Tumor positioning method and device and storage medium

Abstract

The invention provides a tumor positioning method and device and a storage medium, relates to the technical field of radiotherapy, and can realize positioning and tracking of tumors at various angles. The method comprises the following steps: acquiring a target projection image containing a tumor and a reference image of a target object at a target angle; determining a tumor positioning mode corresponding to the target angle according to the type of the target angle; and based on the corresponding tumor positioning mode, performing matching processing on the target projection image and the reference image to obtain the position of the tumor in the target projection image.

Description

Technical Field

[0001] The present application relates to the field of radiotherapy technology, and in particular to a tumor localization method, device and storage medium. Background Art

[0002] During radiotherapy, accurate tumor positioning is a key factor in ensuring treatment effectiveness and patient safety. Especially for tumors that move with breathing, if the tumor cannot be accurately positioned, the radiation may miss the tumor target, resulting in insufficient radiation doses for tumor cells to be effectively killed, and unnecessary damage to surrounding healthy tissues may also be caused.

[0003] Current radiotherapy systems with image guidance functions use imaging devices (including tubes and relatively arranged detectors) to obtain image information of tumors in real time and locate and track tumors (i.e., image guidance). However, the imaging device is located in a fixed position in the radiotherapy system, which means that its field of view is limited and tumor images can only be obtained from fixed angles. At certain specific angles, for example, when the tumor is superimposed and interfered by other tissues such as the heart, spine, ribs, etc., it will be impossible to identify or distinguish the tumor, and thus it will be impossible to accurately locate and track the position of the tumor. In view of this, how to accurately locate and track tumors is a problem to be solved in this field. Summary of the invention

[0004] The present application provides a tumor localization method, device and storage medium, which can realize the localization and tracking of tumors at various angles.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a tumor localization method, which includes: acquiring a target projection image and a reference image of a target object including a tumor at a target angle; determining a tumor localization method corresponding to the target angle according to the type of the target angle; and matching the target projection image and the reference image based on the corresponding tumor localization method to obtain the position of the tumor in the target projection image.

[0007] In combination with the above-mentioned first aspect, in a possible implementation method, the above-mentioned matching processing of the target projection image and the reference image based on the corresponding tumor positioning method to obtain the position of the tumor in the target projection image includes: when the target angle is an ideal projection angle, matching processing is performed on the target projection image and the reference image to obtain the position of the tumor; the ideal projection angle is an angle within the target angle range; or, when the target angle is a non-ideal projection angle, matching processing is performed on the target projection image and the reference image to obtain the position of a substitute corresponding to the tumor; and based on the position of the substitute and a position mapping model of the tumor and the substitute, the position of the tumor in the target projection image is obtained; the non-ideal projection angle is an angle outside the target angle range.

[0008] In combination with the above-mentioned first aspect, in a possible implementation method, the above-mentioned process of matching the target projection image and the reference image to obtain the position of the tumor when the target angle is an ideal projection angle includes: corresponding to the reference image being a planned projection image, the target projection image and the planned projection image are registered to obtain the position of the tumor; the planned projection image is a two-dimensional image generated by digitally projecting the planned image of the target object at the target angle; corresponding to the reference image being a positioning projection image, the tumor in the target projection image is matched based on the contour of the tumor in the positioning projection image to obtain the position of the tumor in the target projection image; the positioning projection image is a two-dimensional projection image acquired when the positioning of the target object is completed.

[0009] In combination with the above-mentioned first aspect, in a possible implementation method, the above-mentioned process of matching the target projection image and the reference image to obtain the position of the substitute corresponding to the tumor when the target angle is a non-ideal projection angle includes: corresponding to the reference image being a planned projection image, aligning the target projection image and the planned projection image to obtain the position of the substitute corresponding to the tumor; corresponding to the reference image being a positioning projection image, matching the substitute in the target projection image based on the contour of the substitute in the positioning projection image to obtain the position of the substitute in the target projection image.

[0010] In combination with the first aspect above, in a possible implementation, the method also includes: obtaining planned projection images of the tumor at multiple projection angles; the planned projection image is a two-dimensional image generated by digitally projecting the planned image of the target object at the projection angle; based on the planned projection images at multiple projection angles, obtaining the target angle range from multiple projection angles.

[0011] In combination with the first aspect above, in a possible implementation method, the process of establishing a position mapping model of a tumor and a substitute includes: acquiring multiple projection images of the target object within a target angle range, the projection images including the position of the tumor and the substitute; based on the multiple projection images, determining the position trajectory of the tumor and the position trajectory of the substitute, the position trajectory of the tumor and the position trajectory of the substitute respectively indicating the position changes of the tumor and the substitute; based on the position trajectory of the tumor and the position trajectory of the substitute, establishing a position mapping model of the tumor and the substitute.

[0012] In combination with the above-mentioned first aspect, in a possible implementation method, the method also includes: establishing a respiratory motion model of the target object based on the position of the tumor in the target projection image and the respiratory signal of the target object; the respiratory motion model of the target object is used to reflect the mapping relationship between the position of the tumor and the respiratory signal.

[0013] In combination with the above-mentioned first aspect, in a possible implementation, the method also includes: determining a position offset of the tumor in the target projection image, and when the position offset is not within a threshold range, updating a position mapping model of the tumor and the substitute, and / or a respiratory motion model of the target object based on the position of the tumor in the target projection image; wherein the motion offset of the tumor is the offset between the position of the tumor in the target projection image and the mapping position of the tumor obtained by the respiratory motion model; and the mapping position of the tumor is the position of the tumor mapped after inputting the respiratory signal corresponding to the target angle into the respiratory motion model.

[0014] In a second aspect, the present application provides a tumor localization device, which includes: a communication unit and a processing unit; the communication unit is used to obtain a target projection image and a reference image of a target object including a tumor at a target angle; according to the type of the target angle, a tumor localization method corresponding to the target angle is determined; based on the corresponding tumor localization method, the target projection image and the reference image are matched to obtain the position of the tumor in the target projection image.

