4DCT image is collected in the simulated CT positioning stage; the CT is configured so that the treatment bed moves along the extension direction of the treatment bed after reaching the CT scanning position, so as to scan various parts of the patient from head to toe; the movement plane of the treatment head is used as the boundary; the CT and the second imaging module are located on one side of the treatment head in the treatment room, and the first imaging module is located on the other side of the treatment head in the treatment room.

[0068] The working principle and effect of the above technical solution are as follows: the real-time imaging module uses a motion management device (imaging device) fixed at a specific position to continuously obtain the real-time body surface contour data of the patient during the treatment process; the contour data provides an accurate representation of the patient's current body shape, including body surface changes caused by physiological activities such as breathing; based on the changes in the body surface contour, the patient's breathing curve is calculated; the breathing curve reflects the depth and frequency of the patient's breathing, and is the key to the subsequent synchronization of the respiratory phase and the acquisition of 4DCT images; the real-time acquired body surface contour is also used to assist in the positioning of the treatment bed to ensure that the patient maintains the correct posture and position during treatment.

[0069] If the clinical operator chooses to use a CT imaging device, such as a slide CT, for image guidance, the treatment bed will move from the positioning position to the area where the slide CT is located. At this time, the motion management device located in the slide CT area can continuously and in real time image the motion area and monitor the patient's position changes during the movement. The 4D acquisition module sends a respiratory signal to the slide CT according to the patient's respiratory curve to establish a respiratory phase synchronization sequence. It is performed according to the patient's respiratory rhythm to ensure that accurate images are acquired at different respiratory phases. When the treatment bed moves to the CT scanning position, for patients with combined 4DCT gating, the motion management device will capture the surface respiratory signal in real time and work with the slide CT system to acquire a set of 4DCT images or breath-holding images. These images show the patient's internal anatomical structure at different respiratory phases. The acquired 4DCT images or breath-holding images will be registered with the positioning 4DCT images acquired in the simulated CT positioning stage. Image registration ensures that the tumor position in the treatment plan is consistent with the tumor position in the current patient, thereby improving the accuracy of treatment.

[0070] Among them, the main purpose of the simulated CT positioning stage is to obtain the accurate location information of the tumor and surrounding tissues in the patient's body, so as to provide a basis for the subsequent treatment plan. During this stage, the patient will carry individualized molds (such as vacuum pads or face and neck masks) and other fixing devices for simulated CT positioning. Through CT scanning, doctors can determine the location, size and shape of the tumor, thereby providing precise guidance for subsequent radiotherapy treatment. At the same time, the simulated CT positioning stage will also collect the patient's breathing signal, and obtain the reference body surface contour and reference breathing curve under different respiratory phases through the breathing signal. The CT signal of the simulated CT positioning stage is used as a benchmark to prompt the patient to breathe, ensuring that the image collected by the 4D acquisition module is consistent with the positioning image in terms of breathing state.

[0071] In summary, the real-time imaging module can obtain the patient's body surface contour in real time, and obtain the patient's respiratory curve based on the body surface contour, which helps doctors or technicians to accurately position the patient before treatment to ensure that the treatment area is highly consistent with the planned area. The 4D acquisition module can use the slide CT to collect 4DCT images or breath-hold images at different respiratory phases based on the patient's real-time respiratory signal, and use it to perform image registration with the positioned 4DCT, so as to evaluate whether the complete range of motion of the tumor in this positioning state is consistent with the plan, and then accurately correct the positioning error of the fractionated treatment, making up for the original phenomenon that only the image of the tumor in a certain respiratory phase can be obtained, and the image is prone to motion artifacts, resulting in errors in registration.

[0072] In some embodiments, the motion area includes the treatment couch from the positioning area to the CT area (the area is within the extension range of the treatment couch and the CT does not collide with the treatment couch), the CT scanning position, and the treatment couch moving from the CT scanning position to the treatment area.

