Sports management method, system and related equipment

Abstract

The present invention discloses a motion management method, system, and related equipment, relating to the technical field of radiotherapy. The system comprises: a real-time imaging module for acquiring a patient's body surface contour in real time and acquiring the patient's respiratory curve based on the body surface contour; the body surface contour is used to assist in positioning the patient; a 4D acquisition module for sending a time signal to a slide CT scan based on the patient's respiratory curve to establish a respiratory phase synchronization sequence; when the treatment bed is in the slide CT scanning position, the slide CT scan is used to acquire 4DCT images or breath-hold images of the patient at different respiratory phases based on the patient's real-time respiratory signal; the 4DCT images or breath-hold images are used to perform registration with the positioned 4DCT images, thereby compensating for the phenomenon that only images of the tumor at a certain respiratory phase can be obtained, and that the images are prone to motion artifacts, resulting in registration errors. This improves the registration accuracy of tumors that are significantly affected by respiratory motion, thereby improving clinical efficiency.

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 their unique energy deposition characteristics, proton beams can deliver the highest energy to tumor tissue while minimizing radiation exposure to surrounding healthy tissue, thereby reducing the risk of complications and side effects. Proton therapy offers the advantages of high precision and minimal side effects, but its treatment accuracy is extremely sensitive to path variations.

[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 along 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 that are significantly affected by respiratory motion, such as lung cancer, liver cancer, and breast cancer, these uncertainties may lead to inconsistencies 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 patient's tumor movement amplitude and breathing pattern.

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

[0006] The conventional proton radiotherapy process begins with the simulation positioning phase, where a positioning device is customized based on the patient's treatment area. The patient then proceeds to the CT simulation positioning room to obtain a set of CT images, including the positioning device, for subsequent treatment planning. For tumors significantly affected by respiratory motion, motion management techniques are employed during this phase, such as using pressure sensors and surface optical signals to acquire 4D CT images, or having the patient hold their breath before scanning the CT image to account for the effects of respiratory motion on the tumor. This is followed by the target volume delineation phase, where the target volume and organs at risk are outlined on the acquired positioning CT scan. If 4D CT images are being acquired, the appropriate phase is selected and a maximum intensity projection image is generated to ensure the full range of target volume motion is depicted. This is followed by the plan preparation, plan review and approval, plan quality control, plan scheduling, and plan implementation.

[0007] During the planning and implementation phase, the patient lies on the treatment couch. The clinical operator secures the patient using a positioning device and aligns the laser light with the positioning lines on the patient's body. Next comes the image-guided phase. To minimize positioning errors, all proton therapy treatments require image guidance. Pre-treatment positioning images are verified against the planned positioning images to mitigate the positional uncertainty introduced by positioning. Currently, there is a lack of motion management methods during the image-guided phase to ensure respiratory phase consistency between each acquired positioning and positioning image. Therefore, improvements are necessary. 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 is used to obtain the body surface contour of the patient in the motion area in real time through one or more fixed motion management devices, and obtain the patient's respiratory curve based on the body surface contour; the body surface contour is used to assist in patient positioning;

[0012] The 4D acquisition module is used to send a respiratory signal to the CT scan based on the patient's respiratory curve to establish a respiratory phase synchronization sequence. When the treatment couch moves from the setup position to the CT scanning position, the CT scan uses the patient's real-time respiratory signal to acquire 4D CT images or breath-hold images of the patient at different respiratory phases. The 4D CT images or breath-hold images are used to perform registration with the positioned 4D CT images, and the positioning error of the treatment couch is corrected based on the registration results.

[0013] Preferably, the movement area includes the movement of the treatment couch from the positioning area to the CT area and the CT scanning position, and the movement of the treatment couch 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 correspondence 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 respiratory curve is obtained according to the changes in the patient's body surface contour over time.

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

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

[0022] a positioning module, configured to match the patient's real-time body surface contour obtained by the first device with the reference body surface contour in the treatment plan during the positioning phase, thereby completing the patient's first-phase positioning;

[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 patient's real-time surface contour is collected through a second device.

