A radiotherapy laser positioning light calibration method and device

Abstract

The present invention discloses a radiotherapy laser positioning lamp calibration method and device, belonging to the technical field of radiotherapy laser positioning lamps. The method comprises: first turning 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, with one radiotherapy laser positioning lamp facing one side wall; based on the position information of a first sensor in the side wall and the response position information after receiving the laser, and the response position information of a second sensor on the opposite side wall after receiving the laser, the corresponding radiotherapy laser positioning lamp is adjusted so that the cross lasers emitted by the radiotherapy laser positioning lamps completely fall on the cross lines of the corresponding side wall and completely fall on the projection of the cross lines on the opposite side wall. The radiotherapy laser positioning lamps can be calibrated quickly and accurately, so that radiotherapy can reduce errors and be more accurate.

Description

Technical Field

[0001] The present 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 up in groups 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 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 multiple uses and need to be calibrated. The existing technology is very time-consuming and cumbersome to calibrate the radiotherapy laser positioning lights, 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 lamps 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 rectangular parallelepiped located at a designated position on a treatment bed, and the four side walls of the calibration module are each provided with a crosshair, a light-transmitting strip hole, and an optical sensor array panel, the intersection of the crosshairs being the center point of the corresponding side wall, the optical sensor array panel including a plurality of first sensors and a plurality of second sensors, the plurality of first sensors being arranged in a strip shape in four groups, and each group of first sensors being parallel to one side of the side wall, the plurality of second sensors being arranged in two groups and being located at the edge of a group of adjacent sides of the side wall, the light-transmitting strip hole including a first strip hole and a second strip hole, the first strip hole and the second strip hole being located at the adjacent side of the side wall where the second sensor is not located, and each strip hole being 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 being used to receive laser light from the direction of the side wall, and the second sensor being used to receive laser light from the direction of the opposite side wall, the method comprising:

[0006] 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;

[0007] 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.

[0008] Furthermore, adjusting 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 specifically includes:

[0009] Determining first response position information of the first sensor in the side wall after receiving the laser;

[0010] Determining first position information of a first sensor located on a cross line in the side wall, and determining second position information of the first sensor located on a cross line in an opposite side wall;

[0011] Performing a first adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information;

[0012] performing a second adjustment on the radiotherapy laser positioning light according to the second position information and second response position information of the second sensor in the opposite side wall after receiving the laser;

[0013] A third adjustment is performed on the radiotherapy laser positioning light according to the first response position information and the first position information.

[0014] Furthermore, the first adjustment of the radiotherapy laser positioning light according to the first response position information and the first position information specifically includes:

[0015] Combining all first response position information into a first position line;

[0016] Combining all first position information into a standard position line;

[0017] 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.

[0018] Further, a second adjustment is performed on the radiotherapy laser positioning light according to the second position information and the second response position information of the second sensor in the opposite side wall after receiving the laser, specifically including:

[0019] All second response position information after the second sensor in the opposite side wall receives the laser is combined into a second position line;

[0020] Determining a second distance between a vertical line in the second position line and a vertical line in the standard position line of the opposite side wall;

[0021] Determining a first distance between a vertical line in the first position line and a vertical line in the corresponding side wall standard position line;

[0022] 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.

[0023] 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:

[0024] 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;

[0025] The emission point of the radiotherapy laser positioning lamp 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.

[0026] Furthermore, the radiotherapy laser positioning lamp is provided with an adjustment mechanism, and the adjustment mechanism is connected to a driving mechanism.

[0027] Furthermore, 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.

[0028] Furthermore, the method further includes displaying all position information on the optical sensor array panel corresponding to each side wall on a display.

[0029] On the other hand, the present invention also provides a radiotherapy laser positioning light calibration device, the device comprising:

[0030] A calibration module, which is a rectangular parallelepiped located at a designated position on the treatment bed, and each of the four side walls of the calibration module is provided with a crosshair, a light-transmitting strip hole, 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 includes a plurality of first sensors and a plurality of second sensors. The plurality of first sensors are arranged in a strip shape in four groups, 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 edges 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 on adjacent sides of the side wall where the second sensor is not located, and each strip hole is parallel to one side. 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.

[0031] an opening module, used to open 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, with one radiotherapy laser positioning lamp facing one side wall;

[0032] 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.