[0073] In some embodiments, the motion management device includes a digital light processing projector and a CCD camera; the execution steps of the real-time imaging module include:

[0074] The digital light processing projector emits a structured light image with a specific code to the patient's body surface; the CCD camera synchronously captures the structured light image;

[0075] Decoding the captured structured light image to determine the corresponding relationship between the CCD camera image points and the structured light image points;

[0076] According to the corresponding relationship, the three-dimensional coordinates of the patient's body surface points are obtained;

[0077] The three-dimensional coordinates of the patient's body surface points are used to perform three-dimensional reconstruction of the body surface to obtain the patient's body surface contour;

[0078] The patient's breathing curve is obtained according to the changes of the patient's body surface contour over time.

[0079] See attached Figure 2-3 In some embodiments, the motion management device (camera) includes a first device located within a preset distance range of the rotating gantry in the treatment room and a second device in the CT area; when the treatment bed is in different positions, different motion management devices are used to monitor the patient's body surface contour in real time throughout the whole process; preferably, the number of first devices is 3; in the positioning stage, the body surface contour of the patient at the positioning position is monitored in real time through the three first devices (cameras) located within the preset distance range of the rotating gantry, and the real-time contour is matched with the reference contour to prompt the clinical staff to correct the positioning error; after the positioning is completed, if the patient needs to do 3D For image verification, the treatment bed needs to move from the positioning position to the CT scanning position. At this time, the three first devices (cameras) monitor the changes in the patient's body surface contour during the front section of the treatment bed movement; when the treatment bed moves to the middle section, one of the three first devices (cameras) (on the same side as the camera above the CT) monitors the changes in the patient's body surface contour; when the treatment bed reaches the CT scanning position, the second device (the camera above the CT) provides the patient's body surface contour information, and during the CT scanning process, monitors the patient's body surface contour in real time throughout the entire process and generates a breathing signal; the return journey of the treatment bed also follows the above monitoring principles.

[0080] Among them, the three first devices (cameras) and the second device, namely the camera above the CT (the center of the CT scanning frame), are arranged at intervals and have different directions. The three cameras are facing the isocenter position of the treatment system, and the camera above the CT is facing the CT scanning position.

[0081] The working principle and effect of the above technical solution are:

[0082] The movement area includes the movement of the treatment bed from the positioning area to the CT area, the CT scanning position (CT area), and the movement of the treatment bed from the slide CT scanning position to the treatment area. Within the movement area, the motion management equipment monitors the changes in the patient's body surface during the movement.

[0083] The digital light processing (DLP) projector emits a structured light image with a specific code onto the patient's body surface. The structured light image contains a series of coded points or light strips for subsequent decoding and three-dimensional coordinate calculation.

[0084] The CCD camera synchronously captures the structured light image emitted by the projector to the patient's body surface. The CCD camera has high resolution and fast response capabilities to ensure that the deformation of the structured light image can be captured in real time.

[0085] The captured structured light image is decoded to determine the correspondence between the camera image points and the structured light image points; the decoding process involves identifying the coded points or light bars in the image and inferring the changes in the surface shape based on their position changes.

[0086] The three-dimensional coordinates of body surface points are calculated based on the geometric relationship between the projector, CCD camera and the patient's body surface using the principle of triangulation; the three-dimensional position of a point is determined by measuring the angle between the projector and the camera and their distances to the body surface point.

[0087] Based on the calculated three-dimensional coordinates of the body surface points, three-dimensional reconstruction of the body surface is performed; the reconstruction process involves connecting the three-dimensional coordinate points into a surface or a mesh to form a three-dimensional model of the patient's body surface.

[0088] After completing the three-dimensional reconstruction of the body surface, the changes in the body surface can be further analyzed, such as monitoring the body surface movement caused by breathing.

