Radiotherapy laser positioning lamp calibration method and device

Abstract

The invention discloses a radiotherapy laser positioning lamp calibration method and device, and belongs to the technical field of radiotherapy laser positioning lamps, and the method comprises the steps: firstly turning on all radiotherapy laser positioning lamps, enabling the cross laser emitted by all radiotherapy laser positioning lamps to irradiate the side wall of a calibration module, and enabling the side wall of the calibration module to irradiate the side wall of the calibration module; one radiotherapy laser positioning lamp faces one side wall; and adjusting the corresponding radiotherapy laser positioning lamp based on the position information of the first sensor in the side wall, the response position information after the laser is received and the response position information after the second sensor on the opposite side wall receives the laser. And the cross laser emitted by the radiotherapy laser positioning lamp completely falls on the cross curve of the corresponding side wall and completely falls on the projection of the cross curve of the opposite side wall. The radiotherapy laser positioning lamp can be quickly and accurately calibrated, so that errors of radiotherapy are reduced, and the radiotherapy is more accurate.

Description

Technical Field

[0001] The invention belongs to the technical field of radiotherapy laser positioning lamps, and in particular relates to a radiotherapy laser positioning lamp calibration method and device. Background Art

[0002] In modern radiotherapy rooms, radiotherapy laser positioning lights play a very important role in radiotherapy. Radiotherapy laser positioning lights are usually set in a group of three or four in the treatment room. Radiotherapy laser positioning lights are set on the top of the treatment bed, on the left side of the treatment bed and on the right side of the treatment bed in the radiotherapy room, that is, on the top and left and right sides when the user's body is placed on the treatment bed. The radiotherapy laser positioning lights can indicate the body surface position of the center of the tumor target area, ensure that the radiation beam accurately irradiates the tumor target area, and minimize the damage to the surrounding normal tissues. However, the radiotherapy laser positioning lights will have errors after repeated use and need to be calibrated. The existing technology calibrates the radiotherapy laser positioning lights. The process is very time-consuming and cumbersome, and is more dependent on manual labor.

[0003] Therefore, how to quickly and accurately calibrate the radiotherapy laser positioning lamp is a technical problem to be solved by those skilled in the art. Summary of the invention

[0004] The purpose of the present invention is to solve the technical problem in the prior art that the calibration of radiotherapy laser positioning lamp is time-consuming, cumbersome and relies on manual labor.

[0005] To achieve the above technical objectives, on the one hand, the present invention provides a radiotherapy laser positioning light calibration method, which is applied to a calibration module, wherein the calibration module is a cuboid located at a designated position of a treatment bed, and the four side walls of the calibration module are provided with cross lines, light-transmitting strip holes and an optical sensor array panel, the intersection of the cross lines is the center point of the corresponding side wall, the optical sensor array panel includes a plurality of first sensors and a plurality of second sensors, the plurality of first sensors are arranged in four groups into strips, and each group of first sensors is parallel to one side of the side wall, the plurality of second sensors are arranged in two groups and are located at the edge of a group of adjacent sides of the side wall, the light-transmitting strip holes include a first strip hole and a second strip hole, the first strip hole and the second strip hole are located at the adjacent side of the side wall where the second sensor is not located, and each strip hole is parallel to one side, wherein the projection of the strip hole can fall on the area where the second sensor is located on the opposite side wall, the first sensor is used to receive laser light from the direction of the side wall, and the second sensor is used to receive laser light from the direction of the opposite side wall, and the method includes: Turning on all radiotherapy laser positioning lights so that the cross lasers emitted by all radiotherapy laser positioning lights are irradiated on the side walls of the calibration module, with one radiotherapy laser positioning light facing one side wall; Based on the position information of the first sensor in the side wall and the response position information after receiving the laser, and the response position information of the second sensor on the opposite side wall after receiving the laser, the corresponding radiotherapy laser positioning light is adjusted so that the cross laser emitted by the radiotherapy laser positioning light falls completely on the cross line of the corresponding side wall and completely falls on the projection of the cross line of the opposite side wall.

[0006] Further, the adjusting of the corresponding radiotherapy laser positioning light based on the position information of the first sensor in the side wall and the response position information after receiving the laser and the response position information of the third sensor on the opposite side wall after receiving the laser specifically includes: Determine first response position information of the first sensor in the side wall after receiving the laser; Determine first position information of a first sensor located on the cross line in the side wall, and determine second position information of a first sensor located on the cross line in the opposite side wall; Performing a first adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information; Performing a second adjustment on the radiotherapy laser positioning lamp according to the first position information and second response position information after the second sensor in the opposite side wall receives the laser; A third adjustment is performed on the radiotherapy laser positioning light according to the first response position information and the first position information.

[0007] Further, the first adjustment of the radiotherapy laser positioning light according to the first response position information and the first position information specifically includes: Combining all first response position information into a first position line; All first position information is combined into a standard position line; Based on the first position line and the standard position line, the direction in which the first position line is to be rotated is determined, and the radiotherapy laser positioning light is adjusted according to the direction in which it is to be rotated so that the vertical line in the first position line is parallel to the vertical line in the standard position line or the horizontal line in the first position line is parallel to the horizontal line in the standard position line, thereby completing the first adjustment.