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

[0025] A display module is used to display a real-time monitoring interface, wherein the real-time monitoring interface includes a real-time body surface contour of the patient in the 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 includes:

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

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

[0030] The body surface guidance unit is used to determine whether to emit a beam based on the patient's real-time body surface contour and a 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.

[0031] The respiratory gating unit is used to control the beam output within 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 a 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 respiratory curve is obtained based on the body surface contour; the body surface contour is used to assist in positioning the patient;

[0034] Based on the patient's respiratory curve, a respiratory signal is sent to the CT scan to establish a respiratory phase synchronization sequence. When the treatment couch moves from the setup position to the CT scanning position, 4DCT images or breath-hold images of the patient at different respiratory phases are acquired using the CT scan based on the patient's real-time respiratory signal. The 4DCT images or breath-hold images are used to perform registration with the positioned 4DCT images, and the positioning error of the treatment couch is corrected based on the registration results.

[0035] Preferably, the motion management device comprises a digital light processing projector and a CCD camera; and 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 correspondence 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 respiratory curve is obtained according to the changes in 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 the treatment room and a second device located in the CT area, and the method further comprises:

[0042] In the positioning phase, 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 phase of the patient's positioning;

[0043] Move the treatment bed from the setup position to the CT scanning position, and use CT for image guidance; in the CT area, use a second device to collect the patient's real-time surface contour.

[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 of the patient in the motion area, a reference body surface contour, a real-time respiratory curve, a reference respiratory curve, a contour offset result, and a gated window;

[0046] According to the patient's contour deviation results, the positioning error of the treatment table is corrected.

[0047] Preferably, the method further comprises:

[0048] The VR device is used to provide feedback on the real-time inspiratory volume of a patient undergoing breath-hold therapy and the relative position of a preset gating window. Through the relative position, the patient is enabled to actively maintain an accurate and stable breath-hold state to scan CT images 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 based on the patient's real-time body surface contour and a preset offset tolerance. 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.

[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, comprising:

[0053] Radiotherapy devices for delivering 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 based on 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. 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 existing technologies, the present invention offers at least the following advantages: The real-time imaging module accurately captures dynamic changes in the patient's body surface, providing accurate reference information for treatment. The 4D acquisition module can acquire images at different respiratory phases and register them with the positioning image to ensure treatment accuracy. This enables comprehensive monitoring and precise management of changes in the patient's body surface. This overcomes the problem of previously only being able to obtain images of the tumor at a specific respiratory phase, which was prone to motion artifacts and led to registration errors, by improving registration accuracy for tumors significantly affected by respiratory motion and enhancing clinical efficiency. The beam control module controls the beam based on the patient's real-time body contour and respiratory curve, avoiding treatment errors caused by changes in body position or respiratory motion. The VR guidance module helps patients maintain an accurate breath-holding state, reducing image blur and treatment errors caused by respiratory motion. Assisted positioning and correction prompts simplify pre-treatment preparation and improve treatment efficiency. The real-time monitoring interface provides intuitive information to the operator, facilitating quick decision-making. The VR guidance module reduces patient anxiety and fear by providing real-time feedback on inspiratory volume and 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 This is a schematic diagram of the location layout of the motion management device according to an embodiment of the present invention;

[0061] Figure 4 is a 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 many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to make this disclosure more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art; in the figures, identical reference numerals denote identical or similar structures, and thus repeated description thereof 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 can be modified as needed, and all such modifications are within the scope of protection of the present invention.

