Radiotherapy control method and related device

Abstract

The invention provides a radiotherapy control method and a related device. The radiotherapy control method comprises the following steps: acquiring a heart motion model corresponding to an object to be subjected to radiotherapy; determining a to-be-sketched image from the plurality of medical images, and determining a moment corresponding to the to-be-sketched image as a target treatment moment, so that an operator performs target region sketching on the to-be-sketched image to obtain a corresponding sketched image; based on a heart motion model, determining a target electrocardiogram wave band and a target optical marker ball position corresponding to the sketching image; and performing radiotherapy on the to-be-radiotherapy object based on the target treatment moment, and if the deviation between the electrocardiogram wave band acquired by the electrocardiograph in real time and the target electrocardiogram wave band is smaller than a first preset threshold value and the deviation between the optical marking ball position acquired by the optical positioning system in real time and the target optical marking ball position is smaller than a second preset threshold value, performing radiotherapy on the to-be-radiotherapy object according to the sketched image. Through the method, the accuracy of radiotherapy is ensured.

Description

Technical Field

[0001] The present application relates to the field of radiotherapy, and in particular, to a radiotherapy control method and related devices. Background Art

[0002] Radiotherapy is a method of treating diseases using ionizing radiation. In the general process of radiotherapy, after the doctor gives a prescription and treatment plan, the operator needs to outline the location of the tumor and important organs that need to be treated according to the prescription and treatment plan, and then perform corresponding radiotherapy according to the outlined area.

[0003] During radiotherapy, the location of the tumor and important organs to be treated will move due to the patient's breathing. For example, the displacement of the tumor during the respiratory cycle can usually reach several centimeters. In view of this, how to ensure the accuracy of the radiotherapy process is an urgent problem to be solved in radiotherapy. Summary of the invention

[0004] The present application at least provides a control method and related device for radiotherapy, which realizes two-dimensional gating through the electrocardiogram band collected by the electrocardiograph and the position of the optical marker ball collected by the optical positioning system, thereby ensuring the consistency between the time corresponding to the outlined image obtained and the time of treatment, thereby ensuring the accuracy of radiotherapy.

[0005] In a first aspect, the present application provides a method for controlling radiotherapy, comprising:

[0006] Acquire a cardiac motion model corresponding to the subject to be radiotherapy, where the cardiac motion model is used to represent a one-to-one correspondence between multiple medical images, electrocardiograms, and positions and phases of multiple optical marker balls corresponding to the subject to be radiotherapy;

[0007] Determining an image to be delineated from a plurality of medical images and determining a time corresponding to the image to be delineated as a target treatment time, so that an operator delineates a target area for the image to be delineated to obtain a corresponding delineated image;

[0008] Based on the cardiac motion model, determining the target electrocardiogram band and the target optical marker ball position corresponding to the outlined image;

[0009] When radiotherapy is performed on the subject based on the target treatment time, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is less than a first preset threshold and the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is less than a second preset threshold, radiotherapy is performed on the subject according to the outlined image.

[0010] In a second aspect, the present application also provides a control device for radiotherapy, comprising:

[0011] An acquisition unit, used for acquiring a cardiac motion model corresponding to the subject to be radiotherapy, wherein the cardiac motion model is used for representing a one-to-one correspondence between a plurality of medical images, an electrocardiogram, and a plurality of optical marker ball positions and phases corresponding to the subject to be radiotherapy;

[0012] A first determining unit is used to determine an image to be delineated from a plurality of medical images and determine a time corresponding to the image to be delineated as a target treatment time, so that an operator delineates a target area for the image to be delineated to obtain a corresponding delineated image;

[0013] A second determination unit is used to determine a target electrocardiogram band and a target optical marker ball position corresponding to the outline image based on a cardiac motion model;

[0014] A treatment unit is used to perform radiotherapy on the subject to be treated based on a target treatment moment, if the deviation between the electrocardiogram band acquired in real time by the electrocardiograph and the target electrocardiogram band is less than a first preset threshold and the deviation between the optical marker ball position acquired in real time by the optical positioning system and the target optical marker ball position is less than a second preset threshold, perform radiotherapy on the subject to be treated according to the outlined image.