[0033] The present invention provides a radiotherapy laser positioning light calibration method and device. Compared with the existing technology, this method first turns on all radiotherapy laser positioning lights so that the cross lasers emitted by all radiotherapy laser positioning lights illuminate the side walls of the calibration module, with one radiotherapy laser positioning light facing one side wall. Based on the position information of a first sensor in the side wall and the response position information after receiving the laser, and the response position information of a 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 completely falls on the cross line of the corresponding side wall and completely falls on the projection of the cross line on the opposite side wall. The radiotherapy laser positioning light can be calibrated quickly and accurately, reducing errors and making radiotherapy more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0035] Figure 1 FIG2 is a flow chart of a radiotherapy laser positioning light calibration method provided in an embodiment of this specification;

[0036] 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;

[0037] Figure 3 The figure shows 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;

[0038] Figure 4 The figure shows 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;

[0039] Figure 5 Shown is a schematic diagram of laser irradiation on the side wall in an embodiment of this specification;

[0040] Figure 6 Shown is 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 this specification;

[0041] Figure 7 Shown is a schematic diagram of the layout of the light-transmitting holes and the optical sensor array panel on the opposite side wall in another embodiment of this specification;

[0042] Figure 8 FIG2 is a schematic diagram showing the layout of the light-transmitting holes on the side wall and the optical sensor array panel in yet another embodiment of the present specification;

[0043] Figure 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 this specification. DETAILED DESCRIPTION

[0044] 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 the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0045] 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 structure shown in the following embodiment 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 work. In the steps or structures that do not logically have a necessary causal relationship, 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 embodiment or drawings of this specification. 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 embodiment or drawings (for example, in a parallel processor or multi-threaded processing environment, or even in a distributed processing or server cluster implementation environment).

[0046] The radiotherapy laser positioning light calibration method provided in the embodiments of this specification is applied to a calibration module, wherein the calibration module is a rectangular parallelepiped located at a specified position on the 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 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 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, such as Figure 1 As shown, the method specifically includes the following steps:

[0047] Step S101: Turn 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.

[0048] 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.

[0049] Specifically, such as Figure 3The 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 4 Shown 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 calibration method.

[0050] 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 the three examples 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 the 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 fall completely 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 fall completely 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 yawed.

[0051] In an embodiment of the present application, adjusting 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 specifically includes:

[0052] Determining first response position information of the first sensor in the side wall after receiving the laser;

[0053] Determining first position information of a first sensor located on a cross line in the side wall, and determining second position information of the first sensor located on a cross line in an opposite side wall;

[0054] Performing a first adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information;

[0055] performing a second adjustment on the radiotherapy laser positioning light according to the second position information and second response position information of the second sensor in the opposite side wall after receiving the laser;

[0056] A third adjustment is performed on the radiotherapy laser positioning light according to the first response position information and the first position information.

[0057] 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, that is, the distance between the intersection of the cross laser emitted by the radiotherapy laser positioning lamp and the center axis of the corresponding side wall is not fixed, and the second adjustment is to adjust the intersection of the cross laser emitted by the radiotherapy laser positioning lamp to be at the same position as the center axis of the corresponding side wall regardless of the location. The distances between the center axes of the corresponding side walls are consistent; the third adjustment is also the translation adjustment. After the first and second adjustments, 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 lines on the corresponding side wall, and the intersection of the cross laser at this time is unchanged from the center 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 center axis of the corresponding side wall. In the present application, to achieve this goal, 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, second and third adjustments, it is possible to achieve 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.

[0058] 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, and the laser emitted is a straight laser because only a straight 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 and second adjustments, the third laser radiotherapy positioning light can be made 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 coincident with the vertical line in the standard position line. In this way, the adjustment of the third radiotherapy laser positioning light is achieved.

[0059] 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:

[0060] Combining all first response position information into a first position line;

[0061] Combining all first position information into a standard position line;

[0062] 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.