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

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

[0067] The 4D acquisition module is configured to transmit a respiratory signal to the CT scan based on the patient's respiratory curve to establish a respiratory phase synchronization sequence. When the treatment couch is in the CT scanning position, 4D CT images or breath-hold images of the patient at different respiratory phases are acquired using the CT scan based on the patient's real-time respiratory signal. The 4D CT images or breath-hold images are used to align with the positioned 4D CT images, and the positioning error of the treatment couch is corrected based on the alignment results. The positioned 4D CT images are acquired during the simulated CT positioning phase. The CT scan is configured such that after the treatment couch reaches the CT scanning position, it moves in the direction of the couch's extension to scan all parts of the patient from head to toe, with the treatment head motion plane serving as the boundary. The CT scan 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 real-time surface contour data of the patient during treatment; the contour data provides an accurate representation of the patient's current body shape, including surface changes caused by physiological activities such as breathing; based on the changes in the surface contour, the patient's respiratory curve is calculated; the respiratory curve reflects the depth and frequency of the patient's breathing, which is the key to the subsequent synchronization of respiratory phases and the acquisition of 4DCT images; the real-time surface contour is also used to assist in the positioning of the treatment bed, ensuring 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 sliding CT system, for image guidance, the treatment couch moves from the positioning position to the sliding CT system area. The motion management device located in the sliding CT system area provides continuous, real-time imaging of the motion area, monitoring the patient's position changes throughout the process. The 4D acquisition module sends respiratory signals to the sliding CT system based on the patient's respiratory curve, establishing a respiratory phase synchronization sequence. This process is performed according to the patient's breathing rhythm, ensuring accurate image acquisition at different respiratory phases. When the treatment couch moves to the CT scanning position, for patients with combined 4DCT gating, the motion management device captures the surface respiratory signals in real time and works with the sliding CT system to acquire a set of 4DCT images or breath-hold images. These images show the patient's internal anatomy at different respiratory phases. These acquired 4DCT images or breath-hold images are registered with the positioning 4DCT images acquired during the simulated CT positioning phase. This image registration ensures that the tumor location in the treatment plan is consistent with the patient's current location, thereby improving treatment accuracy.

[0070] Among them, the main purpose of the simulated CT positioning stage is to obtain accurate location information of the tumor and surrounding tissues in the patient's body, providing a basis for the subsequent treatment plan. During this stage, the patient will carry personalized 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 respiratory signal, and through the respiratory signal, obtain the reference surface contour and reference respiratory curve under different respiratory phases. 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 respiratory status.

[0071] In summary, the real-time imaging module can acquire the patient's body contour in real time and, based on the contour, the patient's respiratory curve, helping doctors or technicians accurately position the patient before treatment and ensuring that the treatment area is highly consistent with the planned area. The 4D acquisition module can use the sliding CT to acquire 4DCT images or breath-hold images at different respiratory phases based on the patient's real-time respiratory signals. These images are then used for image registration with the positioned 4DCT, thereby assessing whether the tumor's full range of motion in that positioning state is consistent with the plan. This allows accurate correction of positioning errors for the fractionated treatment, compensating for the fact that previously only images of the tumor in a certain respiratory phase could be obtained, as well as the fact that the images were prone to motion artifacts, leading to registration errors.

[0072] In some embodiments, the motion area includes the movement of the treatment couch from the positioning area to the CT area (which 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 movement of the treatment couch 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; and 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 correspondence 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 respiratory curve is obtained according to the changes in the patient's body surface contour over time.

[0079] Refer to the 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 entire process; preferably, the number of first devices is 3; during the positioning stage, the three first devices (cameras) located within a preset distance range of the rotating gantry are used to monitor the patient's body surface contour in real time at the positioning position, and the real-time contour is matched with the reference contour to prompt clinical staff to correct the positioning error; after the positioning is completed, if the patient needs to undergo 3D For image verification, the treatment couch needs to move from the setup position to the CT scanning position. At this time, the three first devices (cameras) monitor the changes in the patient's body contour during the front section of the treatment couch movement. When the treatment couch 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 contour. When the treatment couch reaches the CT scanning position, the second device (the camera above the CT) provides the patient's body contour information and monitors the patient's body contour in real time throughout the CT scan process, generating a respiratory signal. The return journey of the treatment couch 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 effects of the above technical solution are as follows:

[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] A 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 strips in the image and inferring the changes in the surface shape based on their position changes.

[0086] The three-dimensional coordinates of a body surface point 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 camera and their distance 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 mesh to form a three-dimensional model of the patient's body surface.