[0015] In a third aspect, the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the control method of radiotherapy provided in the present application is executed.

[0016] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the radiotherapy control method provided in the present application is executed.

[0017] In a fifth aspect, the present application also provides a computer program product, including a computer program, which, when executed by a processor, executes the radiotherapy control method provided in the present application.

[0018] In summary, the present application provides a control method and related devices for radiotherapy, including: obtaining a cardiac motion model corresponding to an object to be radiotherapy, the cardiac motion model being used to represent a one-to-one correspondence between multiple medical images, electrocardiograms, multiple optical marker ball positions and phases corresponding to the object to be radiotherapy; determining an image to be delineated from multiple medical images and determining the moment corresponding to the image to be delineated as a target treatment moment, so that an operator can delineate a target area for the image to be delineated to obtain a corresponding delineated image; based on the cardiac motion model, determining a target electrocardiogram band and a target optical marker ball position corresponding to the delineated image; when performing radiotherapy on the object to be radiotherapy based on the target treatment moment, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is less than a first preset threshold and the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is less than a second preset threshold, performing radiotherapy on the object to be radiotherapy according to the delineated image. Through the above method, two-dimensional gating is achieved through the electrocardiogram band collected by the electrocardiograph and the position of the optical marker ball collected by the optical positioning system, thereby ensuring the consistency between the time corresponding to the outlined image obtained and the time of treatment, thereby ensuring the accuracy of radiotherapy.

[0019] Other advantages of the present application will be explained in more detail in conjunction with the following description and drawings.

[0020] It should be understood that the above description is only an overview of the technical solution of the present application, so that the technical means of the present application can be generally understood and then implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are specifically described below by example. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments that conform to the present application and are used together with the specification to illustrate the technical solutions of the present application. It should be understood that the drawings only illustrate certain embodiments of the present application and should not be regarded as limiting the scope of protection. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work. Moreover, the same reference numerals are used to represent the same components throughout the drawings. In the drawings:

[0022] Figure 1 A method flow chart of a method for controlling radiotherapy provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of a control device for radiotherapy provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0025] In the description of the embodiments of the present application, it should be understood that terms such as "including" or "having" are intended to indicate the presence of disclosed features, numbers, steps, behaviors, components, parts, or a combination thereof in the present specification, and do not exclude the possibility of the presence of one or more other features, numbers, steps, behaviors, components, parts, or a combination thereof.

[0026] Unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in this article is merely a way to describe the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0027] The terms "first", "second", etc. are used only to distinguish the same or similar technical features for the convenience of description, and should not be understood as indicating or implying the relative importance or quantity of these technical features. Thus, the features defined by "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the term "plurality" means two or more than two.

[0028] During radiotherapy, the location of the tumor and important organs to be treated will move due to the patient's breathing. For example, the displacement of the tumor during the respiratory cycle can usually reach several centimeters. In view of this, how to ensure the accuracy of the radiotherapy process is an urgent problem to be solved in radiotherapy.

[0029] In view of this, the present application provides a control method and related devices for radiotherapy, which realize two-dimensional gating through the electrocardiogram band collected by the electrocardiograph and the position of the optical marker ball collected by the optical positioning system, so as to ensure the consistency between the time corresponding to the outlined image obtained and the time of treatment, thereby ensuring the accuracy of radiotherapy.

[0030] The control method for radiotherapy provided in the embodiment of the present application can be implemented by a computer device, which can be a terminal device or a server, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device includes but is not limited to mobile phones, computers, intelligent voice interaction devices, smart home appliances, vehicle-mounted terminals, aircraft, etc. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, and this application does not limit this.

[0031] The control method of radiotherapy provided by the present application is described below through method embodiments. Figure 1 As shown, Figure 1 A method flow chart of a method for controlling radiotherapy provided in an embodiment of the present application, wherein the aforementioned computer device may be a server, and the method comprises:

[0032] S101, obtaining a cardiac motion model corresponding to a subject to be radiotherapy.