[0089] Considering that the existing slide rail CT cannot be integrated into the rotating gantry of the proton, the existing slide rail CT is mostly deployed on one side of the treatment room to form the slide rail CT motion area. The deployment of the existing motion management device does not take into account the motion management in this area, resulting in a lack of motion management basis for tumors that are greatly affected by respiratory motion. The positioning images collected using the slide rail CT are images under any respiratory state and cannot be registered; the motion management device implemented in the present application includes a first device located within a preset distance range of the rotating gantry of the treatment room and a second device in the CT area, preferably three first devices, wherein the three first devices (cameras) and the second device, i.e., the camera above the CT (center of the CT scanning gantry), are arranged at intervals and have different directions, the three cameras are facing the isocenter position of the treatment system, and the camera above the CT faces the CT scanning position; such a layout ensures that the system can continuously and real-timely capture the patient's body surface contour and monitor the respiratory curve throughout the treatment process; by monitoring the patient's body position during the movement, it is ensured that the patient always maintains the same posture from the completion of the positioning to the end of the treatment. Once the posture changes, the system will immediately interrupt the treatment to ensure the safety and effect of the treatment.

[0090] In some embodiments, the real-time imaging module includes: the CCD camera captures the structured light image emitted by the projector to the patient's body surface through a preset sampling frequency; wherein the sampling frequency satisfies the following conditions:

[0091] k*max(2*fc,D*vmax / L+2v / λ)≥fs≥max(2*fc,D*vmax / L+2v / λ)

[0092] k=1+vmax / va+δ

[0093] Where, fs is the sampling frequency of the CCD camera, fc is the structured light encoding frequency; vmax is the patient's maximum body surface movement speed, λ is the minimum characteristic wavelength of the patient's surface deformation, D is the camera's resolution, L is the camera's field of view, k is the coefficient; va is the patient's average body surface movement speed; δ is a constant, 0<δ<0.1.

[0094] The working principle and effect of the above technical solution are:

[0095] The structured light encoding frequency refers to the frequency of the structured light emitted by the projector. In order to ensure that the changes in the structured light can be accurately captured, to avoid aliasing and to ensure the integrity of the signal, the sampling frequency must be at least twice the structured light encoding frequency. The patient's maximum body surface movement speed will affect the stability of the image. In order to ensure that the changes in the structured light can still be accurately captured during the movement, the sampling frequency needs to consider the maximum body surface movement speed and the minimum characteristic wavelength of the patient's surface deformation. The formula ensures that sufficient image information can still be captured in the case of high-speed movement and small characteristic wavelengths. k is to further improve the robustness of the sampling. The introduction of k is to ensure the stability and accuracy of the image in extreme cases (such as sudden acceleration of the patient).

[0096] By setting the sampling frequency reasonably, it is ensured that the structured light image can still be accurately captured in the case of movement and deformation of the patient's body surface; it helps to improve the stability and accuracy of the image and reduce the blur and distortion caused by movement. Prevent aliasing; the control of k avoids the waste of computing resources caused by excessively high sampling frequency, while ensuring the quality and real-time performance of the image. This embodiment can ensure that the structured light image can still be accurately captured in the case of movement and deformation of the patient's body surface, which not only improves the stability and accuracy of the image, but also prevents aliasing, adapts to different movement speeds, and optimizes the use of computing resources.

[0097] In some embodiments, the system further comprises:

[0098] The information loading module is used to select and load patient information.

[0099] In some embodiments, the system further comprises:

[0100] The positioning module is used to match the patient's real-time body surface contour with the reference body surface contour in the treatment plan during the positioning phase, thereby completing the first stage of the patient's positioning;

[0101] The image guidance module is used to move the treatment bed from the positioning position to the CT scanning position and perform image guidance through CT; in the CT area, the real-time body surface contour of the patient is collected through the second device.

[0102] The working principle and effect of the above technical solution are as follows: the main function of the information loading module is to select and load patient information; when the system is started or needs to process new patient data, the information loading module will be activated. The module will first provide a user interface to allow the operator or the system to automatically select specific patient information, which is usually stored in the hospital's database, including the patient's name, age, gender, medical history, treatment plan, etc. Once the patient information is selected, the information loading module will extract the data from the database and perform necessary formatting and preprocessing to ensure that they are compatible with other parts of the system; then, the data will be loaded into the system's memory for subsequent processing and analysis.