[0008] Further, a second adjustment is performed on the radiotherapy laser positioning lamp according to the first position information and the second response position information after the second sensor in the opposite side wall receives the laser, specifically including: All second response position information after the second sensor in the opposite side wall receives the laser is used to form a second position line; determining a second distance between a vertical line in the second position line and a vertical line in the crosshairs in the opposite side wall; Determining a first distance between a vertical line in the first position line and a vertical line in the crosshairs in the side wall; The emission direction of the radiotherapy laser positioning light is adjusted so that the first distance is equal to the second distance, thereby completing the second adjustment.

[0009] Further, performing a third adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information specifically includes: The distance between the intersection point in the first position line and the intersection point in the standard position line is used as the distance to be moved; The emission point of the radiotherapy laser positioning light is translated according to the distance to be moved so that the intersection point in the first position line coincides with the intersection point in the standard position line, thereby completing the third adjustment.

[0010] Furthermore, the radiotherapy laser positioning lamp is provided with an adjustment mechanism, and the adjustment mechanism is connected to a driving mechanism.

[0011] Furthermore, the designated position of the treatment bed is specifically the treatment position on the treatment bed for treating the patient. Before turning on all treatment laser positioning lights, the method also includes calibrating the position of the calibration module. The calibration process specifically involves aligning the geometric center point of the calibration module with the radiation center point of the radiotherapy.

[0012] Furthermore, the method further comprises displaying all position information on the optical sensor array panel corresponding to each side wall on a display.

[0013] On the other hand, the present invention also provides a radiotherapy laser positioning light calibration device, the device comprising: A calibration module, wherein the calibration module is a rectangular parallelepiped located at a designated position of the treatment bed, and the four side walls of the calibration module are all provided with crosshairs, light-transmitting strip holes and an optical sensor array panel, the intersection of the crosshairs is the center point of the corresponding side wall, the optical sensor array panel comprises a plurality of first sensors and a plurality of second sensors, the plurality of first sensors are divided into four groups and arranged in strips, and each group of first sensors is parallel to one side of the side wall, the plurality of second sensors are divided into two groups and arranged at the edge of a group of adjacent sides of the side wall, the light-transmitting strip holes comprise a first strip hole and a second strip hole, the first strip hole and the second strip hole are located at the adjacent side of the side wall where the second sensor is not located, and each strip hole is parallel to one side, wherein the projection of the strip hole can fall on the area where the second sensor is located on the opposite side wall, the first sensor is used to receive laser light from the direction of the side wall, and the second sensor is used to receive laser light from the direction of the opposite side wall; An opening module, used to open all radiotherapy laser positioning lights, so that the cross lasers emitted by all radiotherapy laser positioning lights are irradiated on the side walls of the calibration module, and one radiotherapy laser positioning light faces one side wall; A control module is used to adjust the corresponding radiotherapy laser positioning light based on the position information of the first sensor in the side wall and the response position information after receiving the laser and the response position information of the second sensor on the opposite side wall after receiving the laser, so that the cross laser emitted by the radiotherapy laser positioning light falls completely on the cross line of the corresponding side wall and completely falls on the projection of the cross line of the opposite side wall.

[0014] The present invention provides a radiotherapy laser positioning lamp calibration method and device. Compared with the prior art, the method first turns on all radiotherapy laser positioning lamps so that the cross lasers emitted by all radiotherapy laser positioning lamps are irradiated on the side walls of the calibration module, and one radiotherapy laser positioning lamp faces one side wall; based on the position information of the first sensor in the side wall and the response position information after receiving the laser and the response position information of the second sensor on the opposite side wall after receiving the laser, the corresponding radiotherapy laser positioning lamp is adjusted so that the cross laser emitted by the radiotherapy laser positioning lamp completely falls on the cross line of the corresponding side wall and completely falls on the projection of the cross line of the opposite side wall. The radiotherapy laser positioning lamp can be calibrated quickly and accurately, so that radiotherapy can reduce errors and be more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 The figure is a flow chart of a radiotherapy laser positioning light calibration method provided in an embodiment of this specification; Figure 2 The figure shows a schematic diagram of the structure of a radiotherapy laser positioning light calibration device provided in an embodiment of this specification; Figure 3 It is a schematic diagram showing the layout of the cross lines on the side wall, the light-transmitting strip holes and the optical sensor array panel in the embodiment of this specification; Figure 4 It is a schematic diagram showing the layout of the cross lines, light-transmitting strip holes and optical sensor array panel on the opposite side wall in the embodiment of this specification; Figure 5 Shown is a schematic diagram of laser irradiation on the side wall in the embodiment of this specification; Figure 6 The figure shows a schematic diagram of the layout of the light-transmitting holes on the side wall and the optical sensor array panel in another embodiment of the present specification; Figure 7Shown is a schematic diagram of the layout of the light-transmitting holes on the opposite side wall and the optical sensor array panel in another embodiment of the present specification; Figure 8 The figure shows a schematic diagram of the layout of the light-transmitting holes on the side wall and the optical sensor array panel in another embodiment of the present specification; Fig. 9 Shown is a schematic diagram of the layout of the light-transmitting holes on the opposite side walls and the optical sensor array panel in yet another embodiment of the present specification. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0018] like Figure 1 The flowchart of the radiotherapy laser positioning light calibration method provided in the embodiment of this specification is shown. Although this specification provides the method operation steps or device structures shown in the following embodiments or drawings, the method or device may include more or fewer operation steps or module units after partial merger based on routine or no creative labor. In the steps or structures where there is no necessary causal relationship logically, the execution order of these steps or the module structure of the device is not limited to the execution order or module structure shown in the embodiments of this specification or drawings. When the method or module structure is applied in actual devices, servers or terminal products, it can be executed sequentially or in parallel according to the method or module structure shown in the embodiments or drawings (for example, in a parallel processor or multi-threaded processing environment, or even in a distributed processing, server cluster implementation environment).