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

[0089] Considering that existing sliding CT cannot be integrated into the rotating gantry of the proton, the existing sliding CT is mostly deployed on one side of the treatment room, forming a sliding CT motion area. The deployment of existing motion management devices does not take into account motion management in this area, resulting in a lack of motion management basis for tumors that are significantly affected by respiratory motion. The positioning images collected using the sliding CT are images of any respiratory state and cannot be registered. The motion management device implemented in this 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 orientations. The three cameras are oriented towards the isocenter position of the treatment system, and the camera above the CT is oriented towards the CT scanning position. This layout ensures that the system can continuously and real-timely capture the patient's body contour and monitor the respiratory curve throughout the treatment process. By monitoring the patient's body position during movement, it is ensured that the patient maintains the same posture from the completion of positioning to the end of treatment. Once the posture changes, the system will immediately interrupt the treatment to ensure treatment safety and effectiveness.

[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 at 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 CCD camera sampling frequency, fc is the structured light encoding frequency; vmax is the patient's maximum body surface motion velocity, 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 motion velocity; δ is a constant, 0<δ<0.1.

[0094] The working principle and effects of the above technical solution are as follows:

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

[0096] By properly setting the sampling frequency, the structured light image can be accurately captured even in the presence of motion and surface deformation of the patient's body. This helps improve image stability and accuracy, reducing blur and distortion caused by motion. Aliasing is also prevented. Controlling k avoids the waste of computing resources caused by excessively high sampling frequencies while ensuring image quality and real-time performance. This embodiment ensures that the structured light image can be accurately captured even in the presence of motion and surface deformation of the patient. This not only improves image stability and accuracy, but also prevents aliasing, adapts to different motion speeds, and optimizes computing resource utilization.

[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 contour with the reference body 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, a second device is used to collect the patient's real-time surface contour.

[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 starts or needs to process new patient data, the information loading module is activated. This module first provides a user interface, allowing the operator or the system to automatically select specific patient information. This information is usually stored in the hospital database, including the patient's name, age, gender, medical history, treatment plan, etc. Once the patient information is selected, the information loading module extracts this data from the database and performs the necessary formatting and preprocessing to ensure its compatibility with other parts of the system. This data is then loaded into the system's memory for subsequent processing and analysis.

[0103] During the positioning stage, clinical operators need to use a body positioning 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 adjust the patient's posture and select the corresponding reference surface contour from the treatment plan; 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, making 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 in 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 in real time image the motion area to monitor the patient's position changes during the movement. For patients with combined 4DCT gating, the motion management device and the slide CT system jointly acquire the patient's 4DCT images, which is the working process of the 4D acquisition module.

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

[0106] A display module is used to display a real-time monitoring interface, wherein the real-time monitoring interface includes a real-time body surface contour of the patient in the 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, showcasing the patient's real-time surface contour, reference surface contour, real-time respiratory curve, reference respiratory curve, contour offset results, and access control window, helping doctors or technicians monitor the patient's status in real time. The prompt module provides prompts for correcting treatment table positioning errors 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 to adjust the treatment table's position in a timely manner. By displaying the patient's real-time surface contour, reference surface contour, real-time respiratory curve, and other information on the real-time monitoring interface, doctors can intuitively understand the patient's current status and make timely and accurate decisions. The prompt module can automatically prompt corrections for treatment table positioning errors based on the patient's contour offset results, reducing manual inspection and adjustment time and optimizing the treatment process.

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

[0110] The VR guidance module is used to provide feedback on the real-time inspiratory volume and the relative position of the preset gating window of the patient undergoing breath-holding therapy through VR equipment; through the relative position, the patient is enabled to actively maintain an accurate and stable breath-holding state to scan CT images in the breath-holding state; the real-time inspiratory volume is obtained through 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 respiratory status, 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 a CT scan, the doctor will set a preset gating window based on the treatment plan and the patient's specific condition. This gating window represents an ideal breath-holding range, including upper and lower limits for inspiratory volume and breath-holding duration. The VR guidance module displays this preset gating window information in graphical or numerical form on the VR glasses, allowing the patient to intuitively see and understand it. During the CT scan, the VR guidance module dynamically updates the display on 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 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 negative feedback (such as a red area or the word "adjust"), and may be accompanied by sound prompts 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 according to 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-hold, the CT scanner captures images. These images are used for subsequent image registration and treatment planning. Because the patient maintains a stable breath-hold through the VR guidance module, the captured CT images are more accurate and reliable.