[0015] In combination with the above-mentioned second aspect, in a possible implementation method, the processing unit is specifically used to: when the target angle is an ideal projection angle, match the target projection image and the reference image to obtain the position of the tumor; the ideal projection angle is an angle within the target angle range; or, when the target angle is a non-ideal projection angle, match the target projection image and the reference image to obtain the position of the substitute corresponding to the tumor; and based on the position of the substitute and the position mapping model of the tumor and the substitute, obtain the position of the tumor in the target projection image; the non-ideal projection angle is an angle outside the target angle range.

[0016] In combination with the above-mentioned second aspect, in a possible implementation method, the processing unit is specifically used to: correspond to the reference image being the planned projection image, perform registration processing on the target projection image and the planned projection image to obtain the position of the tumor; the planned projection image is a two-dimensional image generated by digitally projecting the planned image of the target object at a target angle; correspond to the reference image being the positioning projection image, based on the contour of the tumor in the positioning projection image, perform matching processing on the tumor in the target projection image to obtain the position of the tumor in the target projection image; the positioning projection image is a two-dimensional projection image acquired when the positioning of the target object is completed.

[0017] In combination with the above-mentioned second aspect, in a possible implementation method, the processing unit is specifically used to: correspond to the reference image being the planned projection image, perform registration processing on the target projection image and the planned projection image to obtain the position of the tumor; the planned projection image is a two-dimensional image generated by digitally projecting the planned image of the target object at a target angle; correspond to the reference image being the positioning projection image, based on the contour of the tumor in the positioning projection image, perform matching processing on the tumor in the target projection image to obtain the position of the tumor in the target projection image; the positioning projection image is a two-dimensional projection image acquired when the positioning of the target object is completed.

[0018] In combination with the above-mentioned second aspect, in a possible implementation method, the processing unit is specifically used to: correspond to the reference image as the planned projection image, align the target projection image and the planned projection image to obtain the position of the substitute corresponding to the tumor; correspond to the reference image as the positioning projection image, match the substitute in the target projection image based on the contour of the substitute in the positioning projection image, and obtain the position of the substitute in the target projection image.

[0019] In combination with the above-mentioned second aspect, in a possible implementation method, the processing unit is specifically used to: obtain planned projection images of the tumor at multiple projection angles; the planned projection image is a two-dimensional image generated by digitally projecting the planned image of the target object at the projection angle; based on the planned projection images at multiple projection angles, obtain the target angle range from multiple projection angles.

[0020] In combination with the above-mentioned second aspect, in a possible implementation method, the communication unit is also used to obtain multiple projection images of the target object within the target angle range, the projection images including the position of the tumor and the substitute; based on the multiple projection images, determine the position trajectory of the tumor and the position trajectory of the substitute, the position trajectory of the tumor and the position trajectory of the substitute respectively indicating the position changes of the tumor and the substitute; based on the position trajectory of the tumor and the position trajectory of the substitute, establish a position mapping model of the tumor and the substitute.

[0021] In combination with the above-mentioned second aspect, in a possible implementation method, the processing unit is also used to: establish a respiratory motion model of the target object based on the position of the tumor in the target projection image and the respiratory signal of the target object; the respiratory motion model of the target object is used to reflect the mapping relationship between the position of the tumor and the respiratory signal.

[0022] In combination with the above-mentioned second aspect, in a possible implementation method, the processing unit is also used to: determine the position offset of the tumor in the target projection image, and when the position offset is not within a threshold range, update the position mapping model of the tumor and the substitute, and / or the respiratory motion model of the target object based on the position of the tumor in the target projection image; wherein the motion offset of the tumor is the offset between the position of the tumor in the target projection image and the mapping position of the tumor obtained by the respiratory motion model; the mapping position of the tumor is the position of the tumor mapped after the respiratory signal corresponding to the target angle is input into the respiratory motion model.

[0023] In a third aspect, the present application provides an electronic device comprising: a processor and a memory configured to store processor executable instructions; wherein the processor is configured to execute the instructions to implement a tumor localization method as described in the first aspect and any possible implementation of the first aspect.

[0024] In a fourth aspect, the present application provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a terminal, the terminal executes the tumor localization method described in the first aspect and any possible implementation of the first aspect.

[0025] In a fifth aspect, the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the tumor localization method as described in the first aspect and any possible implementation manner of the first aspect.

[0026] In a sixth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run a computer program or instructions to implement a tumor localization method as described in the first aspect and any possible implementation of the first aspect.

[0027] Specifically, the chip provided in the present application also includes a memory for storing computer programs or instructions.

[0028] It should be noted that the above computer instructions may be stored in whole or in part on a computer-readable storage medium, wherein the computer-readable storage medium may be packaged together with the processor of the device, or may be packaged separately from the processor of the device, which is not limited in this application.

[0029] In the seventh aspect, the present application provides a radiotherapy system, comprising: an image-guided radiotherapy device, an imaging computer device, a control device and a breathing detection device, wherein the imaging computer device is used to execute the tumor localization method described in the first aspect and any possible implementation method of the first aspect.

[0030] The descriptions of the second to seventh aspects of the present application can refer to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second to seventh aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here.

[0031] In this application, the name of the above tumor localization device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of this application, they belong to the scope of the claims of this application and their equivalent technologies.

[0032] These and other aspects of the present application will become more apparent from the following description.

[0033] The tumor localization method provided in the present application first obtains a target projection image and a reference image of a target object including a tumor at a target angle. Then, according to the target angle corresponding to the target projection image, a tumor localization method that can locate and identify the tumor at this angle is selected, and the target projection image and the reference image are matched and processed to obtain the position of the tumor in the target projection image. In other words, the present technical solution can realize tumor localization and tracking through the corresponding tumor localization method for projection images at various angles. It can be seen that the present technical solution is not limited by the angle of the projection image when realizing tumor localization, and can solve the current problem that the tumor cannot be identified or distinguished at some specific angles, and thus the position of the tumor cannot be accurately located and tracked, which greatly improves the reliability of tumor localization and identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a radiotherapy system provided in an embodiment of the present application;

[0035] Figure 2 A flow chart of a tumor localization method provided in an embodiment of the present application;

[0036] Figure 3 A flow chart of another tumor localization method provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of the structure of a tumor localization device provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0041] The terms "first" and "second" and the like in the specification and drawings of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0042] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0043] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0044] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0045] During radiotherapy, accurate tumor positioning is a key factor in ensuring treatment effectiveness and patient safety. Especially for tumors that move with breathing, if the tumor cannot be accurately positioned, the radiation may miss the tumor target, resulting in insufficient radiation doses for tumor cells to be effectively killed, and unnecessary damage to surrounding healthy tissues may also be caused.