[0103] During the positioning stage, clinical operators need to use a body position fixation device to fix the patient, and then align the laser with the positioning line to position the patient. In addition, the motion management equipment located near the rotating frame in the treatment room can image the patient's real-time surface contour on the motion management system. Clinical operators can select the corresponding reference surface contour from the treatment plan by adjusting the patient's posture; these reference contours are generated when the patient receives the treatment plan, usually based on the patient's medical imaging data such as CT or MRI; the real-time surface contour is matched with the reference surface contour provided by the treatment plan to complete the first stage of positioning and make up for the limitation that the positioning line can only achieve partial reduction.

[0104] After the positioning is completed, the image guidance module is entered in the motion management system. At this stage, if the clinical operator chooses to use the slide CT for image guidance, the treatment bed will move from the positioning position to the slide CT area. During the movement, the first device can continuously and real-time image the motion area to monitor the patient's position changes during the movement. In the CT area, the motion management device located in the slide CT area can continuously and real-time image the motion area to monitor the patient's position changes during the movement. Image guidance is performed through CT. For patients with combined 4DCT gating, the motion management device and the slide CT system jointly acquire the patient's 4DCT image, that is, through the working process of the 4D acquisition module.

[0105] In some embodiments, the system further comprises:

[0106] A display module, used to display a real-time monitoring interface, wherein the real-time monitoring interface includes a real-time body surface contour of a patient in a motion area, a reference body surface contour, a real-time respiratory curve, a reference respiratory curve, a contour offset result, and a gated window;

[0107] The prompt module is used to prompt and correct the positioning error of the treatment bed according to the patient's contour deviation result.

[0108] The display module provides a real-time monitoring interface, showing the patient's real-time body surface contour, reference body surface contour, real-time respiratory curve, reference respiratory curve, contour offset results, and door control window information, helping doctors or technicians monitor the patient's status in real time. The prompt module provides prompts to correct the treatment bed positioning error based on the patient's contour offset results. If the patient's position changes, causing the contour offset to exceed the preset range, the system will issue a warning or prompt so that the treatment bed can be adjusted in time. The real-time monitoring interface displays the patient's real-time body surface contour, reference body surface contour, real-time respiratory curve and other information, allowing doctors to intuitively understand the patient's current status and make timely and accurate decisions. The prompt module can automatically prompt to correct the treatment bed positioning error based on the patient's contour offset results, reducing the time for manual inspection and adjustment and optimizing the treatment process.

[0109] In some embodiments, the system further comprises:

[0110] The VR guidance module is used to feedback the real-time inhalation volume of the patient undergoing breath-holding therapy and the relative position of the preset gating window through the VR device; through the relative position, the patient is enabled to actively maintain an accurate and stable breath-holding state to scan the CT image in the breath-holding state; the real-time inhalation volume is obtained through the changes in the patient's body surface contour.

[0111] The working principle and effect of the above technical solution are as follows: the patient wears VR glasses, and through specific body surface contour monitoring technology (such as structured light scanning, etc.), the VR system can capture the patient's body surface contour changes in real time; the changes in body surface contour are closely related to the patient's breathing state, especially the changes in inhalation volume; by analyzing the body surface contour data through algorithms, the patient's real-time inhalation volume can be calculated.

[0112] Before the CT scan, the doctor will set a preset gating window based on the treatment plan and the patient's specific situation. This gating window represents an ideal range of breath-holding states, including the upper and lower limits of the inspiratory volume and the length of the breath-holding time. The VR guidance module will display the information of this preset gating window in the VR glasses in the form of graphics or numbers so that the patient can see and understand it intuitively. During the CT scan, the VR guidance module will dynamically update the display content in the VR glasses based on the patient's real-time inspiratory volume.

[0113] If the patient's inspiratory volume is within the preset gating window, the VR glasses will display a positive feedback (such as a green area or the word "good") to encourage the patient to continue to maintain the current breath-holding state. If the patient's inspiratory volume deviates from the preset gating window, the VR glasses will display a negative feedback (such as a red area or the word "adjust"), and may be accompanied by a sound prompt to guide the patient to adjust his breathing state to re-enter the preset gating window range. Through the real-time feedback of the VR glasses, patients can intuitively understand their breath-holding state, and actively adjust their breathing based on the feedback to maintain an accurate and stable breath-holding state, which helps to improve the accuracy and success rate of CT scans, while reducing patients' anxiety and discomfort.

