Tumor localization method, device, and storage medium

Abstract

The application 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 and a reference image of a target object containing a tumor at a target angle; determining a tumor positioning mode corresponding to the target angle according to the type of the target angle; and performing matching processing on the target projection image and the reference image based on the corresponding tumor positioning mode to obtain the position of the tumor in the target projection image.

Description

Technical Field

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

[0002] Precise tumor localization is crucial for ensuring treatment effectiveness and patient safety during radiotherapy. This is especially true for tumors that move with respiration; if the tumor is not accurately located, the radiation may miss its target, resulting in insufficient radiation dose to kill tumor cells and potentially causing unnecessary damage to surrounding healthy tissues.

[0003] Current image-guided radiotherapy systems acquire real-time images of the tumor using an imaging device (including an X-ray tube and opposing detectors) and perform tumor localization and tracking (i.e., image guidance). However, the imaging device is located in a fixed position within the radiotherapy system, meaning its field of view is limited and can only acquire tumor images from a fixed angle. At certain angles, such as when the tumor is superimposed or interfered with by other tissues like the heart, spine, or ribs, the tumor may become unidentifiable or indistinguishable, making accurate tumor localization and tracking impossible. Therefore, how to accurately locate and track the tumor is a problem that needs to be solved in this field. Summary of the Invention

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

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] In a first aspect, this application provides a tumor localization method, which includes: acquiring a target projection image and a reference image of a target object containing a tumor at a target angle; determining the tumor localization method corresponding to the target angle according to the type of the target angle; and performing matching processing on 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 conjunction with the first aspect above, in one possible implementation, the process of matching the target projection image and the reference image based on the corresponding tumor localization method to obtain the tumor position in the target projection image includes: when the target angle is an ideal projection angle, matching the target projection image and the reference image to obtain the tumor position; the ideal projection angle is an angle within the target angle range; or, when the target angle is a non-ideal projection angle, 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 tumor position in the target projection image; the non-ideal projection angle is an angle outside the target angle range.

[0008] In conjunction with the first aspect above, in one possible implementation, the process of matching the target projection image and the reference image to obtain the location of the tumor when the target angle is the ideal projection angle includes: corresponding to the planned projection image as the reference image, performing registration processing on the target projection image and the planned projection image to obtain the location 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 positioning projection image as the reference image, 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 location of the tumor in the target projection image; the positioning projection image is a two-dimensional projection image obtained when the target object is positioned.

[0009] In conjunction with the first aspect above, in one possible implementation, the process of matching the target projection image and the reference image to obtain the location of the substitute corresponding to the tumor when the target angle is a non-ideal projection angle includes: corresponding to the planned projection image as the reference image, performing registration processing on the target projection image and the planned projection image to obtain the location of the substitute corresponding to the tumor; corresponding to the positioning projection image as the reference image, performing matching processing on the substitute in the target projection image based on the contour of the substitute in the positioning projection image to obtain the location of the substitute in the target projection image.

[0010] In conjunction with the first aspect above, in one possible implementation, the method further includes: acquiring 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; and obtaining a target angle range from the multiple projection angles based on the planned projection images at the multiple projection angles.

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

[0012] In conjunction with the first aspect mentioned above, in one possible implementation, the method further includes: establishing a respiratory motion model of the target object based on the location 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 location of the tumor and the respiratory signal.

[0013] In conjunction with the first aspect above, in one possible implementation, the method further includes: determining the positional offset of the tumor in the target projection image, and when the positional offset is not within a threshold range, updating the positional 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 mapped position of the tumor obtained by the respiratory motion model; the mapped 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.

[0014] Secondly, this application provides a tumor localization device, which includes: a communication unit and a processing unit; the communication unit is used to acquire a target projection image and a reference image containing a tumor on a target object at a target angle; determine the tumor localization method corresponding to the target angle according to the type of the target angle; and perform matching processing on 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.

[0015] In conjunction with the second aspect above, in one possible implementation, the processing unit is specifically used to: when the target angle is an ideal projection angle, perform matching processing on the target projection image and the reference image to obtain the location 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, perform matching processing on the target projection image and the reference image to obtain the location of the substitute corresponding to the tumor; and based on the location of the substitute and the location mapping model of the tumor and the substitute, obtain the location of the tumor in the target projection image; the non-ideal projection angle is an angle outside the target angle range.

[0016] In conjunction with the second aspect above, in one possible implementation, the processing unit is specifically used for: corresponding to the planned projection image as the reference image, performing registration processing on the target projection image and the planned projection image to obtain the location 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; corresponding to the positioning projection image as the reference image, 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 location 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.

[0017] In conjunction with the second aspect above, in one possible implementation, the processing unit is specifically used for: corresponding to a planned projection image as the reference image, performing registration processing on the target projection image and the planned projection image to obtain the location of the substitute corresponding to the tumor; corresponding to a positioning projection image as the reference image, performing matching processing on the substitute in the target projection image based on the contour of the substitute in the positioning projection image to obtain the location of the substitute in the target projection image.

[0018] In conjunction with the second aspect above, in one possible implementation, the processing unit is specifically used for: acquiring 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; and obtaining a target angle range from the multiple projection angles based on the planned projection images at multiple projection angles.