[0046] Current radiotherapy systems with image guidance functions use imaging devices (including tubes and relatively arranged detectors) to obtain image information of tumors in real time and locate and track tumors (i.e., image guidance). However, the imaging device is located in a fixed position in the radiotherapy system, which means that its field of view is limited and tumor images can only be obtained from fixed angles. At certain specific angles, for example, when the tumor is superimposed and interfered by other tissues such as the heart, spine, ribs, etc., it will be impossible to identify or distinguish the tumor, and thus it will be impossible to accurately locate and track the position of the tumor. In view of this, how to accurately locate and track tumors is a problem to be solved in this field.

[0047] In view of this, the tumor localization method provided by the present application first obtains a target projection image and a reference image of the target object including the tumor at a target angle. Then, according to the target angle corresponding to the target projection image, a tumor localization method that can locate and identify the tumor at this angle is selected, and the target projection image and the reference image are matched and processed to obtain the position of the tumor in the target projection image. In other words, the present technical solution can realize tumor localization and tracking through the corresponding tumor localization method for projection images at various angles. It can be seen that the present technical solution is not limited by the angle of the projection image when realizing tumor localization, and can solve the current problem that the tumor cannot be identified or distinguished at some specific angles, and thus the position of the tumor cannot be accurately located and tracked, which greatly improves the reliability of tumor localization and identification.

[0048] The implementation of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0049] It should be pointed out that the various embodiments of the present application can learn from or refer to each other. For example, the same or similar steps, method embodiments, system embodiments and device embodiments can all refer to each other without limitation.

[0050] Figure 1 A schematic diagram of a scenario of a radiotherapy system provided in an embodiment of the present application, the radiotherapy system may include an image-guided radiotherapy device 101, an imaging computer device 102, a control device 103 and a breathing detection device 104.

[0051] The image-guided radiotherapy device 101 is described in detail below.

[0052] The image-guided radiotherapy device 101 may include a gantry 1011 and an image-guided device disposed on the gantry 1011, wherein the image-guided device includes a light source 1012 and a detector 1013. The light source 1012 is used to emit a light beam, and the detector 1013 is used to receive the light beam passing through a target object (patient) to generate a projection image of the target object.

[0053] In the embodiment of the present application, the detector 1013 may be a flat-panel detector or a curved-surface detector. The embodiment of the present application does not specifically limit the shape of the detector 1013.

[0054] In the embodiment of the present application, the image guidance device may be at least one of a cone beam computed tomography (CBCT) device, a computed tomography (CT) device, and a magnetic resonance (MR) device, that is, the image guidance device may be a CBCT device, a CT device, or an MR device, or may include any two of a CBCT device, a CT device, and an MR device, and the image guidance device may also include a CBCT device, a CT device, and an MR device. The embodiment of the present application does not specifically limit the form of the image guidance device.

[0055] When the image guidance device is a CBCT device, the light source 1012 is an X-ray tube, and the detector 1013 is a flat panel detector.

[0056] In the embodiment of the present application, there is no limitation on the number of light sources 1012 and the number of detectors 1013. For example, the number of light sources 1012 may be one or more. Similarly, the number of detectors 1013 may be one or more. When the number of light sources 1012 and the number of detectors 1013 are both multiple, two-dimensional images (i.e., projection images, also referred to as kilovolt (KV) images) of two-dimensional (2D) planes inside multiple target objects may be generated at a certain rack angle (or time point).

[0057] In some embodiments, when the number of light sources 1012 and the number of detectors 1013 is 1, the light source and the detector may be located at Figure 1 The direction of the Z axis shown in the figure, in this way, the position of the tumor of the target object in the directions of the X axis and the Y axis can be obtained, wherein the position of the tumor of the target object in the direction of the Y axis represents the position of the tumor of the target object in the head and foot direction. The position of the tumor of the target object in the direction of the X axis represents the position of the tumor of the target object in the left and right direction (left and right of the target object).

[0058] In some embodiments, when the number of light sources 1012 and the number of detectors 1013 are both 2, a set of light sources and detectors can be located at Figure 1 In order to obtain the position of the tumor of the target object in the direction of the X-axis and the Y-axis, another set of light sources and detectors can be located in Figure 1The X-axis direction shown in the figure can be used to obtain the position of the tumor of the target object in the directions of the Z-axis and the Y-axis. In this way, the three-dimensional spatial position of the tumor of the target object can be obtained based on the position of the tumor of the target object in the directions of the X-axis and the Y-axis, and the position of the tumor of the target object in the directions of the Z-axis and the Y-axis. The position of the tumor of the target object in the direction of the Z-axis represents the front and back of the tumor of the target object (front and back of the target object, Figure 1 The position in the up and down directions.

[0059] The rack 1011 can be a ring rack, a C-arm rack, a drum rack, a multi-layer bowl-shaped / cylindrical structure rack, etc. The rack 1011 is a rotating rack that can move around a rotation axis. When the rack 1011 rotates, the light source 1012 and the detector 1013 will rotate around the Y axis at any angle, so that a two-dimensional image (i.e., a projection image) of any 2D plane of the target object can be generated.

[0060] The breathing detection device 104 will be described in detail below.

[0061] In some embodiments, the breathing detection device 104 is used to detect a breathing signal of the target object.

[0062] Optionally, the breathing detection device 104 may include an optical camera 1041 and at least one optical marker 1042 arranged on the chest surface of the target object. Exemplarily, the optical camera 1041 may be an infrared camera, and correspondingly, the optical marker 1042 may be an infrared marker, or may be other types of optical cameras and corresponding optical markers. The embodiment of the present application does not specifically limit the form of the breathing detection device 104.

[0063] Next, the video computer device 102 and the control device 103 will be described.

[0064] The imaging computer device 102 is respectively connected to the control device 103, the detector 1013 and the breathing detection device 104 in communication, and the control device 103 is connected to the support device for supporting the target object in the image-guided radiotherapy device 101 in communication, so as to control the movement of the support device based on the result of the image guidance or control the image-guided radiotherapy device 101 to stop emitting beams.