[0114] While the patient maintains a stable breath-holding state, the CT scanning device will collect images. The collected CT images will be used for subsequent image registration and treatment planning. Since the patient maintains a stable breath-holding state through the VR guidance module, the collected CT images will be more accurate and reliable.

[0115] In summary, the VR guidance module achieves accurate guidance and monitoring of breath-holding therapy patients through real-time inspiratory volume monitoring, preset gate window settings, VR feedback and guidance, and patients actively maintaining breath-holding status. This guidance method not only improves the accuracy and success rate of CT scanning, but also enhances the patient's sense of participation and comfort.

[0116] In some embodiments, the system further comprises a beam output control module; the beam output control module comprises a body surface guidance unit and a respiratory gating unit;

[0117] The body surface guiding unit is used to determine whether to emit a beam according to the patient's real-time body surface contour and a preset offset tolerance, and if the patient's real-time body surface contour offset value is within the preset offset tolerance range, the beam is emitted; if the offset value exceeds the preset offset tolerance range, the beam is suspended;

[0118] The respiratory gating unit is used to control the beam output in a specific respiratory phase according to the patient's respiratory curve.

[0119] The working principle and effect of the above technical solution are: obtaining the patient's body surface contour in real time, and these contour data contain the shape, position and dynamic change information of the patient's body surface.

[0120] The body surface guidance unit compares the real-time acquired body surface contour with the preset ideal contour or reference contour, and calculates the offset value, which reflects the degree of deviation of the patient's body surface relative to the ideal position. Then, the body surface guidance unit determines whether the offset value is within the preset offset tolerance range; the offset tolerance is a threshold set according to clinical needs and patient conditions, which is used to determine the acceptable range of variation of the body surface contour; if the patient's real-time body surface contour offset value is within the preset offset tolerance range, it means that the patient's body surface position is relatively stable and meets the treatment requirements, and the body surface guidance unit will issue a beam output instruction to allow the system to perform the next beam output operation. If the offset value exceeds the tolerance range, it means that the patient's body surface position has changed significantly and may not be suitable for beam output operation. At this time, the body surface guidance unit will issue an instruction to stop beam output to avoid unnecessary harm to the patient. The treatment error caused by changes in the body surface position is effectively reduced, thereby improving the accuracy of the treatment.

[0121] The respiratory gating unit obtains the respiratory curve by monitoring the patient's respiratory state. The respiratory curve reflects the patient's respiratory rate, respiratory depth, and respiratory rhythm. Based on the respiratory curve, the respiratory gating unit can identify specific respiratory phases, such as the end of inspiration, the end of expiration, or a specific respiratory stage. These respiratory phases are usually closely related to the patient's physiological state and treatment effect. After identifying a specific respiratory phase, the respiratory gating unit will control the beam output operation. Beam output is allowed within these specific respiratory phases to ensure that the treatment operation is synchronized with the patient's respiratory state. Synchronous operation helps reduce image blur and treatment errors caused by respiratory movement, and improves the accuracy and safety of treatment.

[0122] Refer to the attached Figure 4 and attached Figure 5 The embodiment of the present invention provides a motion management method for monitoring changes in the patient's body surface within a motion area, the method comprising:

[0123] Acquire the body surface contour of the patient in the motion area in real time, and acquire the patient's breathing curve according to the body surface contour; the body surface contour is used for auxiliary positioning of the patient;

[0124] According to the patient's respiratory curve, a time signal is sent to the CT to establish a respiratory phase synchronization sequence; when the treatment bed moves from the positioning position to the CT scanning position, according to the patient's real-time respiratory signal, the slide rail CT is used to collect the patient's 4DCT image or breath-holding image in different respiratory phases; the 4DCT image or breath-holding image is used to align with the positioned 4DCT image; the positioning error of the treatment bed is corrected according to the alignment result; the CT is configured so that the treatment bed moves along the extension direction of the treatment bed after reaching the CT scanning position, so as to scan various parts of the patient from head to toe; the movement plane of the treatment head is used as the boundary; the CT and the second imaging module are located on one side of the treatment head in the treatment room, and the first imaging module is located on the other side of the treatment head in the treatment room.