[0019] In conjunction with the second aspect above, in one possible implementation, the communication unit is further configured to acquire multiple projected images of the target object within the target angle range, the projected images including the location of the tumor and the substitute; based on the multiple projected images, determine the location trajectory of the tumor and the location trajectory of the substitute, the location trajectory of the tumor and the location trajectory of the substitute respectively indicating the positional changes of the tumor and the substitute; and based on the location trajectory of the tumor and the location trajectory of the substitute, establish a location mapping model of the tumor and the substitute.

[0020] In conjunction with the second aspect above, in one possible implementation, the processing unit is further configured to: establish a respiratory motion model of the target object based on the location 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 location of the tumor and the respiratory signal.

[0021] In conjunction with the second aspect above, in one possible implementation, the processing unit is further configured to: determine the positional offset of the tumor in the target projection image, and when the positional offset is not within a threshold range, update the positional 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 mapped position of the tumor obtained by the respiratory motion model; the mapped 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.

[0022] Thirdly, this 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 the tumor localization method as described in the first aspect and any possible implementation thereof.

[0023] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a terminal, cause the terminal to perform the tumor localization method as described in the first aspect and any possible implementation thereof.

[0024] Fifthly, this application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the tumor localization method as described in the first aspect and any possible implementation thereof.

[0025] In a sixth aspect, this application provides a chip including a processor and a communication interface coupled to the processor. The processor is used to run computer programs or instructions to implement the tumor localization method as described in the first aspect and any possible implementation thereof.

[0026] Specifically, the chip provided in this application also includes a memory for storing computer programs or instructions.

[0027] It should be noted that the aforementioned computer instructions may be stored, in whole or in part, on a computer-readable storage medium. This computer-readable storage medium may be packaged together with the processor of the device, or it may be packaged separately from the processor of the device; this application does not impose any limitation on this.

[0028] In a seventh aspect, this application provides a radiotherapy system comprising: an image-guided radiotherapy device, an imaging computer device, a control device, and a respiratory detection device, wherein the imaging computer device is used to perform the tumor localization method as described in the first aspect and any possible implementation thereof.

[0029] The descriptions of aspects two through seven in this application can be referenced to the detailed description of aspect one; and the beneficial effects of the descriptions of aspects two through seven can be referenced to the analysis of the beneficial effects of aspect one, which will not be repeated here.

[0030] In this application, the name of the aforementioned tumor localization device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the function of each device or functional module is similar to that of this application, it falls within the scope of the claims of this application and its equivalents.

[0031] These or other aspects of this application will become more readily apparent in the following description.

[0032] The tumor localization method provided in this application first acquires a target projection image and a reference image containing the tumor at a target angle. Then, based on the target angle corresponding to the target projection image, a tumor localization method is selected that can locate and identify the tumor at that angle. The target projection image and the reference image are then matched to obtain the position of the tumor in the target projection image. In other words, this technical solution can achieve tumor localization and tracking for projection images at various angles using the corresponding tumor localization method. Therefore, this technical solution is not limited by the angle of the projection image when achieving tumor localization, solving the problem that tumors cannot be identified or distinguished at certain specific angles, thus failing to accurately locate and track the tumor's position, and greatly improving the reliability of tumor localization and identification. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of a radiotherapy system provided in an embodiment of this application;

[0034] Figure 2 A flowchart illustrating a tumor localization method provided in this application embodiment;

[0035] Figure 3 A flowchart illustrating another tumor localization method provided in this application embodiment;

[0036] Figure 4 This is a schematic diagram of the structure of a tumor localization device provided in an embodiment of this application;

[0037] Figure 5 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0040] The terms "first" and "second," etc., used in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0041] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0042] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0043] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0044] Precise tumor localization is crucial for ensuring treatment effectiveness and patient safety during radiotherapy. This is especially true for tumors that move with respiration; if the tumor is not accurately located, the radiation may miss its target, resulting in insufficient radiation dose to kill tumor cells and potentially causing unnecessary damage to surrounding healthy tissues.

[0045] Current image-guided radiotherapy systems acquire real-time images of the tumor using an imaging device (including an X-ray tube and opposing detectors) and perform tumor localization and tracking (i.e., image guidance). However, the imaging device is located in a fixed position within the radiotherapy system, meaning its field of view is limited and can only acquire tumor images from a fixed angle. At certain angles, such as when the tumor is superimposed or interfered with by other tissues like the heart, spine, or ribs, the tumor may become unidentifiable or indistinguishable, making accurate tumor localization and tracking impossible. Therefore, how to accurately locate and track the tumor is a problem that needs to be solved in this field.

[0046] Therefore, the tumor localization method provided in this application first acquires a target projection image and a reference image containing the tumor at a target angle. Then, based on the target angle corresponding to the target projection image, a tumor localization method that can locate and identify the tumor at that angle is selected. The target projection image and the reference image are then matched to obtain the position of the tumor in the target projection image. In other words, this technical solution can achieve tumor localization and tracking for projection images at various angles using corresponding tumor localization methods. Thus, this technical solution is not limited by the angle of the projection image when achieving tumor localization, solving the problem that tumors cannot be identified or distinguished at certain specific angles, thus failing to accurately locate and track their positions, and greatly improving the reliability of tumor localization and identification.