[0065] In some embodiments, the image computer device 102 is a computer device with a graphical user interface (GUI), and the computer device includes: one or more processors, a memory, and one or more applications. For example, the image computer device 102 may include an image guidance system (IGS) application, and the processor of the image computer device executes the IGS application to achieve: obtaining a target projection image and a reference image of a target object including a tumor at a target angle; determining a tumor positioning method corresponding to the target angle according to the type of the target angle; matching the target projection image and the reference image based on the corresponding tumor positioning method to obtain the position of the tumor in the target projection image.

[0066] In the embodiment of the present application, the image computer device 102 and the control device 103 can be independent servers, or a server network or server cluster composed of servers. For example, the computer device described in the embodiment of the present application includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud server composed of multiple servers. Among them, the cloud server is composed of a large number of computers or network servers based on cloud computing.

[0067] In the embodiment of the present application, the image computer device 102 and the control device 103 may also be general-purpose computer devices or special-purpose computer devices. In a specific implementation, the computer device may be a desktop computer, a portable computer, a network server, a PDA (personal digital assistant), a mobile phone, a tablet computer, a wireless terminal device, a communication device, an embedded device, etc. This embodiment does not limit the type of computer device.

[0068] In some embodiments, the tumor localization method shown in the embodiments of the present application can be applied to the above-mentioned radiotherapy system. Figure 2-Figure 3 , the tumor localization method provided in the embodiments of the present application is introduced in detail.

[0069] Figure 2 A flow chart of a tumor localization method provided in an embodiment of the present application. Figure 2 As shown, the method includes the following S201-S203.

[0070] S201 , acquiring a target projection image and a reference image of a target object including a tumor at a target angle.

[0071] Optionally, the target projection image may also be referred to as a KV image. The target projection image is a two-dimensional image generated by internal projection of the target object (patient).

[0072] Optionally, the reference image is a planned projection image or a positioning projection image. The planned projection image is a two-dimensional image (e.g., a digitally reconstructed radiograph (DRR) image) generated by digitally projecting the planned image of the target object at a target angle. The positioning projection image is a two-dimensional projection image obtained when the positioning of the target object is completed.

[0073] Optionally, the target angle is an ideal projection angle or a non-ideal projection angle, wherein the ideal projection angle is an angle within the target angle range, and the non-ideal projection angle is an angle outside the target angle range.

[0074] It should be noted that in the projection image generated by imaging the target object within the target angle range, the tumor is not interfered with by other tissues or the interference is small, for example, the interference is less than or equal to the threshold. In the projection image generated by imaging the target object outside the target angle range, the tumor is interfered with by other tissues to a greater extent than the threshold.

[0075] Furthermore, in the reference image generated by imaging the target object within the target angle range, the tumor is not interfered by other tissues or the degree of interference is less than or equal to the threshold. In the reference image generated by imaging the target object outside the target angle range, the degree of interference of the tumor by other tissues is greater than the threshold.

[0076] Optionally, for the process of determining the target angle range, please refer to the following embodiment 1 for details, which will not be described in detail here.

[0077] S202: Determine a tumor positioning method corresponding to the target angle according to the type of the target angle.

[0078] In a possible implementation, the implementation process of S202 includes: when the target angle type is an ideal projection angle type, that is, the target angle is within the target angle range, the tumor positioning method corresponding to the target angle is determined by matching the target projection image and the reference image to directly determine the position of the tumor.

[0079] It should be noted that, when the type of the target angle is the ideal projection angle type, the tumor in the target projection image is not superimposed and interfered by other tissues (such as the heart, spine, ribs, etc.), and the tumor in the target projection image can be identified. It can be seen that the target projection image has the conditions for accurately locating the tumor. Moreover, when the type of the target angle is the ideal projection angle type, the tumor in the reference image is not superimposed and interfered by other tissues, and the tumor in the reference image can be identified. It can be seen that the reference image has the conditions for accurately locating and tracking the position of the tumor. Therefore, when the type of the target angle is the ideal projection angle type, matching the target projection image and the reference image can achieve positioning and tracking of the tumor in the target projection image.

[0080] In another possible implementation, the implementation process of S202 includes: when the target angle type is a non-ideal projection angle type, that is, the target angle is not within the target angle range, the tumor positioning method corresponding to the target angle is determined by: matching the target projection image and the reference image to determine the position of the substitute corresponding to the tumor; and then indirectly realizing the positioning and tracking of the tumor in the target projection image through the position of the substitute.

[0081] Among them, the substitute of the tumor can be some other substitutes besides the tumor, such as the diaphragm, lung wall, lung apex, etc. In this way, the object monitored in the image guidance can be replaced by the substitute from the tumor, and the movement of the substitute is consistent with the movement of the tumor. Of course, the above is only an exemplary description of the substitute for the tumor. The substitute for the tumor can also be a human tissue whose contrast and clarity meet the preset requirements in the image, and this application does not impose any restrictions on this.

[0082] It should be noted that, when the target angle type is a non-ideal projection angle type, the tumor in the target projection image is interfered by the superposition of other tissues (such as the heart, spine, ribs, etc.), while the position of the tumor substitute is not interfered. Therefore, the tumor in the target projection image cannot be clearly identified, while the tumor substitute can be clearly identified. It can be seen that the target projection image does not have the conditions for accurately locating the position of the tumor, but has the conditions for accurately locating the position of the tumor substitute. Moreover, when the target angle type is a non-ideal projection angle type, the tumor in the reference image is also interfered by the superposition of other tissues, while the position of the tumor substitute is not interfered. Therefore, when the target angle type is a non-ideal projection angle type, by determining the position of the substitute corresponding to the tumor, the positioning and tracking of the tumor is indirectly achieved through the position of the substitute.

[0083] S203 . Based on the corresponding tumor positioning method, matching processing is performed on the target projection image and the reference image to obtain the position of the tumor in the target projection image.

[0084] In a possible implementation manner, the implementation process of S203 includes: when the type of the target angle is an ideal projection angle type, matching processing is performed on the target projection image and the reference image to obtain the position of the tumor.