[0063] 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 sensors are optical sensors, which will respond after receiving irradiation from the light source. When the 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 be composed into a first position line, and the first position information of the first sensor located on the cross line in the side wall will be composed into 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 of the first position line 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 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. Convert the direction to be rotated into the direction that 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 or negative slope. Then the driving mechanism is controlled to adjust the adjustment mechanism. It should be noted that the parameters of the adjustment mechanism in the radiotherapy laser positioning lamp are disclosed by the corresponding product, and because of the particularity of the scene, the cross laser emitted by the radiotherapy laser positioning lamp must be adjustable, that is, the radiotherapy laser positioning lamp is equipped with an adjustment mechanism. This is a standard setting for radiotherapy laser positioning lamps, 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, completing the first adjustment.

[0064] In the embodiment of the present application, the second adjustment of the radiotherapy laser positioning lamp is performed according to the second position information and the second response position information of the second sensor in the opposite side wall after receiving the laser, specifically including:

[0065] All second response position information after the second sensor in the opposite side wall receives the laser is combined into a second position line;

[0066] Determining a second distance between a vertical line in the second position line and a vertical line in the standard position line of the opposite side wall;

[0067] Determining a first distance between a vertical line in the first position line and a vertical line in the corresponding side wall standard position line;

[0068] 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.

[0069] 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, indicating that the cross laser has deviated from the center 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. All the second response position information after the second sensor in the opposite side wall receives the laser is composed of 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.

[0070] Finally, performing a third adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information, specifically including:

[0071] 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;

[0072] The emission point of the radiotherapy laser positioning lamp 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.

[0073] Specifically, after the first and second adjustments, the vertical line of the cross laser irradiated on the corresponding side wall is parallel to the vertical line of the cross lines 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. 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 goal, 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, second and third adjustments, the cross laser emitted by the radiotherapy laser positioning lamp can be completely fallen on the cross line on the corresponding side wall and completely fall on the cross line on the opposite side wall.

[0074] It should also be noted that the layout of the light-transmitting holes on the sidewall and the optical sensor array panel in this application is not limited to Figure 3 and Figure 4 In the form of the diagram, Figure 6 FIG. 1 is a schematic diagram showing the layout of the light-transmitting holes on the sidewall and the optical sensor array panel provided in another embodiment of the present application. Figure 7FIG. 1 is a schematic diagram showing the layout of the light-transmitting holes on the opposite side walls 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 sidewall and the optical sensor array panel provided in another embodiment of the present application. Figure 9 The figure shows a schematic diagram of the layout of the light-transmitting holes on the opposite side walls and the optical sensor array panel provided in another embodiment of the present application. Figure 6-Figure 9 In the figure, the circle marked 1 is the first sensor, the circle marked 2 is the light-transmitting hole, and the circle marked 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 setting can also make the laser 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 the first adjustment and the 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 and the standard position line on the side wall. degrees, and then calculate the adjustment amount of the radiotherapy laser positioning light adjustment mechanism based on 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 also be calculated based on the standard position line and the second position line of the opposite side wall as described above, and then determine the adjustment amount of the adjustment mechanism 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.

[0075] Figure 8 and Figure 9 It is in Figure 6 and Figure 7 The arrangement area of the optical sensor array panel is reduced on this basis. 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 this is within the protection scope of this application.

[0076] 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. Repeated adjustments are performed this number of times to make the calibration more accurate.

[0077] In an embodiment of the present application, the radiotherapy laser positioning light is provided with an adjustment mechanism connected to a drive mechanism. The designated position of the treatment bed is specifically the treatment position on the treatment bed where the patient is treated. Before activating all treatment laser positioning lights, the method further includes calibrating the position of a calibration module. The calibration process specifically involves aligning the geometric center of the calibration module with the radiation center of the radiotherapy treatment.

[0078] 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.

[0079] Specifically, displaying all position information on the optical sensor array panel corresponding to the side wall on the display can enable those skilled in the art 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.

[0080] 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. The platform or terminal 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 implement a combination of software and / or hardware with predetermined functions. Although the system described in the following embodiments is preferably implemented in software, implementation in hardware or a combination of software and hardware is also possible and conceived.

[0081] 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:

[0082] A calibration module 201 is provided, which is a rectangular parallelepiped located at a designated position on the treatment bed, and each of the four side walls of the calibration module is provided with a crosshair, a light-transmitting strip hole, 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 includes a plurality of first sensors and a plurality of second sensors. The plurality of first sensors are arranged in a strip shape in four groups, 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 edges 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 adjacent sides of the side wall where the second sensor is not located, and each strip hole is parallel to one side. The projection of the strip hole can fall on the area of the second sensor on the opposite side wall. The first sensor is used to receive laser light from the side wall, and the second sensor is used to receive laser light from the opposite side wall.