[0019] The radiotherapy laser positioning light calibration method provided in the embodiments of the present specification is applied to a calibration module, wherein the calibration module is a rectangular parallelepiped located at a specified position of a treatment bed, and the four side walls of the calibration module are provided with cross lines, light-transmitting strip holes and an optical sensor array panel, wherein the intersection of the cross lines is the center point of the corresponding side wall, and the optical sensor array panel includes a plurality of first sensors and a plurality of second sensors, wherein the plurality of first sensors are arranged in four groups into strips, and each group of first sensors is parallel to one side of the side wall, and the plurality of second sensors are arranged in two groups and are located at the edge of a group of adjacent sides of the side wall, the light-transmitting strip holes include a first strip hole and a second strip hole, wherein the first strip hole and the second strip hole are located at the adjacent side of the side wall where the second sensor is not located, and each strip hole is parallel to one side, wherein the projection of the strip hole can fall on the area where the second sensor is located on the opposite side wall, the first sensor is used to receive laser light from the direction of the side wall, and the second sensor is used to receive laser light from the direction of the opposite side wall, such as Figure 1 As shown, the method specifically comprises the following steps: Step S101, turning on all radiotherapy laser positioning lights so that the cross lasers emitted by all radiotherapy laser positioning lights are irradiated on the side walls of the calibration module, with one radiotherapy laser positioning light facing one side wall.

[0020] Step S102, adjust the corresponding radiotherapy laser positioning light based on the position information of the first sensor in the side wall and the response position information after receiving the laser and the response position information of the second sensor on the opposite side wall after receiving the laser, so that the cross laser emitted by the radiotherapy laser positioning light falls completely on the cross line of the corresponding side wall and completely falls on the projection of the cross line of the opposite side wall.

[0021] Specifically, Figure 3 The figure shows the layout of the crosshairs, light-transmitting strip holes and optical sensor array panel on the side wall of the calibration module. Figure 3 The circle numbered 1 represents the first sensor, the circle numbered 3 represents the second sensor, the intersection of the cross is the center of the side wall, and the light-transmitting strip is also the light-transmitting strip hole. The cross laser emitted by the radiotherapy laser positioning lamp can directly pass through the light-transmitting strip. Figure 4Shown is a schematic layout diagram of the cross lines, light-transmitting strip holes and optical sensor array panel on the opposite side wall of the calibration module. It can be seen that the light-transmitting strip on the side wall corresponds to the area where the second sensor is located on the opposite side wall. When the cross laser emitted by the radiotherapy laser positioning lamp in the direction of the side wall is irradiated on the side wall, it can pass through the light-transmitting strip to reach the second sensor on the opposite side wall. The purpose of the present application is to make the cross laser emitted by the radiotherapy laser positioning lamp completely perpendicular to the isocenter in radiotherapy, and it is necessary to make multiple radiotherapy laser positioning lamps in the radiotherapy room completely perpendicular to the isocenter at the same time. The isocenter is not completely fixed, and different tumor target areas will cause the isocenter to change. Assuming that a two-dimensional plane is used to stand on the isocenter, the cross laser may be offset after passing through the isocenter, resulting in inaccurate positioning of the radiotherapy laser positioning lamp and inability to completely locate the isocenter. Therefore, the present application provides a calibration module and a calibration method.

[0022] In a radiotherapy room, there are generally three or four radiotherapy laser positioning lights to locate the surface position of the tumor target area. This application takes three as an example. Through the explanation of three as an example in this application, those skilled in the art can know the calibration process of four or other numbers of radiotherapy laser positioning lights. After turning on all radiotherapy laser positioning lights, each radiotherapy laser positioning light emits a cross laser to a corresponding side wall. During treatment, the intersection of the cross lasers is located at the isocenter and needs to be completely perpendicular to the isocenter. Therefore, this application solution needs to be adjusted twice or even multiple times to make the cross lasers emitted by the radiotherapy laser positioning lights completely fall on the cross lines of the corresponding side wall and completely fall on the projection of the cross lines of the opposite side wall. When the cross lasers emitted by the radiotherapy laser positioning lights completely fall on the cross lines of the corresponding side wall and completely fall on the projection of the cross lines of the opposite side wall, it means that the intersection of the cross lasers is located at the isocenter and needs to be completely perpendicular to the isocenter. When the isocenter moves, the cross lasers emitted by the radiotherapy laser positioning lights will not be offset, rotated, or swayed.