[0125] In some embodiments, a body surface contour and a breathing curve of a patient are acquired in real time by a motion management device, wherein the motion management device comprises a digital light processing projector and a CCD camera; the method comprises:

[0126] The digital light processing projector emits a structured light image with a specific code to the patient's body surface; the CCD camera synchronously captures the structured light image;

[0127] Decoding the captured structured light image to determine the corresponding relationship between the CCD camera image points and the structured light image points;

[0128] According to the corresponding relationship, the three-dimensional coordinates of the patient's body surface points are obtained;

[0129] The three-dimensional coordinates of the patient's body surface points are used to perform three-dimensional reconstruction of the body surface to obtain the patient's body surface contour;

[0130] The patient's breathing curve is obtained according to the changes of the patient's body surface contour over time.

[0131] In some embodiments, the real-time acquisition of the patient's body surface contour includes: using a CCD camera to capture a structured light image emitted by a projector to the patient's body surface at a preset sampling frequency; wherein the sampling frequency satisfies the following conditions:

[0132] k*max(2*fc,D*vmax / L+2v / λ)≥fs≥max(2*fc,D*vmax / L+2v / λ)

[0133] k=1+vmax / va+δ

[0134] Where, fs is the sampling frequency of the CCD camera, fc is the structured light encoding frequency; vmax is the patient's maximum body surface movement speed, λ is the minimum characteristic wavelength of the patient's surface deformation, D is the camera's resolution, L is the camera's field of view, k is the coefficient; va is the patient's average body surface movement speed; δ is a constant, 0<δ<0.1.

[0135] In some embodiments, the method further comprises:

[0136] Select and load patient information;

[0137] In the positioning phase, the patient's real-time body surface contour is matched with the reference body surface contour in the treatment plan, thereby completing the first stage of the patient's positioning;

[0138] The treatment bed is moved from the setup position to the CT scanning position, and image guidance is performed through CT; the real-time body surface contour of the patient is collected through a second device in the CT area.

[0139] In some embodiments, the method further comprises:

[0140] Displaying a real-time monitoring interface through a display module, wherein the real-time monitoring interface includes a real-time body surface contour, a reference body surface contour, a real-time breathing curve, a reference breathing curve, a contour offset result, and a gating window of a patient in a motion area;

[0141] According to the patient's contour deviation results, it is prompted to correct the positioning error of the treatment bed.

[0142] In some embodiments, the method further comprises:

[0143] The VR device is used to feed back the real-time inspiratory volume of the patient undergoing breath-hold therapy and the relative position of the preset gating window. Through the relative position, the patient is enabled to actively maintain an accurate and stable breath-hold state to scan the CT image in the breath-hold state. The real-time inspiratory volume is obtained through changes in the patient's body surface contour.

[0144] In some embodiments, the method further comprises:

[0145] Determine whether to emit a beam according to the patient's real-time body surface contour and the preset offset tolerance. If the offset value of the patient's real-time body surface contour is within the preset offset tolerance range, the beam is emitted; if the offset value exceeds the preset offset tolerance range, the beam is suspended.

[0146] In gated therapy, the beam is controlled within a specific respiratory phase according to the patient's respiratory curve.

[0147] The working principle and effect of the above technical solution are the same as those in the method system embodiment of the present invention, and will not be described in detail here.

[0148] An embodiment of the present invention provides a treatment system, the system comprising:

[0149] Radiotherapy devices, used to deliver radiation therapy to patients according to treatment plans;

[0150] Any of the motion management systems described in the embodiments of the present invention is used to monitor changes in the patient's body surface in the motion area, and perform positioning adjustments and radiotherapy beam control according to the changes in the body surface.

[0151] An embodiment of the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any one of the methods described in the embodiments of the present invention or the functions of the system described in the embodiments of the present invention are implemented.

[0152] An embodiment of the present invention further provides a computer-readable storage medium, which is used to store a computer program. When the computer program is executed, the steps of the method in the embodiment of the present invention are implemented. The specific implementation method is consistent with the implementation method and the technical effect achieved recorded in the above method embodiment, and some contents will not be repeated here.