[0083] an activation module 202 for activating 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, with one radiotherapy laser positioning lamp facing one side wall;

[0084] 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.

[0085] It should be noted that the above-mentioned system may also include other implementation methods according to the description of the corresponding method embodiment. The specific implementation methods can refer to the description of the above-mentioned corresponding method embodiment, and will not be described one by one here.

[0086] An embodiment of the present application further provides an electronic device, including:

[0087] processor;

[0088] a memory for storing instructions executable by the processor;

[0089] The processor is configured to execute the method provided in the above embodiment.

[0090] The electronic device provided in an embodiment of the present application stores executable instructions of a processor in a memory. When the processor executes the executable instructions, it can turn on all radiotherapy laser positioning lamps so that the cross lasers emitted by all radiotherapy laser positioning lamps illuminate the side walls of the calibration module, with one radiotherapy laser positioning lamp facing one side wall.

[0091] 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.

[0092] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0093] The methods or devices described in the above embodiments of this specification can implement business logic through computer programs and record them on storage media. The storage media can be read and executed by a computer to achieve the effects of the solutions described in the embodiments of this specification, such as:

[0094] 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;

[0095] 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.

[0096] The storage medium may include a physical device for storing information, typically digitizing the information and then storing it in a medium utilizing electrical, magnetic, or optical means. Examples of such storage media include: devices that store information electrically, such as various types of memory devices like RAM and ROM; devices that store information magnetically, such as hard disks, floppy disks, magnetic tapes, magnetic core memories, bubble memories, and USB flash drives; and devices that store information optically, such as CDs and DVDs. Of course, other types of readable storage media exist, such as quantum memories and graphene memories.

[0097] The embodiments of this specification are not limited to those that must comply 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 embodiments using custom methods or embodiments can also achieve the same, equivalent, or similar implementation effects as the above embodiments, or the expected implementation effects after deformation. The embodiments obtained by applying 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.

[0098] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel ATMEL AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in pure computer-readable program code, the controller can also be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the means for implementing various functions included therein can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0099] The device embodiments described above are merely illustrative. For example, the division of units described is merely a logical functional division. Actual implementations may employ alternative divisions, such as combining or integrating multiple units or plug-ins into another system, or omitting or disabling certain features. Furthermore, the coupling or direct coupling or communication connection shown or discussed between devices or units may be through interfaces, or indirect coupling or communication connection between devices or units may be electrical, mechanical, or otherwise.

[0100] These computer program instructions can 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 for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0101] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from the other embodiments. In particular, since the system embodiments are generally similar to the method embodiments, their description is relatively simple, and relevant parts can be referenced to the partial description of the method embodiments. Throughout this specification, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of this specification. In this specification, the schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and integrate the different embodiments or examples, and features of different embodiments or examples, described in this specification, without conflict.