[0023] In the embodiment of the present application, the adjusting of the corresponding radiotherapy laser positioning light based on the position information of the first sensor in the side wall and the response position information after receiving the laser and the response position information of the third sensor on the opposite side wall after receiving the laser specifically includes: Determine first response position information of the first sensor in the side wall after receiving the laser; Determine first position information of a first sensor located on the cross line in the side wall, and determine second position information of a first sensor located on the cross line in the opposite side wall; Performing a first adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information; Performing a second adjustment on the radiotherapy laser positioning lamp according to the first position information and second response position information after the second sensor in the opposite side wall receives the laser; A third adjustment is performed on the radiotherapy laser positioning light according to the first response position information and the first position information.

[0024] Specifically, as described above, the first adjustment, the second adjustment and the third adjustment in the present application are a complete adjustment process. If necessary, multiple complete adjustments can be performed. The first adjustment is to adjust the slope, that is, the vertical line in the first position line is parallel to the vertical line in the standard position line or the horizontal line in the first position line is parallel to the horizontal line in the standard position line; the second adjustment is to adjust the deflection, and the deflection is that the intersection of the cross laser emitted by the radiotherapy laser positioning lamp is not fixed with the central axis of the corresponding side wall. The second adjustment is to adjust the intersection of the cross laser emitted by the radiotherapy laser positioning lamp at any location. The distances between the central axes of the side walls are consistent; the third adjustment is also the translation adjustment. After the first adjustment and the second adjustment, it means that the vertical line of the cross laser irradiated on the corresponding side wall is parallel to the vertical line in the cross line on the corresponding side wall, and the intersection of the cross laser at this time is unchanged from the central axis of the corresponding side wall regardless of the distance. Therefore, the third adjustment is a translation adjustment, that is, the intersection of the cross laser is adjusted to be located on the central axis of the corresponding side wall. In the present application, to achieve this purpose, the intersection of the cross laser is adjusted to be located at the intersection of the cross lines of the corresponding side wall. Through the above-mentioned first adjustment, second adjustment and third adjustment, it can be achieved that the cross laser emitted by the radiotherapy laser positioning lamp falls completely on the cross line on the corresponding side wall and completely falls on the cross line on the opposite side wall.

[0025] In addition, it should be noted that, usually, of the three radiotherapy laser positioning lights in the treatment room, two are located on the left and right sides of the treatment bed, and the third is located on the wall in the longitudinal direction of the treatment bed, and the laser emitted is a straight laser. This is because the third radiotherapy laser positioning light is installed on the roof of the room, which is not conducive to adjustment, and most of the room roofs in contemporary society are suspended ceilings, which can easily affect the accuracy of the radiotherapy laser positioning light. Therefore, the third radiotherapy laser positioning light is set on the wall in the longitudinal direction of the treatment bed, and its position is higher than the treatment bed. The laser emitted is a straight laser because only a one-line laser is needed to determine the central axis of the treatment bed, so that when the patient lies on the treatment bed, the patient's body is located There is no offset on the central axis. At this time, for the third radiotherapy laser positioning light, due to its position, the straight laser it emits will also irradiate the corresponding side wall and the corresponding side wall. Through the above-mentioned first adjustment and second adjustment, the third laser radiotherapy positioning light can be completely perpendicular to the corresponding side wall. In addition, a fourth adjustment is required. The fourth adjustment is: the distance between the first position line corresponding to the third laser radiotherapy positioning light and the vertical line in the standard position line is used as the distance to be moved; according to the distance to be moved, the emission point of the third laser radiotherapy positioning light is translated so that the first position line corresponding to the third laser radiotherapy positioning light is completely overlapped with the vertical line in the standard position line. In this way, the adjustment of the third radiotherapy laser positioning light is achieved.

[0026] In the embodiment of the present application, the first adjustment of the radiotherapy laser positioning light according to the first response position information and the first position information specifically includes: Combining all first response position information into a first position line; All first position information is combined into a standard position line; Based on the first position line and the standard position line, the direction in which the first position line is to be rotated is determined, and the radiotherapy laser positioning light is adjusted according to the direction in which it is to be rotated so that the vertical line in the first position line is parallel to the vertical line in the standard position line or the horizontal line in the first position line is parallel to the horizontal line in the standard position line, thereby completing the first adjustment.