[0153] In the present invention, a readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device, or device. A program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0154] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium may also be any readable medium, which may send, propagate, or transmit a program for use by an instruction execution system, an apparatus, or a device or for use in combination with it. The program code contained on the readable storage medium may be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above. The program code for performing the operation of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and also conventional procedural programming languages ​​such as C language or similar programming languages. The program code may be executed entirely on a user computing device, partially on an associated device, as an independent software package, partially on a user computing device, partially on a remote computing device, or entirely on a remote computing device or server. Where a remote computing device is involved, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0155] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, substitute and modify the above embodiments within the scope of the invention without departing from the principles and purpose of the present invention. All such changes should fall within the scope of protection of the claims of the present invention.

Claims

1. A motion management system for monitoring body surface changes of a patient in a motion area, characterized in that: The system is located in the treatment room and includes: A real-time imaging module, used to obtain the body surface contour of the patient in the motion area in real time through one or more fixed-position motion management devices, and obtain the patient's breathing curve according to the body surface contour; the body surface contour is used for auxiliary positioning of the patient; The 4D acquisition module is used to send a respiratory signal to the CT according to the patient's respiratory curve to establish a respiratory phase synchronization sequence; when the treatment bed moves from the positioning position to the CT scanning position, the CT is used to collect 4DCT images or breath-holding images of the patient in different respiratory phases according to the patient's real-time respiratory signal; the 4DCT image or breath-holding image is used to be registered with the positioned 4DCT image, and the positioning error of the treatment bed is corrected according to the registration result.

2. The exercise management system according to claim 1, characterized in that: The movement area includes the treatment bed from the positioning area to the CT area, the CT scanning position, and the treatment bed moving from the CT scanning position to the treatment area.

3. The exercise management system according to claim 1, characterized in that: The motion management equipment includes a digital light processing projector and a CCD camera; The execution steps of the real-time imaging module include: The digital light processing projector emits a structured light image with a specific code to the patient's body surface; the CCD camera synchronously captures the structured light image; Decoding the captured structured light image to determine the corresponding relationship between the CCD camera image points and the structured light image points; According to the corresponding relationship, the three-dimensional coordinates of the patient's body surface points are obtained; The three-dimensional coordinates of the patient's body surface points are used to perform three-dimensional reconstruction of the body surface to obtain the patient's body surface contour; The patient's breathing curve is obtained according to the changes of the patient's body surface contour over time.

4. The exercise management system according to claim 1, characterized in that: The motion management device includes a first device located within a preset distance range of a rotating gantry in a treatment room and a second device located in a CT area.

5. The exercise management system according to claim 4, characterized in that: The system further comprises: A positioning module, used for matching the real-time body surface contour of the patient obtained by the first device with the reference body surface contour in the treatment plan during the positioning stage, thereby completing the positioning of the patient in the first stage; The image guidance module is used to move the treatment bed from the positioning position to the CT scanning position and perform image guidance through CT; in the CT area, the real-time body surface contour of the patient is collected through the second device.

6. The exercise management system according to claim 1, characterized in that: The system further comprises: A display module, used to display a real-time monitoring interface, wherein the real-time monitoring interface includes a real-time body surface contour of a patient in a motion area, a reference body surface contour, a real-time respiratory curve, a reference respiratory curve, a contour offset result, and a gated window; The prompt module is used to prompt correction of positioning errors according to the patient's contour deviation results.

7. The exercise management system according to claim 1, characterized in that: The system further comprises: The VR guidance module is used to feedback the real-time inhalation volume of the patient undergoing breath-holding therapy and the relative position of the preset gating window through the VR device; through the relative position, the patient is enabled to actively maintain an accurate and stable breath-holding state to scan the CT image in the breath-holding state; the real-time inhalation volume is obtained through the changes in the patient's body surface contour.