[0047] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0048] It should be noted that the various embodiments of this application can be referenced or learned from each other. For example, the same or similar steps, method embodiments, system embodiments and device embodiments can be referenced from each other without limitation.

[0049] Figure 1 This is a schematic diagram of a radiotherapy system provided in an embodiment of this application. The radiotherapy system may include an image-guided radiotherapy device 101, an imaging computer device 102, a control device 103, and a respiratory detection device 104.

[0050] The image-guided radiotherapy device 101 will be described in detail below.

[0051] Image-guided radiotherapy device 101 may include a gantry 1011 and an image guiding device mounted on the gantry 1011, wherein the image guiding 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 the target object (patient) to generate a projected image of the target object.

[0052] In the embodiments of this application, the detector 1013 can be a flat panel detector or a curved surface detector. The embodiments of this application do not specifically limit the shape of the detector 1013.

[0053] In this embodiment, the image guidance device can 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 can be a CBCT device, a CT device, or an MR device, or it can include any two of a CBCT device, a CT device, and an MR device. This embodiment does not specifically limit the form of the image guidance device.

[0054] 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.

[0055] In this embodiment, the number of light sources 1012 and detectors 1013 is not limited. For example, the number of light sources 1012 can be one or more. Similarly, the number of detectors 1013 can be one or more. When both the number of light sources 1012 and detectors 1013 are multiple, multiple two-dimensional (2D) images (i.e., projected images, also known as kilovolt (KV) images) of the interior of the target object can be generated at a certain rack angle (or time point).

[0056] In some embodiments, when the number of light sources 1012 and the number of detectors 1013 are both one, the light sources and detectors can be located at... Figure 1 The Z-axis direction is shown. Thus, the position of the tumor on the target object can be obtained along the X and Y axes. The position of the tumor on the Y-axis represents its position in the head-to-toe direction. The position of the tumor on the X-axis represents its position in the left-right direction (left and right of the target object).

[0057] In some embodiments, when the number of light sources 1012 and the number of detectors 1013 are both two, a set of light sources and detectors can be located in Figure 1 The Z-axis direction is shown to obtain the position of the tumor of the target object in the X and Y axis directions. Another set of light sources and detectors can be located in... Figure 1The X-axis is shown as the direction to obtain the position of the tumor on the Z and Y axes. Thus, the three-dimensional spatial position of the tumor can be obtained based on its positions on the X and Y axes, as well as its positions on the Z and Y axes. The position of the tumor on the Z-axis indicates its position relative to the front and back of the target object. Figure 1 The middle position is in the vertical direction.

[0058] The frame 1011 can be a ring frame, a C-arm frame, a drum-shaped frame, a multi-layered bowl / cylindrical structure frame, etc. The frame 1011 is a rotating frame that can move around a rotation axis. When the frame 1011 rotates, the light source 1012 and the detector 1013 will rotate around the Y-axis at any angle, thus generating a two-dimensional image (i.e., a projected image) of any 2D plane of the target object.

[0059] The following is a detailed description of the respiratory detection device 104.

[0060] In some embodiments, the respiratory detection device 104 is used to detect the respiratory signal of the target object.

[0061] Optionally, the respiratory detection device 104 may include an optical camera 1041 and at least one optical marker 1042 disposed on the chest surface of the target object. For example, the optical camera 1041 may be an infrared camera, and correspondingly, the optical marker 1042 may be an infrared marker, or other types of optical cameras and compatible optical markers. This application embodiment does not specifically limit the form of the respiratory detection device 104.

[0062] The imaging computer device 102 and the control device 103 will be described below.

[0063] The imaging computer device 102 is communicatively connected to the control device 103, the detector 1013, and the respiratory detection device 104. The control device 103 is communicatively connected to the support device in the image-guided radiotherapy device 101 used to support the target object, and is used to control the movement of the support device or control the image-guided radiotherapy device 101 to stop beam output based on the image guidance results.

[0064] In some embodiments, the imaging computer device 102 is a computer device with a graphical user interface (GUI), which includes one or more processors, memory, and one or more application programs. For example, the imaging computer device 102 may include an image guidance system (IGS) application. The processor of the imaging computer device executes the IGS application to: acquire a target projection image and a reference image of a target object containing a tumor at a target angle; determine the tumor localization method corresponding to the target angle based on the type of the target angle; and perform matching processing on the target projection image and the reference image based on the corresponding tumor localization method to obtain the location of the tumor in the target projection image.

[0065] In this embodiment, the imaging computer device 102 and the control device 103 can be independent servers, or they can be a server network or server cluster. For example, the computer device described in this embodiment includes, but is not limited to, computers, network hosts, single network servers, multiple network server sets, or cloud servers composed of multiple servers. A cloud server is composed of a large number of computers or network servers based on cloud computing.

[0066] In this embodiment, the imaging computer device 102 and the control device 103 can be general-purpose computer devices or special-purpose computer devices. In specific implementations, the computer device can be a desktop computer, a portable computer, a network server, a handheld computer (personal digital assistant, PDA), 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.

[0067] In some embodiments, the tumor localization method shown in this application can be applied to the above-described radiotherapy system. Hereinafter, in conjunction with... Figures 2-3 The tumor localization method provided in the embodiments of this application will be described in detail.