[0033] A subject for radiotherapy refers to a subject who needs radiotherapy.

[0034] The cardiac motion model is used to represent the one-to-one correspondence between multiple medical images, electrocardiograms, and positions and phases of multiple optical marker balls corresponding to the object to be radiotherapy. In practical applications, the two-dimensional image can be a computed tomography (CT) image.

[0035] The server can obtain the cardiac motion model corresponding to the object to be radiotherapy to lay the foundation for subsequent delineation steps and treatment steps.

[0036] S102, determining an image to be delineated from a plurality of medical images and determining a time corresponding to the image to be delineated as a target treatment time, so that an operator delineates a target area for the image to be delineated to obtain a corresponding delineated image.

[0037] In practical applications, the server can determine a medical image suitable for radiotherapy as the image to be delineated by comparing multiple medical images in the cardiac motion model, so that the operator can delineate the target area for the image to be delineated to obtain the corresponding delineated image.

[0038] The target treatment time refers to the time when the operator expects to perform radiotherapy on the subject to be treated. After determining the image to be delineated, the server can determine the time corresponding to the image to be delineated as the target treatment time based on the correspondence between multiple medical images and time phases.

[0039] In this embodiment, the operator performs target area delineation on the image to be delineated to obtain the corresponding delineated image. The specific contents include: obtaining the corresponding three-dimensional organ region based on multiple medical images; displaying the three-dimensional organ region corresponding to the selected organ on the three-dimensional delineation interface in response to the operator's organ selection operation; determining the three-dimensional delineation region in the three-dimensional organ region corresponding to the three-dimensional delineation operation in response to the operator's three-dimensional delineation operation on the three-dimensional delineation interface; and determining the delineation image corresponding to the image to be delineated and the three-dimensional delineation region. That is to say, in this embodiment, the operator does not directly outline the two-dimensional image to be outlined, but first allows the operator to perform three-dimensional outline on the three-dimensional organ region, and then reversely analyzes the three-dimensional outline region corresponding to the three-dimensional outline onto the image to be outlined, so as to directly obtain the outline image. In this way, when the number of images to be outlined is large, multiple outline images corresponding to the multiple images to be outlined can be obtained through one three-dimensional outline, thereby improving the outline efficiency while ensuring the accuracy of the outline, and solving the problem of difficulty in two-dimensional outline of organs with cavities and irregular shapes of structural areas, or tissues (such as the heart) that do not show density differences between the target area and the surrounding normal tissue under CT or MR.

[0040] The aforementioned determination of the outline image corresponding to the image to be outlined and the three-dimensional outline area specifically includes: cutting the three-dimensional outline area along the z-axis plane of the image to be outlined, thereby determining the three-dimensional outline area and the outline image corresponding to the image to be outlined.

[0041] S103 . Determine the target electrocardiogram band and the target optical marker ball position corresponding to the outlined image based on the cardiac motion model.

[0042] Since the cardiac motion model is used to represent the one-to-one correspondence between multiple medical images, electrocardiograms, multiple optical marker ball positions and phases corresponding to the object to be radiotherapy, the server can determine the target electrocardiogram band corresponding to the outlined image based on the correspondence between the multiple medical images and the electrocardiograms, and can determine the target optical marker ball position corresponding to the outlined image based on the correspondence between the multiple medical images and the multiple optical marker ball positions.

[0043] S104. When radiotherapy is performed on the subject based on the target treatment time, if the deviation between the electrocardiogram band acquired in real time by the electrocardiograph and the target electrocardiogram band is less than a first preset threshold and the deviation between the optical marker ball position acquired in real time by the optical positioning system and the target optical marker ball position is less than a second preset threshold, radiotherapy is performed on the subject according to the outlined image.

[0044] After determining the target treatment time corresponding to the outline image in S103 and determining the target electrocardiogram band and target optical marker ball position corresponding to the outline image in S104, both the first preset threshold and the second preset threshold can be preset by the operator.