[0027] Specifically, in the first adjustment, because the first sensors are grouped and arranged in strips, including multiple first sensors, as shown in Figure 3, the first sensor is an optical sensor, which will respond after receiving irradiation from a light source. When a cross laser is irradiated on the optical sensor array panel, multiple first sensors will respond, and the first response position information corresponding to the responding first sensors will form a first position line, and the first position information of the first sensor located on the cross line in the side wall will form a standard position line. In this way, the rotation angle of the first position line can be known based on the first position line and the standard position line, thereby adjusting the first position line, specifically, determining the direction in which the first position line is to be rotated based on the first position line and the standard position line, and adjusting the radiotherapy laser positioning light according to the direction in which it is to be rotated, so that the vertical line in the first position line is parallel to the vertical line in the standard position line or the horizontal line in the first position line is parallel to the horizontal line in the standard position line, thereby completing the first adjustment. The direction in which it is to be rotated is converted into the direction in which the radiotherapy laser positioning light driving mechanism needs to drive, such as Figure 5 The figure shows a schematic diagram of laser irradiation on the side wall. The lines other than the cross lines are lasers. It should be noted that the laser is a cross laser. Figure 5 It is only a schematic display of a laser. Figure 5 It can be seen that if the laser and the crosshairs need to be parallel, the direction to be rotated needs to be determined. The slope between the vertical laser in the cross laser and the vertical line in the crosshairs can be calculated, and the direction to be rotated can be determined by the positive and negative slope, and then the driving mechanism can be controlled to adjust the adjustment mechanism. It should be noted that the parameters of the adjustment mechanism in the radiotherapy laser positioning light are disclosed by the corresponding product, and because of the particularity of the scene, the cross laser emitted by the radiotherapy laser positioning light must be adjustable, that is, the radiotherapy laser positioning light is equipped with an adjustment mechanism, which is a standard setting of the radiotherapy laser positioning light, and the present application is connected to a driving mechanism, such as a motor, at the adjustment mechanism, so that the driving mechanism adjusts the adjustment mechanism to move the cross laser, so that the vertical line in the cross laser is parallel to the vertical line in the crosshairs, and the first adjustment is completed.

[0028] In the embodiment of the present application, the second adjustment of the radiotherapy laser positioning lamp is performed according to the first position information and the second response position information after the second sensor in the opposite side wall receives the laser, specifically including: All second response position information after the second sensor in the opposite side wall receives the laser is used to form a second position line; determining a second distance between a vertical line in the second position line and a vertical line in the crosshairs in the opposite side wall; Determining a first distance between a vertical line in the first position line and a vertical line in the crosshairs in the side wall; The emission direction of the radiotherapy laser positioning light is adjusted so that the first distance is equal to the second distance, thereby completing the second adjustment.

[0029] Specifically, after the first adjustment is completed, it means that the vertical line of the cross laser is parallel to the vertical line of the cross line on the side wall, but it is not necessarily parallel to the vertical line of the cross line on the opposite side wall after extending to the opposite side wall, which means that the cross laser deviates from the central axis of the corresponding side wall, and the laser will fall on the second sensor on the opposite side wall after passing through the bar hole, and all the second response position information after the second sensor in the opposite side wall receives the laser is formed into a second position line; determine the second distance between the vertical line in the second position line and the vertical line in the cross line in the opposite side wall; determine the first distance between the vertical line in the first position line and the vertical line in the cross line in the side wall; adjust the emission direction of the radiotherapy laser positioning light so that the first distance is equal to the second distance, thereby completing the second adjustment.

[0030] Finally, performing a third adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information specifically includes: The distance between the intersection point in the first position line and the intersection point in the standard position line is used as the distance to be moved; The emission point of the radiotherapy laser positioning light is translated according to the distance to be moved so that the intersection point in the first position line coincides with the intersection point in the standard position line, thereby completing the third adjustment.

[0031] Specifically, after the first adjustment and the second adjustment, it means that the vertical line of the cross laser irradiated on the corresponding side wall is parallel to the vertical line in the cross line on the corresponding side wall, and the intersection of the cross laser at this time is at a constant distance from the central axis of the corresponding side wall regardless of the distance, so the third adjustment is a translation adjustment, that is, the intersection of the cross laser is adjusted to be located on the central axis of the corresponding side wall. In the present application, to achieve this purpose, the intersection of the cross laser is adjusted to be located at the intersection of the cross lines of the corresponding side wall. Through the above-mentioned first adjustment, second adjustment and third adjustment, it can be achieved that the cross laser emitted by the radiotherapy laser positioning lamp completely falls on the cross line on the corresponding side wall and completely falls on the cross line on the opposite side wall.