[0115] In summary, the VR guidance module achieves precise guidance and monitoring of breath-hold therapy patients through real-time inspiratory volume monitoring, preset gate window settings, VR feedback and guidance, and patient-initiated breath-holding. This guidance method not only improves the accuracy and success rate of CT scans, but also enhances patient engagement 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 guidance unit is used to determine whether to emit a beam based on the patient's real-time body surface contour and a 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.

[0118] The respiratory gating unit is used to control the beam output within 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 surface guidance unit compares the real-time surface contour acquired with a preset ideal or reference contour and calculates an offset value, which reflects the degree of deviation of the patient's body surface from the ideal position. The surface guidance unit then determines whether this offset value is within a preset offset tolerance. The offset tolerance is a threshold set based on clinical needs and patient condition, which determines the acceptable range of variation in the surface contour. If the patient's real-time surface contour offset value is within the preset offset tolerance, indicating that the patient's surface position is relatively stable and meets treatment requirements, the surface guidance unit will issue a beam delivery command, allowing the system to proceed to the next beam delivery operation. If the offset value exceeds the tolerance range, it indicates that the patient's surface position has changed significantly, making beam delivery unsuitable. At this point, the surface guidance unit will issue a command to stop beam delivery to avoid unnecessary harm to the patient. This effectively reduces treatment errors caused by changes in surface position, thereby improving treatment accuracy.

[0121] The respiratory gating unit monitors the patient's respiratory status to obtain a respiratory curve. The respiratory curve reflects information such as the patient's respiratory rate, depth, and rhythm. Based on the respiratory curve, the respiratory gating unit can identify specific respiratory phases, such as the end of inspiration, end of expiration, or a specific respiratory stage. These respiratory phases are often 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 delivery operation. Beam delivery is allowed within these specific respiratory phases to ensure that the treatment operation is synchronized with the patient's respiratory status. Synchronous operation helps reduce image blur and treatment errors caused by respiratory motion, thereby improving the accuracy and safety of treatment.

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

[0123] Acquire the patient's body surface contour in the motion area in real time, and acquire the patient's respiratory curve based on the body surface contour; the body surface contour is used to assist in positioning the patient;

[0124] Based on the patient's respiratory curve, a time signal is sent to the CT to establish a respiratory phase synchronization sequence; when the treatment couch moves from the setup position to the CT scanning position, 4DCT images or breath-hold images of the patient at different respiratory phases are collected using the slide CT according to the patient's real-time respiratory signal; the 4DCT images or breath-hold images are used to align with the positioned 4DCT images; the positioning error of the treatment couch is corrected based on the alignment result; the CT is configured so that after the treatment couch reaches the CT scanning position, it moves along the extension direction of the treatment couch to scan all parts of the patient from head to toe; the treatment head movement plane is used as the boundary; the CT and second imaging modules 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 patient's body surface contour and respiratory curve are acquired in real time by a motion management device, the motion management device comprising a digital light processing projector and a CCD camera; the method comprising:

[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 correspondence 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 respiratory curve is obtained according to the changes in 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 onto 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 CCD camera sampling frequency, fc is the structured light encoding frequency; vmax is the patient's maximum body surface motion velocity, 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 motion velocity; δ is a constant, 0<δ<0.1.

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

[0136] Select and load patient information;

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

[0138] Move the treatment bed from the setup position to the CT scanning position, and use CT for image guidance; in the CT area, use a second device to collect the patient's real-time surface contour.

[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 of the patient in the motion area, a reference body surface contour, a real-time respiratory curve, a reference respiratory curve, a contour offset result, and a gated window;

[0141] According to the patient's contour deviation results, the positioning error of the treatment table is corrected.

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

[0143] The VR device is used to provide feedback on the real-time inspiratory volume of a patient undergoing breath-hold therapy and the relative position of a preset gating window. Through the relative position, the patient is enabled to actively maintain an accurate and stable breath-hold state to scan CT images 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 based on the patient's real-time body surface contour and a preset offset tolerance. 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.

[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 embodiment of the method system of the present invention, and will not be described in detail here.

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

[0149] Radiotherapy devices for delivering 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 within the motion area, and perform positioning adjustments and radiotherapy beam control based on 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, it implements 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.