[0045] When radiotherapy is performed on the subject to be treated based on the target treatment moment, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is less than the first preset threshold and the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is less than the second preset threshold, it means that the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is small and the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is small, indicating that the moment corresponding to the outlined image is consistent with the moment of treatment, that is, the treatment moment during treatment is the target treatment moment during outline, and the server can perform radiotherapy on the subject to be treated according to the outlined image, thereby ensuring the accuracy of radiotherapy.

[0046] It should be noted that, in this embodiment, the server can realize two-dimensional gating through the electrocardiogram band collected by the electrocardiograph and the position of the optical marker ball collected by the optical positioning system. The electrocardiogram band collected by the electrocardiograph can reflect the relevant information of the electrocardiogram signal of the object to be treated, and the position of the optical marker ball collected by the optical positioning system can reflect the relevant information of the respiratory signal of the object to be treated. That is, the server ensures the consistency between the corresponding time of delineation and the corresponding time of treatment in multiple dimensions through gating in two different dimensions, thereby ensuring the accuracy of radiotherapy.

[0047] In one possible implementation, when radiotherapy is performed on the subject to be treated based on the target treatment time, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is not less than a first preset threshold or the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is not less than a second preset threshold, it means that the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is large or the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is large, indicating that the time corresponding to the outlined image is not consistent with the time of treatment, that is, the treatment time during treatment is not the target treatment time at the time of outline, so the server can not perform radiotherapy on the subject to be treated at the target treatment time.

[0048] In a possible implementation, the server may determine the cardiac motion model in the following manner:

[0049] Acquire multiple medical images corresponding to the object to be radiotherapy and multiple respiratory images corresponding to the first time axis through 4DCT, and determine the corresponding relationship between the multiple medical images and the first time axis;

[0050] Collecting an electrocardiogram corresponding to the second time axis of the object to be radiotherapy by an electrocardiograph;

[0051] The positions of a plurality of optical marker balls corresponding to the third time axis of the object to be radiotherapy are collected by an optical positioning system;

[0052] A heart motion model is determined based on a plurality of medical images corresponding to a first time axis, an electrocardiogram corresponding to a second time axis, and a plurality of optical marker sphere positions corresponding to a third time axis.

[0053] Specifically, since there is no corresponding relationship between the medical images collected by ordinary CT machines and the time phases, in this embodiment, 4DCT is used to collect multiple medical images corresponding to the object to be radiotherapy and multiple respiratory images corresponding to the first time axis, so as to determine the corresponding relationship between the multiple medical images and the first time axis.

[0054] After collecting the electrocardiogram of the object to be radiotherapy corresponding to the second time axis through the electrocardiograph, and collecting the multiple optical marker ball positions of the object to be radiotherapy corresponding to the third time axis through the optical positioning system, the server can determine a cardiac motion model that represents the one-to-one correspondence between multiple medical images, electrocardiograms, multiple optical marker ball positions and time phases corresponding to the object to be radiotherapy through the first time axis, the second time axis and the third time axis.

[0055] It should be noted that, on the basis that 4DCT also includes an optical camera for acquiring respiratory images, in this embodiment, multiple optical marker ball positions corresponding to the object to be radiotherapy are still acquired through an additional optical positioning system, so that the multiple additionally acquired optical marker ball positions can separately reflect the relevant information of the respiratory signal of the object to be treated. Compared with the multiple respiratory images acquired by the optical camera included in 4DCT, the multiple optical marker ball positions acquired separately can play a gating role, thereby better ensuring the consistency between the time corresponding to the delineation and the time corresponding to the treatment.

[0056] In a possible implementation, the 4DCT includes a linked CT machine and an optical camera, and collects multiple medical images corresponding to the object to be radiotherapy and multiple respiratory images corresponding to the first time axis through the 4DCT, and the corresponding relationship between the multiple medical images and the first time axis includes:

[0057] Acquire multiple medical images of the object to be radiotherapy by using a CT machine in the 4DCT; acquire multiple respiratory images corresponding to the first time axis by using an optical camera in the 4DCT;

[0058] Based on the linkage relationship between the CT machine and the optical camera in the 4DCT, the correspondence between the multiple medical images and the first time axis is determined.