[0068] Figure 2 This is a flowchart illustrating a tumor localization method provided in an embodiment of this application. Figure 2 As shown, the method includes the following steps S201-S203.

[0069] S201. Obtain the target projection image and reference image of the target object containing the tumor at the target angle.

[0070] Optionally, the target projection image can also be called a KV image. Here, the target projection image is a two-dimensional image generated by projecting the image onto the interior of the target object (patient).

[0071] Optionally, the reference image can be a planned projection image or a positioned projection image. The planned projection image is a two-dimensional image generated by digitally projecting a planned image of the target object at a target angle (e.g., a digitally reconstructed radiograph (DRR) image). The positioned projection image is a two-dimensional projection image acquired when the target object is positioned.

[0072] Optionally, the target angle can be an ideal projection angle or a non-ideal projection angle. An ideal projection angle is an angle within the target angle range. A non-ideal projection angle is an angle outside the target angle range.

[0073] It should be noted that in the projected image generated by imaging the target object within the target angle range, the tumor is not affected by other tissues or the degree of interference is minimal, for example, the degree of interference is less than or equal to the threshold. In the projected image generated by imaging the target object outside the target angle range, the degree of interference from other tissues on the tumor is greater than the threshold.

[0074] Furthermore, in the reference image generated by imaging the target object within the target angle range, the tumor is not affected 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 from other tissues on the tumor is greater than the threshold.

[0075] Optionally, the process for determining the target angle range can be referred to in Example 1 below, and will not be repeated here.

[0076] S202. Determine the tumor localization method corresponding to the target angle based on the type of target angle.

[0077] In one possible implementation, the process of S202 includes: when the target angle is of the ideal projection angle type, that is, when the target angle is within the target angle range, the method for determining the tumor location corresponding to the target angle is: matching the target projection image and the reference image to directly determine the location of the tumor.

[0078] It should be noted that when the target angle is of the ideal projection angle type, the tumor in the target projection image is not superimposed or interfered with by other tissues (such as the heart, spine, ribs, etc.), and the tumor in the target projection image can be identified. Therefore, the target projection image has the conditions for accurately locating the tumor. Furthermore, when the target angle is of the ideal projection angle type, the tumor in the reference image is also not superimposed or interfered with by other tissues, and the tumor in the reference image can be identified. Therefore, the reference image has the conditions for accurately locating and tracking the tumor. Therefore, when the target angle is of the ideal projection angle type, matching the target projection image and the reference image can achieve the localization and tracking of the tumor in the target projection image.

[0079] In another possible implementation, the implementation process of S202 includes: when the target angle is a non-ideal projection angle type, that is, the target angle is not within the target angle range, the tumor localization method corresponding to the target angle is to perform matching processing on the target projection image and the reference image to determine the position of the substitute corresponding to the tumor; and then indirectly realize the localization and tracking of the tumor in the target projection image through the position of the substitute.

[0080] The tumor substitute can be any other object besides the tumor, such as the diaphragm, lung wall, or lung apex. In this way, the object monitored in image guidance can be replaced by the substitute, and the movement of the substitute is consistent with the movement of the tumor. Of course, the above is merely an exemplary description of tumor substitutes; tumor substitutes can also be human tissues that meet preset requirements for contrast and clarity in the image, and this application makes no limitations on this.

[0081] It should be noted that when the target angle is a non-ideal projection angle, the tumor in the target projection image is superimposed and interfered with by other tissues (such as the heart, spine, ribs, etc.), while the position of the tumor substitute is not interfered with. Therefore, the tumor cannot be clearly identified in the target projection image, while the tumor substitute can be clearly identified. Thus, the target projection image does not have the conditions for accurately locating the tumor, but it does have the conditions for accurately locating the position of the tumor substitute. Furthermore, when the target angle is a non-ideal projection angle, the tumor in the reference image is also superimposed and interfered with by other tissues, while the position of the tumor substitute is not interfered with. Therefore, when the target angle is a non-ideal projection angle, the tumor can be indirectly located and tracked by determining the position of the tumor substitute.

[0082] S203. Based on the corresponding tumor localization method, the target projection image and the reference image are matched to obtain the location of the tumor in the target projection image.

[0083] In one possible implementation, the process of S203 includes: when the target angle is of the ideal projection angle type, matching the target projection image and the reference image to obtain the location of the tumor.

[0084] Specifically, for the above-mentioned process of obtaining the location of the tumor when the target angle is of the ideal projection angle type, please refer to the embodiment shown in S301, which will not be repeated here.

[0085] In another possible implementation, the implementation process of S203 further includes: when the target angle is a non-ideal projection angle type, performing matching processing on the target projection image and the reference image to obtain the location of the substitute corresponding to the tumor, and obtaining the location of the tumor in the target projection image based on the location of the substitute and the location mapping model of the tumor and the substitute.

[0086] Specifically, for the case where the target angle is a non-ideal projection angle, the specific implementation process of obtaining the location of the tumor in the target projection image is described in the embodiment shown in S302, and will not be repeated here.