[0032] It should also be noted that the layout of the light-transmitting holes on the side wall and the optical sensor array panel in the present application is not limited to Figure 3 and Figure 4 In the form shown in Figure 6 FIG. 1 is a schematic diagram showing the layout of the light-transmitting holes on the side wall and the optical sensor array panel provided in another embodiment of the present application. Figure 7 FIG. 1 is a schematic diagram showing the layout of the light-transmitting holes on the opposite side wall and the optical sensor array panel provided in another embodiment of the present application. Figure 8 FIG. 1 is a schematic diagram showing the layout of the light-transmitting holes on the side wall and the optical sensor array panel provided in yet another embodiment of the present application. Fig. 9The figure shows a schematic diagram of the layout of the light-transmitting holes on the opposite side wall and the optical sensor array panel provided in another embodiment of the present application. Figure 6-Figure 9 In the figure, the circle marked with 1 is the first sensor, the circle marked with 2 is the light-transmitting hole, and the circle marked with 3 is the second sensor. Figure 6 and Figure 7 For example, it can be seen that in another embodiment, the same position on the side wall and the opposite side wall are both the first sensor, and the second sensor on the side wall and the light-transmitting hole on the opposite side wall, or the light-transmitting hole on the side wall and the second sensor on the opposite side wall correspond to each other. This arrangement can also allow the laser to be sensed by the second sensor on the opposite side wall after passing through the light-transmitting hole, but before calibration, it is not necessarily sensed by the second sensor directly opposite the light-transmitting hole. The calibration process is the same as in the above embodiment, which is divided into a first adjustment and a second adjustment. The first adjustment is to determine the moving distance, direction and rotation angle of the first position line based on the first position line on the side wall and the standard position line. degrees, and then the adjustment amount of the radiotherapy laser positioning light adjustment mechanism is calculated according to the distance and direction of movement of the first position line; the second adjustment is to determine the yaw angle based on the center point position of the side wall, the second position line and the standard position line of the opposite side wall, and the distance and direction of movement required for the second position line to completely overlap with the standard position line of the opposite side wall can be calculated according to the standard position line of the opposite side wall and the second position line as described above, and then the adjustment amount of the adjustment mechanism is determined based on the position of the radiotherapy laser positioning light and its distance from the opposite side wall, and the adjustment parameters of the adjustment mechanism in the radiotherapy laser positioning light, thereby completing the calibration of each radiotherapy laser positioning light in the radiotherapy room.

[0033] Figure 8 and Fig. 9 It is in Figure 6 and Figure 7 The arrangement area of ​​the optical sensor array panel is reduced on the basis of this embodiment. Those skilled in the art can flexibly adjust the arrangement of the optical sensor array panel and the light-transmitting holes according to this solution, but all of them are within the protection scope of this application.

[0034] It should be noted that multiple repeated adjustments can be preset, for example, the first adjustment, the second adjustment and the third adjustment are set as a group of adjustments, and a preset number of group adjustments are set. Repeating the adjustments with this number can make the calibration more accurate.

[0035] In the embodiment of the present application, the radiotherapy laser positioning light is provided with an adjustment mechanism, and the adjustment mechanism is connected to a driving mechanism. The designated position of the treatment bed is specifically a treatment position on the treatment bed where the patient is treated. Before turning on all the treatment laser positioning lights, the method further includes calibrating the position of the calibration module, and the calibration process specifically involves aligning the geometric center point of the calibration module with the radiation center point of the radiotherapy.

[0036] In an embodiment of the present application, the method further includes displaying all position information on the optical sensor array panel corresponding to each side wall on a display.

[0037] Specifically, displaying all position information on the optical sensor array panel corresponding to the side wall on the display can enable technical personnel in this field to more intuitively observe the calibration status of the cross laser, making it convenient for the staff to increase the number of adjustments or stop calibration.

[0038] Based on the above-mentioned radiotherapy laser positioning light calibration method, one or more embodiments of this specification also provide a radiotherapy laser positioning light calibration platform and terminal, which may include devices, software, modules, plug-ins, servers, clients, etc. that use the methods described in the embodiments of this specification and are combined with necessary implementation hardware devices. Based on the same innovative concept, the system in one or more embodiments provided in the embodiments of this specification is as described in the following embodiments. Since the implementation scheme and method for solving the problem of the system are similar, the implementation of the specific system in the embodiments of this specification can refer to the implementation of the aforementioned method, and the repetitions will not be repeated. The terms "unit" or "module" used below can be a combination of software and / or hardware that implements predetermined functions. Although the system described in the following embodiments is preferably implemented in software, hardware and a combination of software and hardware are also possible and conceived.

[0039] Specifically, Figure 2 This is a schematic diagram of the module structure of an embodiment of the radiotherapy laser positioning light calibration device provided in this specification. Figure 2 As shown, the radiotherapy laser positioning light calibration device provided in this manual includes: A calibration module 201, wherein the calibration module is a rectangular parallelepiped located at a designated position of the treatment bed, and the four side walls of the calibration module are all provided with cross lines, light-transmitting strip holes and an optical sensor array panel, the intersection of the cross lines is the center point of the corresponding side wall, the optical sensor array panel includes a plurality of first sensors and a plurality of second sensors, the plurality of first sensors are divided into four groups and arranged in strips, and each group of first sensors is parallel to one side of the side wall, the plurality of second sensors are divided into two groups and arranged at the edge of a group of adjacent sides of the side wall, the light-transmitting strip holes include a first strip hole and a second strip hole, the first strip hole and the second strip hole are located at the adjacent side of the side wall where the second sensor is not located, and each strip hole is parallel to one side, wherein the projection of the strip hole can fall on the area where the second sensor is located on the opposite side wall, the first sensor is used to receive laser light from the direction of the side wall, and the second sensor is used to receive laser light from the direction of the opposite side wall; The opening module 202 is used to open all radiotherapy laser positioning lights so that the cross lasers emitted by all radiotherapy laser positioning lights are irradiated on the side wall of the calibration module, and one radiotherapy laser positioning light faces one side wall; The control module 203 is used to adjust the corresponding radiotherapy laser positioning light based on the position information of the first sensor in the side wall and the response position information after receiving the laser and the response position information of the second sensor on the opposite side wall after receiving the laser, so that the cross laser emitted by the radiotherapy laser positioning light falls completely on the cross line of the corresponding side wall and completely falls on the projection of the cross line of the opposite side wall.