[0059] In summary, the present application provides a control method for radiotherapy, including: obtaining a cardiac motion model corresponding to an object to be radiotherapy, the cardiac motion model being used to represent a one-to-one correspondence between multiple medical images, electrocardiograms, multiple optical marker ball positions and phases corresponding to the object to be radiotherapy; determining an image to be delineated from multiple medical images and determining the moment corresponding to the image to be delineated as a target treatment moment, so that an operator can delineate a target area for the image to be delineated to obtain a corresponding delineated image; based on the cardiac motion model, determining a target electrocardiogram band and a target optical marker ball position corresponding to the delineated image; when performing radiotherapy on the object to be radiotherapy based on the target treatment moment, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is less than a first preset threshold and the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is less than a second preset threshold, performing radiotherapy on the object to be radiotherapy according to the delineated image. Through the above method, two-dimensional gating is achieved through the electrocardiogram band collected by the electrocardiograph and the position of the optical marker ball collected by the optical positioning system, thereby ensuring the consistency between the time corresponding to the outlined image obtained and the time of treatment, thereby ensuring the accuracy of radiotherapy.

[0060] In the description of this specification, the description with reference to the terms "some possible embodiments", "some embodiments", "examples", "specific examples", 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 the present application, and the above terms do not necessarily represent the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0061] About the method flow chart of the present application embodiment, some operations are described as different steps performed in a certain order. Such flow chart belongs to illustrative and non-restrictive. Some steps described in this article can be grouped together and performed in a single operation, or some steps can be divided into multiple sub-steps and can be performed in an order different from that shown in this article. Each step shown in the flow chart can be realized in any way by any circuit structure and / or tangible mechanism (for example, by software, hardware (for example, the logical function realized by processor or chip) etc. running on computer equipment and / or any combination thereof).

[0062] Those skilled in the art will appreciate that, in the method described in the above specific implementation, the writing order of each step does not mean a strict execution order, and the specific execution order of each step should be determined by its function and possible internal logic.

[0063] Based on the aforementioned Figure 1 The following is an explanation of a control device for radiotherapy provided by the present application through a device embodiment. Figure 2 As shown, the control device 200 for radiotherapy includes:

[0064] An acquisition unit 201 is used to acquire a cardiac motion model corresponding to the subject to be radiotherapy, wherein the cardiac motion model is used to represent a one-to-one correspondence between a plurality of medical images, an electrocardiogram, and a plurality of optical marker ball positions and phases corresponding to the subject to be radiotherapy;

[0065] A first determining unit 202 is used to determine an image to be delineated from a plurality of medical images and determine a time corresponding to the image to be delineated as a target treatment time, so that an operator delineates a target area for the image to be delineated to obtain a corresponding delineated image;

[0066] A second determination unit 203 is used to determine a target electrocardiogram band and a target optical marker ball position corresponding to the outline image based on a cardiac motion model;

[0067] The treatment unit 204 is used to perform radiotherapy on the subject to be treated based on the target treatment moment, if the deviation between the electrocardiogram band acquired in real time by the electrocardiograph and the target electrocardiogram band is less than a first preset threshold and the deviation between the optical marker ball position acquired in real time by the optical positioning system and the target optical marker ball position is less than a second preset threshold, perform radiotherapy on the subject to be treated according to the outlined image.

[0068] In a possible implementation, the treatment unit 204 is further configured to:

[0069] When radiotherapy is performed on the subject to be radiotherapy based on the target treatment time, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is not less than the first preset threshold or the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is not less than the second preset threshold, radiotherapy will not be performed on the subject to be radiotherapy at the target treatment time.