[0087] Based on the above technical solution, the tumor localization method provided in this application first acquires a target projection image and a reference image containing 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 that angle is selected. The target projection image and the reference image are matched to obtain the position of the tumor in the target projection image. In other words, this technical solution can achieve tumor localization and tracking for projection images at various angles using corresponding tumor localization methods. Therefore, this technical solution is not limited by the angle of the projection image when achieving tumor localization, and can solve the problem that tumors cannot be identified or distinguished at certain specific angles, thus failing to accurately locate and track the tumor position, greatly improving the reliability of tumor localization and identification.

[0088] As one possible embodiment of this application, combined with Figure 2 ,like Figure 3 As shown, the process of matching the target projection image and the reference image in S203 above to obtain the location of the tumor in the target projection image can be implemented by the following S301 or S302-S303.

[0089] S301. When the target angle is the ideal projection angle, the target projection image and the reference image are matched to obtain the location of the tumor.

[0090] In one possible implementation, corresponding to the reference image as the 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 location of the tumor.

[0091] The description of the planned projected image is as shown in the embodiment shown in S201, and will not be repeated here.

[0092] Furthermore, if the reference image is the planned projection image, then the planned projection image within the target angle range is not interfered with by other tissues or the degree of interference is less than or equal to the threshold. The planned projection image outside the target angle range is interfered with by other tissues to a degree greater than the threshold.

[0093] It should be noted that when the target angle is the ideal projection angle, the tumor can be clearly shown in the planned projection image. Therefore, by registering the planned projection image and the target projection image, the location of the tumor in the target projection image can be determined.

[0094] In another possible implementation, corresponding to the reference image being a positioning projection image, the implementation process of S301 may include: based on the contour of the tumor in the positioning projection image, performing matching processing on the tumor in the target projection image to obtain the position of the tumor in the target projection image.

[0095] The description of the placement projection image is as shown in the embodiment shown in S201, and will not be repeated here.

[0096] It should be noted that when the target angle is the ideal projection angle, the positioning projection image has already outlined the contour of the tumor. Therefore, by matching the tumor in the target projection image, the contour of the tumor in the target projection image can be obtained, and the location of the tumor can be determined based on the contour of the tumor in the target projection image.

[0097] S302. When the target angle is not an ideal projection angle, the target projection image and the reference image are matched to obtain the location of the substitute corresponding to the tumor.

[0098] Non-ideal projection angles are those outside the target angle range.

[0099] In one possible implementation, corresponding to the reference image as the 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 the location of the substitute corresponding to the tumor.

[0100] It should be noted that when the target angle is not an ideal projection angle, the tumor in the planned projection image is interfered with by other tissues and is not clearly displayed, but the corresponding substitute for the tumor is clearly displayed. Therefore, by performing registration processing on the planned projection image and the target projection image, the location information of the substitute in the target projection image can be determined.

[0101] In another possible implementation, corresponding to the reference image being a positioning projection image, the implementation process of S302 may include: based on the contour of the substitute in the positioning projection image, performing matching processing on the substitute in the target projection image to obtain the position of the substitute in the target projection image.

[0102] It should be noted that when the target angle is not an ideal projection angle, the positioning projection image has already 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.

[0103] S303. Based on the location of the substitute and the location mapping model between the tumor and the substitute, the location of the tumor in the target projection image is obtained.

[0104] It is understandable that since the tumor and substitute location mapping model contains the mapping relationship between the location trajectory of the tumor and the location trajectory of the substitute, the location information of the substitute can be input into the tumor and substitute location mapping model to obtain the location information of the tumor corresponding to the location information of the substitute, that is, the location of the tumor in the target projection image.

[0105] Based on the above technical solution, when the target angle is an ideal projection angle, the location of the tumor can be directly obtained by matching the target projection image and the reference image. When the target angle is a non-ideal projection angle, the location of the tumor cannot be directly identified due to the degree of interference in the projection image and the reference image. In this application, the location of the tumor's surrogate is obtained by matching the target projection image and the reference image. Based on the location of the surrogate and the position mapping model between the tumor and the surrogate, the location of the tumor in the target projection image is obtained, which greatly enhances the reliability of tumor location identification.

[0106] Regarding the target angle range, the tumor and substitute position mapping model, and the tumor position in the above embodiments, the following describes the process of determining the target angle range in detail through Example 1; the process of establishing the tumor and substitute position mapping model in detail through Example 2; the process of establishing a respiratory motion model of the target object using the tumor position in Example 3; and the process of updating the tumor and substitute position mapping model established in Example 2 and / or the respiratory motion model of the target object established in Example 3 in Example 4.

[0107] Example 1

[0108] In some embodiments, the process of determining the target angle range may include steps 11-12.

[0109] Step 11: Obtain planned projection images of the tumor from multiple projection angles.

[0110] The planned projection image is a two-dimensional image generated by digitally projecting the planned image (e.g., CT image or MRI image) of the target object at a projection angle, such as a DRR image.

[0111] It should be noted that because the clarity of the tumor and other tissues in the planned projection image is greater than the preset clarity threshold, the degree of interference with the tumor in the planned projection image can be intuitively determined. This facilitates subsequent segmentation of multiple projection angles based on the planned projection images at multiple projection angles to obtain the target angle range.

[0112] Step 12: Based on the planned projection images under multiple projection angles, obtain the target angle range from the multiple projection angles.