8. The exercise management system according to claim 1, characterized in that: The system further comprises a beam output control module; the beam output control module comprises a body surface guidance unit and a respiratory gating unit; The body surface guiding unit is used to determine whether to emit a beam according to the patient's real-time body surface contour and a preset offset tolerance, and emit a beam if the patient's real-time body surface contour offset value is within the preset offset tolerance range; If the offset value exceeds the preset offset tolerance range, beam generation will be suspended; The respiratory gating unit is used to control the beam output in a specific respiratory phase according to the patient's respiratory curve.

9. A method for managing exercise, for monitoring changes in the patient's body surface within an exercise area, characterized in that: The method comprises: The body surface contour of the patient in the motion area is obtained in real time by one or more fixed motion management devices, and the patient's breathing curve is obtained according to the body surface contour; the body surface contour is used for auxiliary positioning of the patient; According to the patient's respiratory curve, a respiratory signal is sent to the CT to establish a respiratory phase synchronization sequence; when the treatment bed moves from the positioning position to the CT scanning position, according to the patient's real-time respiratory signal, the CT is used to collect 4DCT images or breath-holding images of the patient in different respiratory phases; the 4DCT image or breath-holding image is used to be registered with the positioned 4DCT image, and the positioning error of the treatment bed is corrected according to the registration result.

10. The exercise management method according to claim 9, characterized in that: The motion management device includes a digital light processing projector and a CCD camera; the method includes: The digital light processing projector emits a structured light image with a specific code to the patient's body surface; the CCD camera synchronously captures the structured light image; Decoding the captured structured light image to determine the corresponding relationship between the CCD camera image points and the structured light image points; According to the corresponding relationship, the three-dimensional coordinates of the patient's body surface points are obtained; The three-dimensional coordinates of the patient's body surface points are used to perform three-dimensional reconstruction of the body surface to obtain the patient's body surface contour; The patient's breathing curve is obtained according to the changes of the patient's body surface contour over time.

11. The exercise management method according to claim 9, characterized in that: The motion management device includes a first device located within a preset distance range of a rotating gantry in a treatment room and a second device located in a CT area, and the method further includes: In the positioning stage, the real-time body surface contour of the patient obtained by the first device is matched with the reference body surface contour in the treatment plan, thereby completing the first stage positioning of the patient; The treatment bed is moved from the setup position to the CT scanning position, and image guidance is performed through CT; the real-time body surface contour of the patient is collected through a second device in the CT area.

12. The exercise management method according to claim 9, characterized in that: The method further comprises: Displaying a real-time monitoring interface through a display module, wherein the real-time monitoring interface includes a real-time body surface contour, a reference body surface contour, a real-time breathing curve, a reference breathing curve, a contour offset result, and a gating window of a patient in a motion area; According to the patient's contour deviation results, it is prompted to correct the positioning error of the treatment bed.

13. The exercise management method according to claim 9, characterized in that: The method further comprises: The VR device is used to feed back the real-time inspiratory volume of the patient undergoing breath-hold therapy and the relative position of the preset gating window. Through the relative position, the patient is enabled to actively maintain an accurate and stable breath-hold state to scan the CT image in the breath-hold state. The real-time inspiratory volume is obtained through changes in the patient's body surface contour.

14. The exercise management method according to claim 9, characterized in that: The method further comprises: Determine whether to emit a beam according to the patient's real-time body surface contour and the preset offset tolerance. If the offset value of the patient's real-time body surface contour is within the preset offset tolerance range, the beam is emitted; if the offset value exceeds the preset offset tolerance range, the beam is suspended. In gated therapy, the beam is controlled within a specific respiratory phase according to the patient's respiratory curve.

15. A treatment system, characterized in that: The system comprises: Radiotherapy devices, used to deliver radiation therapy to patients according to treatment plans; The motion management system described in any one of claims 1-8 is used to monitor the changes in the patient's body surface in the motion area, and perform positioning adjustments and radiotherapy beam control according to the changes in the body surface.

16. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the function of the system of any one of claims 1-8 or executes the steps of any one of the methods of claims 9-14 when implementing the computer program.

17. A computer-readable storage medium, characterized in that: The storage medium stores computer instructions. When a computer reads the computer instructions, the computer implements the functions of the system according to any one of claims 1 to 8 or executes the steps of the method according to any one of claims 9 to 14.

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