[0040] It should be noted that the above-mentioned system may also include other implementation modes according to the description of the corresponding method embodiment. The specific implementation modes may refer to the description of the above-mentioned corresponding method embodiment, which will not be described one by one here.

[0041] The present application also provides an electronic device, including: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the method provided in the above embodiment.

[0042] The electronic device provided in the embodiment of the present application stores executable instructions of the processor in the memory. When the processor executes the executable instructions, all radiotherapy laser positioning lights can be turned on so that the cross lasers emitted by all radiotherapy laser positioning lights are irradiated on the side wall of the calibration module, and one of the radiotherapy laser positioning lights faces one side wall; Based on the position information of the first sensor in the side wall and the response position information after receiving the laser, and the response position information of the second sensor on the opposite side wall after receiving the laser, the corresponding radiotherapy laser positioning light is adjusted so that the cross laser emitted by the radiotherapy laser positioning light falls completely on the cross line of the corresponding side wall and completely falls on the projection of the cross line of the opposite side wall.

[0043] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0044] The methods or devices described in the above embodiments provided in this specification can implement business logic through computer programs and record them on storage media, and the storage media can be read and executed by computers to achieve the effects of the solutions described in the embodiments of this specification, such as: Turning on all radiotherapy laser positioning lights so that the cross lasers emitted by all radiotherapy laser positioning lights are irradiated on the side walls of the calibration module, with one radiotherapy laser positioning light facing one side wall; Based on the position information of the first sensor in the side wall and the response position information after receiving the laser, and the response position information of the second sensor on the opposite side wall after receiving the laser, the corresponding radiotherapy laser positioning light is adjusted so that the cross laser emitted by the radiotherapy laser positioning light falls completely on the cross line of the corresponding side wall and completely falls on the projection of the cross line of the opposite side wall.

[0045] The storage medium may include a physical device for storing information, which is usually a medium that digitizes information and then stores it in an electrical, magnetic or optical manner. The storage medium may include: a device that stores information in an electrical energy manner, such as various memories, such as RAM, ROM, etc.; a device that stores information in a magnetic energy manner, such as a hard disk, a floppy disk, a magnetic tape, a magnetic core memory, a magnetic bubble memory, a USB flash drive; a device that stores information in an optical manner, such as a CD or a DVD. Of course, there are other readable storage media, such as quantum memory, graphene memory, etc.

[0046] The embodiments of this specification are not limited to complying with industry communication standards, standard computer resource data update and data storage rules, or the situations described in one or more embodiments of this specification. Certain industry standards or slightly modified implementation plans based on the implementation described in the custom method or embodiment can also achieve the same, equivalent or similar, or predictable implementation effects after deformation of the above-mentioned embodiments. The embodiments obtained by using these modified or deformed data acquisition, storage, judgment, processing methods, etc. can still fall within the scope of the optional implementation plans of the embodiments of this specification.

[0047] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a computer-readable medium such as a microprocessor or processor and a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, ATMEL AT91SAM, MICROCHIP PIC18F26K20, and SILICONE LABS C8051F320. The memory controller can also be implemented as part of the control logic of the memory. It is also known to those skilled in the art that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0048] The device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. There may be other divisions in actual implementation, such as multiple units or plug-ins may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interface, indirect coupling or communication connection of the device or unit, which may be electrical, mechanical or other forms.

[0049] These computer program instructions may also be loaded onto a computer or other programmable resource data updating device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions executed on the computer or other programmable device for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0050] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. In the description of this specification, the description of the reference term "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification. In this specification, the schematic representation of the above terms does not have to be the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0051] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A radiotherapy laser positioning lamp calibration method, characterized in that: Applied to a calibration module, the calibration module is a cuboid located at a designated position of a treatment bed, and the four side walls of the calibration module are all provided with cross lines, light-transmitting strip holes and an optical sensor array panel, the intersection of the cross lines is the center point of the corresponding side wall, the optical sensor array panel includes a plurality of first sensors and a plurality of second sensors, the plurality of first sensors are arranged in four groups into strips, and each group of first sensors is parallel to one side of the side wall, the plurality of second sensors are arranged in two groups and are located at the edge of a group of adjacent sides of the side wall, the light-transmitting strip holes include a first strip hole and a second strip hole, the first strip hole and the second strip hole are located at the adjacent side of the side wall where the second sensor is not located, and each strip hole is parallel to one side, wherein the projection of the strip hole can fall on the area where the second sensor is located on the opposite side wall, the first sensor is used to receive laser light from the direction of the side wall, and the second sensor is used to receive laser light from the direction of the opposite side wall, and the method includes: Turning on all radiotherapy laser positioning lights so that the cross lasers emitted by all radiotherapy laser positioning lights are irradiated on the side walls of the calibration module, with one radiotherapy laser positioning light facing one side wall; Based on the position information of the first sensor in the side wall and the response position information after receiving the laser, and the response position information of the second sensor on the opposite side wall after receiving the laser, the corresponding radiotherapy laser positioning light is adjusted so that the cross laser emitted by the radiotherapy laser positioning light falls completely on the cross line of the corresponding side wall and completely falls on the projection of the cross line of the opposite side wall.