[0102] 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 it should be understood that the scope of protection of the present invention is not limited to such specific descriptions and embodiments. Those skilled in the art can make various other specific variations and combinations based on the technical teachings disclosed in the present invention without departing from the essence of the present invention, and such variations and combinations are still within the scope of protection 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 rectangular parallelepiped located at a designated position on a treatment bed, and the four side walls of the calibration module are each provided with a crosshair, a light-transmitting strip hole, and an optical sensor array panel, the intersection of the crosshairs being the center point of the corresponding side wall, the optical sensor array panel comprising a plurality of first sensors and a plurality of second sensors, the plurality of first sensors being arranged in a strip shape in four groups, and each group of first sensors being parallel to one side of the side wall, the plurality of second sensors being arranged in two groups and being located at the edge of a group of adjacent sides of the side wall, the light-transmitting strip hole comprising a first strip hole and a second strip hole, the first strip hole and the second strip hole being located at the adjacent side of the side wall where the second sensor is not located, and each strip hole being 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 being used to receive laser light from the direction of the side wall, and the second sensor being used to receive laser light from the direction of the opposite side wall, and the method comprising: 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; Adjusting 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 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 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 second sensor on the opposite side wall after receiving the laser specifically includes: Determining first response position information of the first sensor in the side wall after receiving the laser; Determining first position information of a first sensor located on a cross line in the side wall, and determining second position information of the first sensor located on a cross line in an 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 light according to the second position information and second response position information of the second sensor in the opposite side wall after receiving the laser; performing a third adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information; Among them, the first adjustment is specifically 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 yaw. The yaw is specifically that the distance between the intersection of the cross laser emitted by the radiotherapy laser positioning lamp and the central axis of the corresponding side wall is not fixed. The second adjustment is specifically that the distance between the intersection of the cross laser emitted by the radiotherapy laser positioning lamp and the central axis of the corresponding side wall is always consistent. The third adjustment is specifically translation adjustment. The third adjustment is specifically to adjust the intersection of the cross laser to be located at the intersection of the cross lines of the corresponding side wall. 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; Combining all first position information into a standard position line; Determining a 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 the first position line is to be rotated so that a vertical line in the first position line is parallel to a vertical line in the standard position line or a horizontal line in the first position line is parallel to a horizontal line in the standard position line, thereby completing the first adjustment; The second adjustment of the radiotherapy laser positioning light according to the second position information and the second response position information of the second sensor in the opposite side wall after receiving the laser specifically includes: All second response position information after the second sensor in the opposite side wall receives the laser is combined into a second position line; Determining a second distance between a vertical line in the second position line and a vertical line in the standard position line of the opposite side wall; Determining a first distance between a vertical line in the first position line and a vertical line in the corresponding side wall standard position line; 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.

2. The radiotherapy laser positioning lamp calibration method according to claim 1, 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 lamp 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.

3. 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.

4. 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 further 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.

5. The radiotherapy laser positioning lamp calibration method according to any one of claims 1 to 4, characterized in that: The method further includes displaying all position information on the optical sensor array panel corresponding to each side wall on a display.

6. A radiotherapy laser positioning light calibration device, characterized in that: The device comprises: A calibration module, which is a rectangular parallelepiped located at a designated position on the treatment bed, and each of the four side walls of the calibration module is provided with a crosshair, a light-transmitting strip hole, 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 includes a plurality of first sensors and a plurality of second sensors. The plurality of first sensors are arranged in a strip shape in four groups, 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 edges 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 on adjacent sides of the side wall where the second sensor is not located, and each strip hole is parallel to one side. 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 lamps so that the cross lasers emitted by all radiotherapy laser positioning lamps are irradiated on the side walls of the calibration module, with one radiotherapy laser positioning lamp facing one side wall; a control module for adjusting the corresponding radiotherapy laser positioning lamp 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 lamp completely falls on the cross line of the corresponding side wall and completely falls on the projection of the cross line on the opposite side wall; 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 second sensor on the opposite side wall after receiving the laser specifically includes: Determining first response position information of the first sensor in the side wall after receiving the laser; Determining first position information of a first sensor located on a cross line in the side wall, and determining second position information of the first sensor located on a cross line in an 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 light according to the second position information and second response position information of the second sensor in the opposite side wall after receiving the laser; performing a third adjustment on the radiotherapy laser positioning light according to the first response position information and the first position information; Among them, the first adjustment is specifically 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 yaw. The yaw is specifically that the distance between the intersection of the cross laser emitted by the radiotherapy laser positioning lamp and the central axis of the corresponding side wall is not fixed. The second adjustment is specifically that the distance between the intersection of the cross laser emitted by the radiotherapy laser positioning lamp and the central axis of the corresponding side wall is always consistent. The third adjustment is specifically translation adjustment. The third adjustment is specifically to adjust the intersection of the cross laser to be located at the intersection of the cross lines of the corresponding side wall. 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; Combining all first position information into a standard position line; Determining a 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 the first position line is to be rotated so that a vertical line in the first position line is parallel to a vertical line in the standard position line or a horizontal line in the first position line is parallel to a horizontal line in the standard position line, thereby completing the first adjustment; The second adjustment of the radiotherapy laser positioning light according to the second position information and the second response position information of the second sensor in the opposite side wall after receiving the laser specifically includes: All second response position information after the second sensor in the opposite side wall receives the laser is combined into a second position line; Determining a second distance between a vertical line in the second position line and a vertical line in the standard position line of the opposite side wall; Determining a first distance between a vertical line in the first position line and a vertical line in the corresponding side wall standard position line; 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.

Images