[0085] Specifically, for the specific implementation process of obtaining the position of the tumor when the target angle type is the ideal projection angle type, refer to the embodiment shown in S301, which will not be described in detail here.

[0086] In another possible implementation, the implementation process of S203 also includes: when the type of the target angle is a non-ideal projection angle type, matching the target projection image and the reference image to obtain the position of the substitute corresponding to the tumor, and based on the position of the substitute and the position mapping model of the tumor and the substitute, obtaining the position of the tumor in the target projection image.

[0087] Specifically, for the specific implementation process of obtaining the position of the tumor in the target projection image when the target angle type is a non-ideal projection angle type, refer to the embodiment shown in S302, which will not be described in detail here.

[0088] Based on the above technical scheme, the tumor localization method provided by the present application first obtains a target projection image and a reference image of the target object including the tumor at the target angle. Then, according to the target angle corresponding to the target projection image, a tumor localization method that can locate and identify the tumor at this angle is selected, and the target projection image and the reference image are matched and processed to obtain the position of the tumor in the target projection image. In other words, the present technical scheme can realize tumor localization and tracking through the corresponding tumor localization method for projection images at various angles. It can be seen that the present technical scheme is not limited by the angle of the projection image when realizing tumor localization, and can solve the current problem that the tumor cannot be identified or distinguished at some specific angles, and thus cannot be accurately located and tracked. The position of the tumor has greatly improved the reliability of tumor localization and identification.

[0089] As a possible embodiment of the present application, Figure 2 ,like Figure 3 As shown, the process of matching the target projection image and the reference image in the above S203 to obtain the position of the tumor in the target projection image can be implemented through the following S301 or S302-S303.

[0090] S301 . When the target angle is an ideal projection angle, matching processing is performed on the target projection image and the reference image to obtain the position of the tumor.

[0091] In a possible implementation, corresponding to the reference image being a planned projection image, the implementation process of S301 may include: performing registration processing on the target projection image and the planned projection image to obtain the position of the tumor.

[0092] The description of the planned projection image refers to the embodiment shown in S201 and will not be repeated here.

[0093] Furthermore, if the reference image is a planned projection image, the planned projection image within the target angle range is not disturbed by other tissues or the degree of interference is less than or equal to a threshold, and the planned projection image outside the target angle range is disturbed by other tissues to a degree greater than a threshold.

[0094] It should be noted that, when the target angle is an ideal projection angle, the tumor can be clearly displayed in the planned projection image. Therefore, by performing registration processing on the planned projection image and the target projection image, the position of the tumor in the target projection image can be determined.

[0095] In another possible implementation, corresponding to the reference image being a positioning projection image, the implementation process of S301 may include: performing matching processing on the tumor in the target projection image based on the contour of the tumor in the positioning projection image to obtain the position of the tumor in the target projection image.

[0096] The description of positioning the projection image refers to the embodiment shown in S201 and will not be repeated here.

[0097] It should be noted that when the target angle is the ideal projection angle, the positioning projection image has outlined the contour of the tumor. Therefore, the tumor in the target projection image is matched to obtain the contour of the tumor in the target projection image, and then the location of the tumor can be determined based on the contour of the tumor in the target projection image.

[0098] S302: When the target angle is a non-ideal projection angle, matching processing is performed on the target projection image and the reference image to obtain a replacement position corresponding to the tumor.

[0099] The non-ideal projection angle is an angle outside the target angle range.

[0100] In a possible implementation, corresponding to the reference image being a planned projection image, the implementation process of S302 may include: performing registration processing on the target projection image and the planned projection image to obtain a replacement position corresponding to the tumor.

[0101] It should be noted that when the target angle is a non-ideal projection angle, the tumor in the planned projection image is interfered by other tissues and the tumor is not clearly displayed, but the substitute corresponding to the tumor is clearly displayed. Therefore, the registration processing of the planned projection image and the target projection image can be based on the position information of the substitute in the target projection image.

[0102] In another possible implementation, corresponding to the reference image being a positioning projection image, the implementation process of S302 may include: performing matching processing on the substitute in the target projection image based on the outline of the substitute in the positioning projection image to obtain the position of the substitute in the target projection image.

[0103] It should be noted that when the target angle is a non-ideal projection angle, the positioning projection image has outlined the contour of the substitute corresponding to the tumor. Therefore, based on the contour of the substitute in the positioning projection image, the substitute in the target projection image is matched to obtain the position of the substitute in the target projection image.

[0104] S303 : Based on the position of the substitute and the position mapping model of the tumor and the substitute, obtain the position of the tumor in the target projection image.

[0105] It can be understood that since the position mapping model of the tumor and the substitute contains the mapping relationship between the position trajectory of the tumor and the position trajectory of the substitute, the position information of the substitute can be input into the position mapping model of the tumor and the substitute to map the position information of the tumor corresponding to the position information of the substitute, that is, the position of the tumor in the target projection image.

[0106] Based on the above technical solution, when the target angle is an ideal projection angle, the target projection image and the reference image are matched to directly obtain the position of the tumor. When the target angle is a non-ideal projection angle, the position of the tumor cannot be directly identified due to the degree of interference of the tumor in the projection image and the reference image. In this application, the position of the substitute corresponding to the tumor is obtained by matching the target projection image and the reference image, and the position of the tumor in the target projection image is obtained based on the position of the substitute and the position mapping model of the tumor and the substitute, which greatly enhances the reliability of tumor position identification.

[0107] With respect to the target angle range, the position mapping model of the tumor and the substitute, and the position of the tumor in the above embodiments, the implementation process of determining the target angle range is specifically described below through Example 1; the process of establishing the position mapping model of the tumor and the substitute is specifically described through Example 2; the process of establishing the respiratory motion model of the target object using the position of the tumor is specifically described through Example 3; and the process of updating the position mapping model of the tumor and the substitute established in the above Example 2, and / or the respiratory motion model of the target object established in the above Example 3 is specifically described through Example 4.

[0108] Embodiment 1,

[0109] In some embodiments, the process of determining the target angle range may include the following steps 11 and 12.

[0110] Step 11: Obtain planned projection images of the tumor at multiple projection angles.