[0113] In one possible implementation, for each planned projection image at a projection angle, the degree of interference with the tumor in the planned projection image is determined. If the tumor is not interfered with or the degree of interference is less than or equal to a threshold, it indicates that the contrast and clarity of the tumor in the target projection image at that projection angle meet the preset requirements, and thus the projection angle of the planned projection image is divided into the target angle range.

[0114] Conversely, if the tumor is not disturbed or the degree of disturbance is greater than the threshold, the projection angle of the projected image of the plan will be classified as the disturbance angle range (that is, the angle range outside the target angle range).

[0115] Optionally, the process of determining the degree of interference with the tumor includes: determining the proportion of the tumor region that is interfered with by other tissues in the total area of ​​the tumor; and using this proportion as the degree of interference with the tumor.

[0116] Based on the above technical solution, planned projection images of the tumor are obtained from multiple projection angles to simulate the path of rays passing through the tumor. Then, based on the planned projection images from multiple projection angles, the target angle range is obtained from these multiple projection angles.

[0117] For example, the maximum angle range can be [0 degrees, 360 degrees], and the target angle range can be multiple, such as [0 degrees, 30 degrees], [180 degrees, 210 degrees]. There is no overlap between multiple target angle ranges. Other angle ranges besides the target angle range are interference angle ranges, such as (30 degrees, 180 degrees) and (210 degrees, 360 degrees).

[0118] Example 2

[0119] As one possible embodiment of this application, the process of establishing the location mapping model of tumor and substitute can be achieved through the following steps 21-23.

[0120] Step 21: Obtain multiple projected images of the target object within the target angle range.

[0121] The projected images (e.g., each KV image in a KV image sequence) include the location of the tumor and its substitutes.

[0122] The description of tumor substitutes is as described in the embodiment shown in S202, and will not be repeated here.

[0123] It should be noted that within the target angle range, the tumor and substitute in the projected image are not interfered with by other tissues or the degree of interference is less than or equal to the threshold; while outside the target angle range, the tumor and substitute in the projected image are interfered with by other tissues to a degree greater than the threshold.

[0124] In other words, within the target angle range, the sharpness of the tumor and surrogate locations in the projected image meets the preset sharpness threshold. Outside the target angle range, the sharpness of the tumor and surrogate locations in the projected image does not meet the preset sharpness threshold. Therefore, acquiring multiple projected images of the target object within the target angle range facilitates subsequent determination of the mapping relationship between the tumor and surrogate locations based on their positions in the projected images.

[0125] Step 22: Based on multiple projection images, determine the location trajectory of the tumor and the location trajectory of the substitute.

[0126] Among them, the tumor location trajectory is used to indicate changes in the location of the tumor, and the substitute location trajectory is used to indicate changes in the location of the substitute.

[0127] In one possible implementation, step 22 above includes: recording the tumor positions in multiple projection images in concatenation according to the acquisition order of the projection images to obtain the tumor's position trajectory; and recording the positions of the substitute in multiple projection images in concatenation according to the acquisition order of the projection images to obtain the substitute's position trajectory.

[0128] Step 23: Based on the location trajectory of the tumor and the location trajectory of the substitute, establish a location mapping model between the tumor and the substitute.

[0129] In one possible implementation, the location trajectory of the tumor and the location trajectory of the substitute are combined by a pre-defined mapping method (such as linear mapping, nonlinear mapping, machine learning algorithm, etc.) to construct a location mapping model of the tumor and the substitute.

[0130] It should be noted that steps 21-23 in Example 2 can be performed before treatment so that the location mapping model can be used to locate the tumor during the subsequent treatment process.

[0131] Based on the above technical solution, multiple projection images of the target object within the target angle range are acquired. Based on these multiple projection images, the location trajectory of the tumor and the location trajectory of the substitute are determined. Furthermore, based on the location trajectories of the tumor and the substitute, a location mapping model between the tumor and the substitute is established. This model exhibits strong correlation and stability, facilitating tumor localization when performing tumor localization on target projection images acquired under non-ideal projection angles. By utilizing this location mapping model and the position of the substitute, the location of the tumor can be inferred, thus achieving tumor localization.

[0132] Example 3

[0133] In some embodiments, the process of establishing a respiratory motion model of the target object includes: establishing a respiratory motion model of the target object based on the location of the tumor in the target projection image and the respiratory signal of the target object.

[0134] Among them, the respiratory motion model of the target object is used to reflect the mapping relationship between the location of the tumor and respiratory signals.

[0135] It should be noted that the respiratory motion model is derived by combining the tumor's position under ideal and non-ideal projection angles with respiratory signals; that is, the respiratory motion model includes the tumor's position at various angles. Therefore, inputting the target subject's respiratory data into this respiratory motion model can also achieve tumor localization.

[0136] Example 4

[0137] As a possible embodiment of this application, this application may also update the tumor and substitute location mapping model established in Embodiment 2 above, and / or the target object respiratory motion model established in Embodiment 3 above.

[0138] In some embodiments, the positional offset of the tumor in the target projection image is determined, and when the positional offset is not within a threshold range, the positional mapping model of the tumor and its substitute, and / or the respiratory motion model of the tumor are updated based on the position of the tumor in the target projection image.