[0152] An embodiment of the present invention also 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. Its specific implementation method is consistent with the implementation method and the technical effect achieved in the above-mentioned method embodiment, and some contents will not be repeated here.

[0153] In the present invention, a readable storage medium can be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, device, or device. A program product can employ any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. 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 thereof.

[0154] A computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, or any suitable combination thereof. The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user computing device, partially on an associated device, as a standalone software package, partially on the user computing device and 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 will be understood that the above embodiments are illustrative and are not to be construed as limiting the present invention. A person skilled in the art may change, modify, replace 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 shall fall within the scope of protection of the claims of the present invention.

Claims

1. A motion management system for monitoring changes in a patient's body surface within a motion area, characterized in that: The system is located in the treatment room and includes: A real-time imaging module is used to obtain the body surface contour of the patient in the motion area in real time through one or more fixed motion management devices, and obtain the patient's respiratory curve based on the body surface contour; the body surface contour is used to assist in patient positioning; The 4D acquisition module is used to send a respiratory signal to the CT scan based on the patient's respiratory curve to establish a respiratory phase synchronization sequence. When the treatment couch moves from the setup position to the CT scanning position, the CT scan uses the patient's real-time respiratory signal to acquire 4D CT images or breath-hold images of the patient at different respiratory phases. The 4D CT images or breath-hold images are used to perform registration with the positioned 4D CT images, and the positioning error of the treatment couch is corrected based on the registration results.

2. The exercise management system according to claim 1, characterized in that: The movement area includes the movement of the treatment bed from the positioning area to the CT area, the CT scanning position, and the movement of the treatment bed 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 correspondence 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 respiratory curve is obtained according to the changes in 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, configured to match the patient's real-time body surface contour obtained by the first device with the reference body surface contour in the treatment plan during the positioning phase, thereby completing the patient's first-phase positioning; 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 patient's real-time surface contour is collected through a second device.

6. The exercise management system according to claim 1, characterized in that: The system further comprises: A display module is used to display a real-time monitoring interface, wherein the real-time monitoring interface includes a real-time body surface contour of the patient in the 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 the correction of positioning errors based on the patient's contour offset results.

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

8. The exercise management system according to claim 1, characterized in that: The system further includes a beam output control module; the beam output control module includes 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 the 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 within a specific respiratory phase according to the patient's respiratory curve.

9. A method for managing movement, for monitoring changes in a patient's body surface within a movement 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 respiratory curve is obtained based on the body surface contour; the body surface contour is used to assist in positioning the patient; Based on the patient's respiratory curve, a respiratory signal is sent to the CT scan to establish a respiratory phase synchronization sequence. When the treatment couch moves from the setup position to the CT scanning position, 4DCT images or breath-hold images of the patient at different respiratory phases are acquired using the CT scan based on the patient's real-time respiratory signal. The 4DCT images or breath-hold images are used to perform registration with the positioned 4DCT images, and the positioning error of the treatment couch is corrected based on the registration results.

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 correspondence 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 respiratory curve is obtained according to the changes in 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 phase, 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 phase of the patient's positioning; Move the treatment bed from the setup position to the CT scanning position, and use CT for image guidance; in the CT area, use a second device to collect the patient's real-time surface contour.

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 of the patient in the motion area, a reference body surface contour, a real-time respiratory curve, a reference respiratory curve, a contour offset result, and a gated window; According to the patient's contour deviation results, the positioning error of the treatment table is corrected.

13. The exercise management method according to claim 9, characterized in that: The method further comprises: The VR device is used to provide feedback on the real-time inspiratory volume of a patient undergoing breath-hold therapy and the relative position of a preset gating window. Through the relative position, the patient is enabled to actively maintain an accurate and stable breath-hold state to scan CT images 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 based on the patient's real-time body surface contour and a preset offset tolerance. 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. In gated therapy, the beam is controlled within a specific respiratory phase according to the patient's respiratory curve.

15. A therapeutic system, characterized in that The system comprises: Radiotherapy devices for delivering radiation therapy to patients according to treatment plans; The motion management system according to any one of claims 1 to 8 is used to monitor changes in the patient's body surface within the motion area, and to 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 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 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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