[0111] The planned projection image is a two-dimensional image generated by digitally projecting a planned image (such as a CT image or an MRI image) of the target object at a projection angle, such as a DRR image.

[0112] It should be noted that, since the clarity of the tumor and other tissues in the planned projection image is greater than the preset clarity threshold, the degree of interference of the tumor in the planned projection image can be intuitively determined, which facilitates the subsequent division of multiple projection angles based on the planned projection images at multiple projection angles to obtain the target angle range.

[0113] Step 12: Based on the planned projection images at multiple projection angles, a target angle range is obtained from the multiple projection angles.

[0114] In a possible implementation, for each planned projection image at each projection angle, the degree to which the tumor in the planned projection image is disturbed is determined. If the tumor is not disturbed or the degree of disturbance is less than or equal to a threshold, it means that the contrast and contour clarity of the tumor in the target projection image at the projection angle meet the preset requirements, and the projection angle of the planned projection image is then divided into the target angle range.

[0115] On the contrary, if the tumor is not disturbed or the degree of disturbance is greater than a threshold, the projection angle of the planned projection image is classified as belonging to the interference angle range (ie, the angle range outside the target angle range).

[0116] Optionally, the process of determining the degree to which the tumor is disturbed includes: determining the proportion of the area of ​​the tumor disturbed by other tissues in the total area of ​​the tumor; and using the proportion as the degree to which the tumor is disturbed.

[0117] Based on the above technical solution, the planned projection images of the tumor at multiple projection angles are obtained to simulate the path of the ray passing through the tumor. Then, based on the planned projection images at multiple projection angles, the target angle range is obtained from the multiple projection angles.

[0118] Exemplarily, the maximum angle range may be [0 degrees, 360 degrees], the target angle range may be multiple such as [0 degrees, 30 degrees], [180 degrees, 210 degrees], there is no overlap between the multiple target angle ranges, and other angle ranges except the target angle range are interference angle ranges, such as (30 degrees, 180 degrees) and (210 degrees, 360 degrees).

[0119] Embodiment 2,

[0120] As a possible embodiment of the present application, the process of establishing the position mapping model of the tumor and the substitute may be implemented by following steps 21 to 23.

[0121] Step 21: Acquire multiple projection images of the target object within the target angle range.

[0122] The projection image (eg, each KV image in a KV image sequence) includes the location and surrogate of the tumor.

[0123] The description of the substitute for the tumor refers to the description of the substitute for the tumor in the embodiment shown in S202, and will not be repeated here.

[0124] It should be noted that within the target angle range, the tumor and substitute in the projected image are not interfered by other tissues or the interference degree is less than or equal to the threshold; while outside the target angle range, the tumor and substitute in the projected image are interfered by other tissues to a degree greater than the threshold.

[0125] That is to say, within the target angle range, the clarity of the position of the tumor and the position of the substitute in the projection image meets the preset clarity threshold. Outside the target angle range, the clarity of the position of the tumor and the position of the substitute in the projection image does not meet the preset clarity threshold. Therefore, acquiring multiple projection images of the target object within the target angle range can facilitate the subsequent determination of the mapping relationship between the position of the tumor and the position of the substitute in the projection image.

[0126] Step 22: Determine the position trajectory of the tumor and the position trajectory of the substitute based on the multiple projection images.

[0127] The position trajectory of the tumor is used to indicate the position change of the tumor, and the position trajectory of the substitute is used to indicate the position change of the substitute.

[0128] In a possible implementation, the implementation process of the above step 22 includes: recording the positions of the tumor in the multiple projection images in series according to the acquisition order of the projection images to obtain the position trajectory of the tumor. Recording the positions of the substitute in the multiple projection images in series according to the acquisition order of the projection images to obtain the position trajectory of the substitute.

[0129] Step 23: Based on the position trajectory of the tumor and the position trajectory of the surrogate, a position mapping model of the tumor and the surrogate is established.

[0130] In one possible implementation, the position trajectory of the tumor and the position trajectory of the surrogate are combined through a preset mapping method (such as linear mapping, nonlinear mapping, machine learning algorithm, etc.), thereby constructing a position mapping model of the tumor and the surrogate.

[0131] It should be noted that step 21 to step 23 in embodiment 2 may be performed before treatment, so that the position mapping model can be used to locate the tumor during the subsequent treatment process.

[0132] Based on the above technical solution, multiple projection images of the target object within the target angle range are obtained. Based on the multiple projection images, the position trajectory of the tumor and the position trajectory of the substitute are determined. Then, based on the position trajectory of the tumor and the position trajectory of the substitute, a position mapping model of the tumor and the substitute is established. The model has strong correlation and stability, which is convenient for locating the tumor for the target projection image collected under non-ideal projection angles. The position mapping model and the position of the substitute are used to infer the position of the tumor and realize the positioning of the tumor.

[0133] Embodiment 3,

[0134] In some embodiments, the implementation process of establishing the respiratory motion model of the target object includes: establishing the respiratory motion model of the target object based on the position of the tumor in the target projection image and the respiratory signal of the target object.

[0135] The respiratory motion model of the target object is used to reflect the mapping relationship between the position of the tumor and the respiratory signal.

[0136] It should be noted that since the respiratory motion model is obtained by combining the position of the tumor at the ideal projection angle and the position of the tumor at the non-ideal projection angle with the respiratory signal, that is, the respiratory motion model includes the position of the tumor at various angles. Therefore, inputting the respiratory data of the target object into the respiratory motion model can also realize the positioning of the tumor.

[0137] Embodiment 4,

[0138] As a possible embodiment of the present application, the present application may also update the position mapping model of the tumor and the substitute established in the above embodiment 2, and / or the respiratory motion model of the target object established in the above embodiment 3.

[0139] In some embodiments, a position offset of the tumor in the target projection image is determined, and when the position offset is not within a threshold range, a position mapping model of the tumor and the surrogate, and / or a respiratory motion model of the tumor is updated based on the position of the tumor in the target projection image.

[0140] Among them, the motion offset of the tumor is the offset between the position of the tumor in the target projection image and the mapping position of the tumor obtained by the respiratory motion model; the mapping position of the tumor is the position of the tumor mapped after the respiratory signal corresponding to the target angle is input into the respiratory motion model.