[0070] In a possible implementation, the radiotherapy control device 200 further includes a third determining unit, configured to:

[0071] Acquire multiple medical images corresponding to the object to be radiotherapy and multiple respiratory images corresponding to the first time axis through 4DCT, and determine the corresponding relationship between the multiple medical images and the first time axis;

[0072] Collecting an electrocardiogram corresponding to the second time axis of the object to be radiotherapy by an electrocardiograph;

[0073] The positions of multiple breathing balls of the object to be radiotherapy corresponding to the third time axis are collected by an optical positioning system;

[0074] Based on a plurality of medical images corresponding to the first time axis, an electrocardiogram corresponding to the second time axis, and a plurality of optical marker ball positions corresponding to the third time axis, a cardiac motion model is determined. In a possible implementation, the third determination unit is used to:

[0075] The 4DCT includes a linked CT machine and an optical camera, wherein the CT machine in the 4DCT collects multiple medical images of the subject to be radiotherapy; the optical camera in the 4DCT obtains the respiratory cycle image corresponding to the first time axis;

[0076] Based on the linkage relationship between the CT machine and the optical camera in the 4DCT, the correspondence between the multiple medical images and the first time axis is determined.

[0077] It should be noted that the device in the implementation mode of the present application can implement each process of the implementation mode of the aforementioned method and achieve the same effects and functions, which will not be repeated here.

[0078] The embodiment of the present application also provides an electronic device, including: a processor, a memory and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. When the machine-readable instructions are executed by the processor, the following processing is performed:

[0079] Acquire a cardiac motion model corresponding to the subject to be radiotherapy, where the cardiac motion model is used to represent a one-to-one correspondence between multiple medical images, electrocardiograms, and positions and phases of multiple optical marker balls corresponding to the subject to be radiotherapy;

[0080] Determining an image to be delineated from a plurality of medical images and determining a time corresponding to the image to be delineated as a target treatment time, so that an operator delineates a target area for the image to be delineated to obtain a corresponding delineated image;

[0081] Based on the cardiac motion model, determining the target electrocardiogram band and the target optical marker ball position corresponding to the outlined image;

[0082] When radiotherapy is performed on the subject based on the target treatment time, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is less than a first preset threshold and the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is less than a second preset threshold, radiotherapy is performed on the subject according to the outlined image.

[0083] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the radiotherapy control method described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0084] An embodiment of the present application also provides a computer program product, including a computer program. The computer program product carries a program code. The instructions included in the program code can be used to execute the steps of the radiotherapy control method described in the above method embodiment. For details, please refer to the above method embodiment, which will not be repeated here.

[0085] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is implemented as a computer storage medium. In another optional embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0086] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, their descriptions are simplified, and the relevant parts can be referred to the partial description of the method embodiments.

[0087] The apparatus, equipment and computer-readable storage medium provided in the embodiments of the present application correspond one-to-one to the method. Therefore, the apparatus, equipment and computer-readable storage medium also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the apparatus, equipment and computer-readable storage medium will not be repeated here.

[0088] Although the spirit and principle of the present application have been described above with reference to several specific embodiments, it should be understood that the present application is not limited to the disclosed specific embodiments, and the division of various aspects does not mean that the features in these aspects cannot be combined. The present application is intended to cover various modifications and equivalent arrangements included in the spirit and scope of the attached claims.

Claims

1. A method for controlling radiotherapy, characterized in that: The method comprises: Acquire a cardiac motion model corresponding to the subject to be radiotherapy, wherein the cardiac motion model is used to represent a one-to-one correspondence between a plurality of medical images, an electrocardiogram, and a plurality of optical marker ball positions and phases corresponding to the subject to be radiotherapy; Determining an image to be delineated from the multiple medical images and determining a time corresponding to the image to be delineated as a target treatment time, so that an operator delineates a target area for the image to be delineated to obtain a corresponding delineated image; Based on the cardiac motion model, determining a target electrocardiogram band and a target optical marker ball position corresponding to the delineated image; When radiotherapy is performed on the object to be radiotherapy based on the target treatment time, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is less than a first preset threshold and the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is less than a second preset threshold, radiotherapy is performed on the object to be radiotherapy according to the outlined image.

2. The method according to claim 1, characterized in that The method further comprises: When radiotherapy is performed on the object to be radiotherapy based on the target treatment time, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is not less than a first preset threshold or the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is not less than a second preset threshold, radiotherapy will not be performed on the object to be radiotherapy at the target treatment time.