2. The radiotherapy laser positioning lamp calibration method according to claim 1, characterized in that: The adjusting of the corresponding radiotherapy laser positioning light based on the position information of the first sensor in the side wall and the response position information after receiving the laser and the response position information of the third sensor on the opposite side wall after receiving the laser specifically includes: Determine first response position information of the first sensor in the side wall after receiving the laser; Determine first position information of a first sensor located on the cross line in the side wall, and determine second position information of a first sensor located on the cross line in the opposite side wall; Performing a first adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information; Performing a second adjustment on the radiotherapy laser positioning lamp according to the first position information and second response position information after the second sensor in the opposite side wall receives the laser; A third adjustment is performed on the radiotherapy laser positioning light according to the first response position information and the first position information.

3. The radiotherapy laser positioning lamp calibration method according to claim 2, characterized in that: The first adjustment of the radiotherapy laser positioning light according to the first response position information and the first position information specifically includes: Combining all first response position information into a first position line; All first position information is combined into a standard position line; Based on the first position line and the standard position line, the direction in which the first position line is to be rotated is determined, and the radiotherapy laser positioning light is adjusted according to the direction in which it is to be rotated so that the vertical line in the first position line is parallel to the vertical line in the standard position line or the horizontal line in the first position line is parallel to the horizontal line in the standard position line, thereby completing the first adjustment.

4. The radiotherapy laser positioning lamp calibration method according to claim 3, characterized in that: The second adjustment of the radiotherapy laser positioning lamp is performed according to the first position information and the second response position information after the second sensor in the opposite side wall receives the laser, specifically including: All second response position information after the second sensor in the opposite side wall receives the laser is used to form a second position line; determining a second distance between a vertical line in the second position line and a vertical line in the crosshairs in the opposite side wall; Determining a first distance between a vertical line in the first position line and a vertical line in the crosshairs in the side wall; The emission direction of the radiotherapy laser positioning light is adjusted so that the first distance is equal to the second distance, thereby completing the second adjustment.

5. The radiotherapy laser positioning lamp calibration method according to claim 4, characterized in that: Performing a third adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information specifically includes: The distance between the intersection point in the first position line and the intersection point in the standard position line is used as the distance to be moved; The emission point of the radiotherapy laser positioning light is translated according to the distance to be moved so that the intersection point in the first position line coincides with the intersection point in the standard position line, thereby completing the third adjustment.

6. The radiotherapy laser positioning lamp calibration method according to claim 1, characterized in that: The radiotherapy laser positioning lamp is provided with an adjustment mechanism, and the adjustment mechanism is connected to a driving mechanism.

7. The radiotherapy laser positioning lamp calibration method according to claim 1, characterized in that: The designated position of the treatment bed is specifically the treatment position on the treatment bed where the patient is treated. Before turning on all treatment laser positioning lights, the method also includes calibrating the position of the calibration module. The calibration process specifically involves aligning the geometric center point of the calibration module with the radiation center point of the radiotherapy.

8. The radiotherapy laser positioning light calibration method according to any one of claims 1 to 7, characterized in that: The method further comprises displaying all position information on the optical sensor array panel corresponding to each side wall on a display.

9. A radiotherapy laser positioning light calibration device, characterized in that: The device comprises: A calibration module, wherein the calibration module is a rectangular parallelepiped located at a designated position of the treatment bed, and the four side walls of the calibration module are all provided with crosshairs, light-transmitting strip holes and an optical sensor array panel, the intersection of the crosshairs is the center point of the corresponding side wall, the optical sensor array panel comprises a plurality of first sensors and a plurality of second sensors, the plurality of first sensors are divided into four groups and arranged in strips, and each group of first sensors is parallel to one side of the side wall, the plurality of second sensors are divided into two groups and arranged at the edge of a group of adjacent sides of the side wall, the light-transmitting strip holes comprise a first strip hole and a second strip hole, the first strip hole and the second strip hole are located at the adjacent side of the side wall where the second sensor is not located, and each strip hole is parallel to one side, wherein the projection of the strip hole can fall on the area where the second sensor is located on the opposite side wall, the first sensor is used to receive laser light from the direction of the side wall, and the second sensor is used to receive laser light from the direction of the opposite side wall; An opening module, used to open all radiotherapy laser positioning lights, so that the cross lasers emitted by all radiotherapy laser positioning lights are irradiated on the side walls of the calibration module, and one radiotherapy laser positioning light faces one side wall; A control module is used to adjust the corresponding radiotherapy laser positioning light based on the position information of the first sensor in the side wall and the response position information after receiving the laser and the response position information of the second sensor on the opposite side wall after receiving the laser, so that the cross laser emitted by the radiotherapy laser positioning light falls completely on the cross line of the corresponding side wall and completely falls on the projection of the cross line of the opposite side wall.

Images