[0141] In one possible implementation, when capturing a target projection image at a target angle, the respiratory signal corresponding to the target angle is input into the respiratory motion model, and the position of the tumor is mapped. Then, the offset between the position of the mapped tumor and the position of the tumor in the target projection image is determined. If the offset is not within the threshold range, it means that the offset of the tumor position obtained based on the respiratory motion model is too large, and the respiratory motion model needs to be updated. Then, based on the position of the tumor in the target projection image, the respiratory motion model of the tumor is updated, and the position mapping model of the tumor and the substitute is updated to ensure the reliability of the respiratory motion model and the position mapping model of the tumor and the substitute.

[0142] In other embodiments, the type corresponding to the target angle is an ideal projection angle type, and after matching the target projection image and the reference image to directly obtain the position of the tumor, the position of the tumor is used to check and update the position mapping model of the tumor and the surrogate and the respiratory motion model. The type corresponding to the target angle is a non-ideal projection angle type, and after indirectly obtaining the position of the tumor using the position of the surrogate of the tumor, the respiratory motion model is checked and updated using the position of the tumor.

[0143] The embodiment of the present application can divide the electronic device into functional modules or functional units according to the above method example. For example, each functional module or functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules or functional units. Among them, the division of modules or units in the embodiment of the present application is schematic, which is only a logical function division, and there may be other division methods in actual implementation.

[0144] like Figure 4 , which is a schematic diagram of the structure of a tumor localization device 40 provided in an embodiment of the present application. The tumor localization device 40 includes: a communication unit 401 and a processing unit 402 .

[0145] The communication unit 401 is used to obtain a target projection image and a reference image of a target object including a tumor at a target angle; determine a tumor positioning method corresponding to the target angle according to the type of the target angle; and match the target projection image and the reference image based on the corresponding tumor positioning method to obtain the position of the tumor in the target projection image.

[0146] In one possible implementation, the processing unit 402 is specifically used to: when the target angle is an ideal projection angle, match the target projection image and the reference image to obtain the position of the tumor; the ideal projection angle is an angle within the target angle range; or, when the target angle is a non-ideal projection angle, match the target projection image and the reference image to obtain the position of a substitute corresponding to the tumor; and based on the position of the substitute and a mapping model of the positions of the tumor and the substitute, obtain the position of the tumor in the target projection image; the non-ideal projection angle is an angle outside the target angle range.

[0147] In one possible implementation, the processing unit 402 is specifically used to: correspond to the reference image being the planned projection image, perform registration processing on the target projection image and the planned projection image to obtain the position of the tumor; the planned projection image is a two-dimensional image generated by digitally projecting the planned image of the target object at a target angle; correspond to the reference image being the positioning projection image, perform matching processing on the tumor in the target projection image based on the contour of the tumor in the positioning projection image to obtain the position of the tumor in the target projection image; the positioning projection image is a two-dimensional projection image obtained when the positioning of the target object is completed.

[0148] In one possible implementation, the processing unit 402 is specifically used to: correspond to the reference image being the planned projection image, perform registration processing on the target projection image and the planned projection image to obtain the position of the tumor; the planned projection image is a two-dimensional image generated by digitally projecting the planned image of the target object at a target angle; correspond to the reference image being the positioning projection image, perform matching processing on the tumor in the target projection image based on the contour of the tumor in the positioning projection image to obtain the position of the tumor in the target projection image; the positioning projection image is a two-dimensional projection image obtained when the positioning of the target object is completed.

[0149] In one possible implementation, the processing unit 402 is specifically used to: correspond to the reference image as the planned projection image, perform registration processing on the target projection image and the planned projection image to obtain the position of the substitute corresponding to the tumor; correspond to the reference image as the positioning projection image, perform matching processing on the substitute in the target projection image based on the outline of the substitute in the positioning projection image to obtain the position of the substitute in the target projection image.

[0150] In one possible implementation, the processing unit 402 is specifically used to: obtain planned projection images of the tumor at multiple projection angles; the planned projection image is a two-dimensional image generated by digitally projecting the planned image of the target object at the projection angle; based on the planned projection images at multiple projection angles, obtain the target angle range from multiple projection angles.

[0151] In one possible implementation, the communication unit 401 is also used to obtain multiple projection images of the target object within the target angle range, the projection images including the position of the tumor and the substitute; based on the multiple projection images, determine the position trajectory of the tumor and the position trajectory of the substitute, the position trajectory of the tumor and the position trajectory of the substitute respectively indicating the position changes of the tumor and the substitute; based on the position trajectory of the tumor and the position trajectory of the substitute, establish a position mapping model of the tumor and the substitute.

[0152] In a possible implementation, the processing unit 402 is further used to: establish a respiratory motion model of the target object based on the position of the tumor in the target projection image and the respiratory signal of the target object; the respiratory motion model of the target object is used to reflect the mapping relationship between the position of the tumor and the respiratory signal.

[0153] In a possible implementation, the processing unit 402 is further used to: determine the position offset of the tumor in the target projection image, and when the position offset is not within a threshold range, update the position mapping model of the tumor and the substitute, and / or the respiratory motion model of the target object based on the position of the tumor in the target projection image; wherein the motion offset of the tumor is the offset between the position of the tumor in the target projection image and the mapping position of the tumor obtained by the respiratory motion model; and the mapping position of the tumor is the position of the tumor mapped after the respiratory signal corresponding to the target angle is input into the respiratory motion model.

[0154] In a possible implementation, the tumor localization device 40 may further include a storage unit 403 ( Figure 4 The storage unit 403 stores a program or instruction. When the processing unit 402 executes the program or instruction, the tumor localization device 40 can execute the tumor localization method described in the above method embodiment.

[0155] When implemented by hardware, the embodiment of the present application also provides an electronic device for executing the tumor localization method shown in the above method embodiment.

[0156] Specifically, Figure 5 The hardware structure diagram of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the electronic device includes at least one processor 501, a communication line 502, at least one communication interface 504, and a memory 503 configured to store processor executable instructions. The processor 501, the memory 503 and the communication interface 504 can be connected via the communication line 502. The processor is configured to execute instructions to implement the tumor localization method described in the method embodiment of the present application.