3. The method according to claim 1, characterized in that The cardiac motion model is determined by: Acquire a plurality of medical images corresponding to the object to be radiotherapy and a plurality of respiratory images corresponding to the first time axis through 4DCT, and determine the corresponding relationship between the plurality of medical images and the first time axis; Collecting an electrocardiogram of the subject to be radiotherapy corresponding to the second time axis by an electrocardiograph; Acquiring the positions of a plurality of optical marker balls corresponding to the third time axis of the object to be radiotherapy through an optical positioning system; The heart motion model is determined based on a plurality of medical images corresponding to the first time axis, an electrocardiogram corresponding to the second time axis, and a plurality of optical marker sphere positions corresponding to the third time axis.

4. The method according to claim 3, characterized in that The 4DCT includes a linked CT machine and an optical camera. The 4DCT is used to collect a plurality of medical images corresponding to the object to be radiotherapy and a plurality of respiratory images corresponding to a first time axis, and to determine a corresponding relationship between the plurality of medical images and the first time axis, including: Acquire multiple medical images of the object to be radiotherapy by using a CT machine in the 4DCT; acquire multiple respiratory images corresponding to the first time axis by using an optical camera in the 4DCT; Based on the linkage relationship between the CT machine and the optical camera in the 4DCT, the corresponding relationship between the multiple medical images and the first time axis is determined.

5. A control device for radiotherapy, characterized in that: The device comprises: an acquisition unit, used for acquiring a cardiac motion model corresponding to the object to be radiotherapy, wherein the cardiac motion model is used for representing a one-to-one correspondence between a plurality of medical images, an electrocardiogram, and a plurality of optical marker ball positions and phases corresponding to the object to be radiotherapy; A first determining unit is used to determine an image to be delineated from the multiple medical images and determine a time corresponding to the image to be delineated as a target treatment time, so that an operator delineates a target area for the image to be delineated to obtain a corresponding delineated image; A second determination unit is used to determine a target electrocardiogram band and a target optical marker ball position corresponding to the delineated image based on the cardiac motion model; A treatment unit is used to perform radiotherapy on the object to be radiotherapy based on the target treatment time, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is less than a first preset threshold and the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is less than a second preset threshold, perform radiotherapy on the object to be radiotherapy according to the outline image.

6. The device according to claim 5, characterized in that The treatment unit is also used to: When radiotherapy is performed on the object to be radiotherapy based on the target treatment time, if the deviation between the electrocardiogram band collected in real time by the electrocardiograph and the target electrocardiogram band is not less than a first preset threshold or the deviation between the optical marker ball position collected in real time by the optical positioning system and the target optical marker ball position is not less than a second preset threshold, radiotherapy will not be performed on the object to be radiotherapy at the target treatment time.

7. The device according to claim 5, characterized in that The device further includes a third determining unit, configured to: Acquire a plurality of medical images corresponding to the object to be radiotherapy and a plurality of respiratory images corresponding to the first time axis through 4DCT, and determine the corresponding relationship between the plurality of medical images and the first time axis; Collecting an electrocardiogram of the subject to be radiotherapy corresponding to the second time axis by an electrocardiograph; Acquiring the positions of a plurality of optical marker balls corresponding to the third time axis of the object to be radiotherapy through an optical positioning system; The heart motion model is determined based on a plurality of medical images corresponding to the first time axis, an electrocardiogram corresponding to the second time axis, and a plurality of optical marker sphere positions corresponding to the third time axis.

8. The device according to claim 7, characterized in that The third determining unit is configured to: The 4DCT includes a linked CT machine and an optical camera, and the CT machine in the 4DCT is used to collect multiple medical images of the object to be radiotherapy; and the optical camera in the 4DCT is used to obtain multiple respiratory images corresponding to the first time axis; Based on the linkage relationship between the CT machine and the optical camera in the 4DCT, the corresponding relationship between the multiple medical images and the first time axis is determined.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the control method for radiotherapy as described in any one of claims 1 to 4 is performed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the radiotherapy control method according to any one of claims 1 to 4 is executed.

11. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, performs the radiation therapy control method according to any one of claims 1 to 4.

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