[0139] The tumor motion offset is the offset between the tumor position in the target projection image and the tumor mapping position obtained through the respiratory motion model; the tumor mapping position is the position of the tumor obtained by mapping the respiratory signal corresponding to the target angle into the respiratory motion model.

[0140] In one possible implementation, when acquiring a target projection image at the target angle, the respiratory signal corresponding to the target angle is input into a respiratory motion model to map the tumor's location. Then, the offset between the mapped tumor location and the tumor's location in the target projection image is determined. If this offset is outside a threshold range, it indicates that the offset of the tumor location obtained based on the respiratory motion model is too large, and the respiratory motion model needs to be updated. Furthermore, based on the tumor's location in the target projection image, the respiratory motion model of the tumor is updated, as is the location mapping model of the tumor and its substitute, to ensure the reliability of both the respiratory motion model and the tumor-substitute location mapping model.

[0141] In other embodiments, corresponding to the target angle type being an ideal projection angle, after matching the target projection image and the reference image to directly obtain the tumor location, the tumor location is used to check and update the tumor and substitute location mapping model and the respiratory motion model. Corresponding to the target angle type being a non-ideal projection angle, after indirectly obtaining the tumor location using the location of the tumor substitute, the tumor location is used to check and update the respiratory motion model.

[0142] This application embodiment can divide an electronic device into functional modules or functional units according to the above method examples. For example, each function can be divided into its own functional modules or functional units, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module or functional unit. The module or unit division in this application embodiment is illustrative and represents only one logical functional division; other division methods may be used in actual implementation.

[0143] like Figure 4 The diagram shown is a structural schematic of a tumor localization device 40 provided in an embodiment of this application. The tumor localization device 40 includes a communication unit 401 and a processing unit 402.

[0144] The communication unit 401 is used to acquire a target projection image and a reference image containing a tumor from a target angle; determine the tumor localization method corresponding to the target angle according to the type of the target angle; and perform matching processing on 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.

[0145] In one possible implementation, the processing unit 402 is specifically used to: when the target angle is an ideal projection angle, perform matching processing on the target projection image and the reference image to obtain the location 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, perform matching processing on the target projection image and the reference image to obtain the location of the substitute corresponding to the tumor; and based on the location of the substitute and the location mapping model of the tumor and the substitute, obtain the location of the tumor in the target projection image; the non-ideal projection angle is an angle outside the target angle range.

[0146] In one possible implementation, the processing unit 402 is specifically used for: corresponding to the planned projection image as the reference image, performing registration processing on the target projection image and the planned projection image to obtain the location 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; corresponding to the positioning projection image as the reference image, 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 location 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.

[0147] In one possible implementation, the processing unit 402 is specifically used to: when the reference image is a planned projection image, perform registration processing on the target projection image and the planned projection image to obtain the location of the substitute corresponding to the tumor; when the reference image is a positioning projection image, perform matching processing on the substitute in the target projection image based on the contour of the substitute in the positioning projection image to obtain the location of the substitute in the target projection image.

[0148] In one possible implementation, the processing unit 402 is specifically used to: 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; and based on the planned projection images at multiple projection angles, obtain the target angle range from the multiple projection angles.

[0149] In one possible implementation, the communication unit 401 is further configured to acquire multiple projected images of the target object within the target angle range, the projected images including the location of the tumor and the substitute; based on the multiple projected images, determine the location trajectory of the tumor and the location trajectory of the substitute, the location trajectory of the tumor and the location trajectory of the substitute respectively indicating the positional changes of the tumor and the substitute; and based on the location trajectory of the tumor and the location trajectory of the substitute, establish a location mapping model of the tumor and the substitute.

[0150] In one possible implementation, the processing unit 402 is further configured to: establish a respiratory motion model of the target object based on the location 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 location of the tumor and the respiratory signal.

[0151] In one possible implementation, the processing unit 402 is further configured to: determine the positional offset of the tumor in the target projection image, and when the positional offset is not within a threshold range, update the positional 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 mapped position of the tumor obtained by the respiratory motion model; the mapped 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.

[0152] In one possible implementation, the tumor localization device 40 may further include a storage unit 403. Figure 4 (shown in dashed box in the image), the storage unit 403 stores a program or instruction, which, when executed by the processing unit 402, enables the tumor localization device 40 to perform the tumor localization method described in the above method embodiment.

[0153] When implemented in hardware, this application also provides an electronic device for performing the tumor localization method shown in the above method embodiments.

[0154] Specifically, Figure 5 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. 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, memory 503, and communication interface 504 are connected via the communication line 502. The processor is configured to execute instructions to implement the tumor localization method described in the embodiments of this application.

[0155] The processor 501 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0156] Communication line 502 may include a path for transmitting information between the aforementioned components.

[0157] The communication interface 504 is used to communicate with other devices or communication networks. It can use any transceiver-like device, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), etc.

[0158] The memory 503 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of including or storing desired program code having the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0159] In one possible design, the memory 503 can exist independently of the processor 501, meaning the memory 503 can be an external memory of the processor 501. In this case, the memory 503 can be connected to the processor 501 via a communication line 502 to store execution instructions or application code, and its execution is controlled by the processor 501 to implement the tumor localization method provided in the following embodiments of this application. In another possible design, the memory 503 can also be integrated with the processor 501, meaning the memory 503 can be an internal memory of the processor 501. For example, the memory 503 can be a cache, which can be used to temporarily store some data and instruction information.