[0157] Processor 501 can be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, such as: one or more digital signal processors (DSP), or one or more field programmable gate arrays (FPGA).

[0158] The communication link 502 may include a pathway for transmitting information between the above-mentioned components.

[0159] The communication interface 504 is used to communicate with other devices or communication networks, and can use any transceiver-like device, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), etc.

[0160] The memory 503 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to include or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0161] In one possible design, the memory 503 can exist independently of the processor 501, that is, the memory 503 can be a memory outside the processor 501. In this case, the memory 503 can be connected to the processor 501 through the communication line 502, and is used to store execution instructions or application code, and is controlled by the processor 501 to implement the tumor localization method provided in the following embodiments of the present application. In another possible design, the memory 503 can also be integrated with the processor 501, that is, the memory 503 can be an internal memory of the processor 501, for example, the memory 503 is a high-speed cache, which can be used to temporarily store some data and instruction information.

[0162] As a possible implementation, the processor 501 may include one or more CPUs, for example Figure 5 As another possible implementation, the electronic device may include multiple processors, such as Figure 5 Processor 501 and processor 507 in.

[0163] As another possible implementation, the electronic device may further include an output device 505, such as various types of displays, speakers, etc.; an input device 506, such as a keyboard, a mouse, etc.

[0164] Through the description of the above implementation methods, technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0165] An embodiment of the present application provides a computer program product comprising instructions. When the computer program product is run on a computer, the computer is enabled to execute the tumor localization method in the above method embodiment.

[0166] An embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a computer, the computer executes the tumor localization method in the method flow shown in the above method embodiment.

[0167] Among them, the computer-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 of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read only memory (EPROM), a register, a hard disk, 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, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). In the embodiments of the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0168] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays, application specific integrated circuits, application specific standard parts (ASSPs), system on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0169] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0170] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user, such as a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0171] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network, a wide area network (WAN), and the Internet.

[0172] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0173] Since the electronic device, computer-readable storage medium, and computer program product in the embodiments of the present application can be applied to the above-mentioned method, the technical effects that can be obtained can also refer to the above-mentioned method embodiments, and the embodiments of the present application will not be repeated here.

[0174] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0175] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document does not limit this.

[0176] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

[0177] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0178] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0179] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A tumor localization method, characterized in that: The method comprises: Acquire a target projection image and a reference image of a target object including a tumor at a target angle; Determining a tumor positioning method corresponding to the target angle according to the type of the target angle; Based on the corresponding tumor positioning method, the target projection image and the reference image are matched to obtain the position of the tumor in the target projection image.

2. The method according to claim 1, characterized in that The matching process of the target projection image and the reference image based on the corresponding tumor positioning method to obtain the position of the tumor in the target projection image includes: In the case where the target angle is an ideal projection angle, matching processing is performed on the target projection image and the reference image to obtain the position of the tumor; the ideal projection angle is an angle within the target angle range; or, In the case where the target angle is a non-ideal projection angle, the target projection image and the reference image are matched to obtain the position of the substitute corresponding to the tumor; and based on the position of the substitute and the position mapping model of the tumor and the substitute, the position of the tumor in the target projection image is obtained; the non-ideal projection angle is an angle outside the target angle range.

3. The method according to claim 2, characterized in that When the target angle is an ideal projection angle, matching the target projection image with the reference image to obtain the position of the tumor includes: Corresponding to the reference image being a planned projection image, the target projection image and the planned projection image are registered to obtain the position of the tumor; the planned projection image is a two-dimensional image generated by digitally projecting the planned image of the target object at the target angle; The reference image is a positioning projection image, and based on the outline of the tumor in the positioning projection image, the tumor in the target projection image is matched to obtain the position of the tumor in the target projection image; the positioning projection image is a two-dimensional projection image obtained when the positioning of the target object is completed.

4. The method according to claim 2, characterized in that: When the target angle is a non-ideal projection angle, matching the target projection image with the reference image to obtain a replacement position corresponding to the tumor includes: Corresponding to the reference image being a planned projection image, registering the target projection image with the planned projection image to obtain a replacement position corresponding to the tumor; The reference image is a positioning projection image, and based on the contour of the substitute in the positioning projection image, a matching process is performed on the substitute in the target projection image to obtain the position of the substitute in the target projection image.

5. The method according to claim 2, characterized in that: The method further comprises: Acquire planned projection images of the tumor at multiple projection angles; the planned projection images are two-dimensional images generated by digitally projecting the planned images of the target object at the projection angles; Based on the planned projection images at the multiple projection angles, a target angle range is acquired from the multiple projection angles.

6. The method according to claim 2, characterized in that The process of establishing the position mapping model of the tumor and the surrogate includes: Acquire a plurality of projection images of the target object within the target angle range, wherein the projection images include the position of the tumor and the substitute; determining a position trajectory of the tumor and a position trajectory of the surrogate based on the plurality of projection images, the position trajectory of the tumor and the position trajectory of the surrogate indicating position changes of the tumor and the surrogate, respectively; Based on the position trajectory of the tumor and the position trajectory of the substitute, a position mapping model of the tumor and the substitute is established.

7. The method according to claim 1, characterized in that The method further comprises: A respiratory motion model of the target object is established based on the position of the tumor in the target projection image and the respiratory signal of the target object; the respiratory motion model of the target object is used to reflect the mapping relationship between the position of the tumor and the respiratory signal.

8. The method according to claim 1, characterized in that The method further comprises: Determine a position offset of the tumor in the target projection image, and when the position offset is not within a threshold range, update a position mapping model of the tumor and the surrogate, and / or a respiratory motion model of the target object based on the position of the tumor in the target projection image; Among them, the motion offset of the tumor is the offset between the position of the tumor in the target projection image and the mapping position of the tumor obtained by the respiratory motion model; the mapping position of the tumor is the position of the tumor obtained by mapping the respiratory signal corresponding to the target angle into the respiratory motion model.

9. An electronic device, characterized in that: The electronic device comprises: processor; a memory configured to store instructions executable by the processor; The processor is configured to execute the instructions to implement the tumor localization method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when a computer executes the instructions, the computer executes the tumor localization method according to any one of claims 1 to 8.

Images