[0160] As one possible implementation, processor 501 may include one or more CPUs, for example Figure 5 CPU0 and CPU1 in the example. As another possible implementation, the electronic device may include multiple processors, such as... Figure 5 The processors 501 and 507 are mentioned.

[0161] As another possible implementation, the electronic device may also include output devices 505, such as various types of displays, speakers, etc.; and input devices 506, such as keyboards, mice, etc.

[0162] Through the above description of the embodiments, those skilled in the art will clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0163] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to execute the tumor localization method in the above method embodiments.

[0164] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the tumor localization method in the method flow shown in the above method embodiments.

[0165] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires; a portable computer disk drive; a hard disk drive; random access memory (RAM); read-only memory (ROM); erasable programmable read-only memory (EPROM); a register; a hard disk drive; an optical fiber; a compact disc read-only memory (CD-ROM); an optical storage device; a magnetic storage device; or any suitable combination thereof; or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may reside in an application-specific integrated circuit (ASIC). In the embodiments of this application, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0166] Various embodiments 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 (ASICs), application-specific standard parts (ASSPs), systems-on-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a memory system, at least one input device, and at least one output device, and transmitting data and instructions to the memory system, the at least one input device, and the at least one output device.

[0167] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0168] 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 liquid crystal display (LCD) monitor; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0169] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0170] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0171] Since the electronic devices, computer-readable storage media, and computer program products in the embodiments of this application can be applied to the above methods, the technical effects they can achieve can also be referred to the above method embodiments. The embodiments of this application will not be repeated here.

[0172] In the several embodiments provided in this 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 merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0173] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.

[0174] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand 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 within the scope of protection of this application.

[0175] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0176] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0177] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of tumor localization, comprising, The method comprises: acquiring a target projection image and a reference image of a target object containing a tumor at a target angle; determining a tumor positioning mode corresponding to the target angle according to a type of the target angle; in a case where the target angle is an ideal projection angle, performing matching processing on the target projection image and the reference image to obtain a position of the tumor; the ideal projection angle is an angle within a target angle range; in a projection image generated by imaging the target object within the target angle range, a degree of interference of the tumor by other tissues is less than or equal to a threshold value; or, in a case where the target angle is a non-ideal projection angle, performing matching processing on the target projection image and the reference image to obtain a 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, obtaining the position of the tumor in the target projection image; the non-ideal projection angle is an angle outside the target angle range; in a projection image generated by imaging the target object outside the target angle range, a degree of interference of the tumor by other tissues is greater than the threshold value.

2. The method of claim 1, wherein, The matching processing on the target projection image and the reference image to obtain the position of the tumor in a case where the target angle is an ideal projection angle comprises: in a case where the reference image is a planning projection image, performing registration processing on the target projection image and the planning projection image to obtain the position of the tumor; the planning projection image is a two-dimensional image generated by digitally projecting a planning image of the target object at the target angle; in a case where the reference image is a positioning projection image, performing matching processing on the tumor in the target projection image based on an outline 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 target object is positioned.

3. The method of claim 1, wherein, The matching processing on the target projection image and the reference image to obtain the position of the tumor in a case where the target angle is a non-ideal projection angle comprises: in a case where the reference image is a planning projection image, performing registration processing on the target projection image and the planning projection image to obtain the position of the tumor corresponding to the substitute; in a case where the reference image is a positioning projection image, performing matching processing on the substitute in the target projection image based on an outline of the substitute in the positioning projection image to obtain the position of the substitute in the target projection image.

4. The method of claim 1, wherein, The method further comprises: acquiring planning projection images of the tumor at a plurality of projection angles; the planning projection images are two-dimensional images generated by digitally projecting a planning image of the target object at the projection angles; acquiring a target angle range from the plurality of projection angles based on the planning projection images at the plurality of projection angles.

5. The method of claim 1, wherein, The process of establishing the position mapping model of the tumor and the substitute comprises: acquire a plurality of projection images of the target object in the target angle range, the projection images including positions of the tumor and the surrogate; determine 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 respectively indicating position changes of the tumor and the surrogate; establish a position mapping model of the tumor and the surrogate based on the position trajectory of the tumor and the position trajectory of the surrogate.

6. The method of claim 1, wherein, The method further comprises: establish a respiratory motion model of the target object based on the position of the tumor in the target projection image and a respiratory signal of the target object, the respiratory motion model of the target object being used to reflect a mapping relationship between the position of the tumor and the respiratory signal.

7. The method of claim 1, wherein, 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 the position mapping model of the tumor and the surrogate 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 an offset between the position of the tumor in the target projection image and a mapped position of the tumor obtained by the respiratory motion model, and the mapped position of the tumor is a position of the tumor mapped by inputting a respiratory signal corresponding to the target angle into the respiratory motion model.

8. An electronic device, comprising: The electronic device comprises: a processor; a memory configured to store executable instructions of the processor; wherein the processor is configured to execute the instructions to implement the tumor positioning method according to any one of claims 1-7.

9. 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 positioning method according to any one of claims 1-7.

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