Treatment plan generation method, radiotherapy control method, system and equipment

Abstract

The invention provides a treatment plan generation method, a radiotherapy control method, a system and equipment, relates to the technical field of medical treatment, and is used for meeting the requirement of avoiding normal tissues around a target region in a radiotherapy process. The treatment plan generation method is applied to the radiotherapy system. The radiotherapy system comprises a radiotherapy device, and the radiotherapy device comprises a rack and a treatment head arranged on the rack. The treatment plan generation method comprises the following steps: in a breathing process of a target object, acquiring breathing cycle information, a plurality of body surface optical images and a plurality of images comprising a target region of the target object; establishing a respiratory movement model of the target object based on the respiratory cycle information, the plurality of body surface optical images and the plurality of images including the target area of the target object; acquiring prescription dose information of the target region; and generating a treatment plan according to the respiratory movement model and the prescription dose information, so that the control equipment controls the rack to rotate based on the treatment plan and controls the treatment head to start or stop emitting the beam.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a treatment plan generation method, a radiotherapy control method, a system and a device. Background Art

[0002] Gamma-ray stereotactic therapy in radiotherapy is an effective method for treating tumors. The gamma-ray stereotactic radiotherapy system (also known as the "gamma knife") can focus gamma rays and achieve a high focal-to-skin ratio.

[0003] When treatment is performed using a gamma-ray stereotactic radiotherapy system, collimators of different sizes are usually used to shape the rays reaching different positions in the target area into approximate "spheres" (also called target points) of different diameters. The target area is filled with these target points, and by assigning different weights to these target points, the dose field formed by the superposition of all target points in the target area can cover as much of the target area as possible.

[0004] However, as the requirements for the accuracy of radiotherapy continue to increase, this method of filling targets cannot effectively meet the need to avoid normal tissue around the target area during radiotherapy. Summary of the invention

[0005] The present application provides a treatment plan generation method, a radiotherapy control method, a system and a device, which are used to meet the need to avoid normal tissue around the target area during radiotherapy.

[0006] In a first aspect, the present application provides a treatment plan generation method, which is applied to a radiotherapy system. The radiotherapy system includes: a radiotherapy device, which includes a frame and a treatment head arranged on the frame.

[0007] The method for generating a treatment plan includes: during the breathing process of the target object, obtaining the target object's respiratory cycle information, multiple body surface optical images, and multiple images including the target area. The respiratory cycle information includes the duration and respiratory frequency of a single breathing behavior of the target object. The body surface optical image is used to reflect the body surface feature information of the target object. The image including the target area is used to reflect the target area position information of the target object. Based on the respiratory cycle information, the multiple body surface optical images, and the multiple images including the target area of ​​the target object, a respiratory motion model of the target object is established. The respiratory motion model is used to characterize the changes in the body surface features and / or target area position of the target object during the respiratory cycle. Obtaining the prescription dose information of the target area, wherein the prescription dose information includes the radiation dose of different areas of the target area. Generate a treatment plan based on the respiratory motion model and the prescription dose information, so that the control device controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam.

[0008] In some embodiments, based on the respiratory motion model, the body surface feature information and target area position information of the target object at different times in the respiratory cycle are obtained.

[0009] In some embodiments, the treatment plan includes: a treatment period and a non-treatment period. During the breathing process of the target object, the treatment period includes a period when the target point of the target object coincides with the isocenter of the radiotherapy device. The non-treatment period includes a period when the target point of the target object does not coincide with the isocenter of the radiotherapy device.

[0010] In some embodiments, the image also includes the position information of the target object's organs at risk. Based on the respiratory motion model, the position change information of the target object's organs at risk during the respiratory cycle can also be obtained. The treatment plan includes: a treatment period and a non-treatment period. During the target object's breathing process, the treatment period includes the period when the beam path emitted by the treatment head does not pass through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target of the target object. The non-treatment period includes the period when the target of the target object deviates from the isocenter of the radiotherapy equipment, and the period when the beam path emitted by the treatment head passes through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target of the target object.

[0011] In some embodiments, the treatment period is the period from when the breathing of the target object reaches the end to when the breathing ends. The non-treatment period is the period from when the breathing of the target object starts to before it reaches the end.

[0012] In some embodiments, the treatment period includes multiple sub-treatment periods, and the rotation paths of the treatment head in the multiple sub-treatment periods do not overlap. Within the sub-treatment period, the arc of rotation of the treatment head is denoted as αi, i=1, 2, 3, ..., n, and the sum of αi is equal to 360°.

[0013] In a second aspect, the present application provides a radiotherapy control method, which is applied to a radiotherapy system. The radiotherapy system includes: a radiotherapy device, and the radiotherapy device includes a frame and a treatment head arranged on the frame. The radiotherapy control method includes: obtaining a treatment plan. The treatment plan includes a respiratory motion model of the target object. The respiratory motion model is used to characterize the changes in the surface characteristics of the target object and the target area position during the respiratory cycle. Based on the changes in the surface characteristics of the target object and the target area position during the respiratory cycle, the rotation of the frame is controlled, and the treatment head is controlled to start or stop emitting a beam.

[0014] In some embodiments, the treatment plan includes: a treatment period and a non-treatment period. During the breathing process of the target object, the treatment period includes the period when the target point of the target object coincides with the isocenter of the radiotherapy device. The non-treatment period includes the period when the target point of the target object deviates from the isocenter of the radiotherapy device.

[0015] Based on the changes of the surface characteristics of the target object and the position of the target area during the respiratory cycle, the gantry is controlled to rotate and the treatment head is controlled to start or stop emitting beams, including: when the target point of the target object coincides with the isocenter of the radiotherapy device, the treatment head is controlled to emit beams. When the target point of the target object deviates from the isocenter of the radiotherapy device, the treatment head is controlled to stop emitting beams.

[0016] In some embodiments, the treatment plan also includes a treatment period, a non-treatment period, and the position information of the target object's organs at risk. During the target object's breathing process, the treatment period includes a period when the beam path emitted by the treatment head does not pass through the organs at risk, and the isocenter of the radiotherapy device coincides with the target of the target object. The non-treatment period includes a period when the target of the target object deviates from the isocenter of the radiotherapy device, and a period when the beam path emitted by the treatment head passes through the organs at risk, and the isocenter of the radiotherapy device coincides with the target of the target object.

[0017] Based on the changes of the surface characteristics of the target object and the position of the target area during the respiratory cycle, the gantry is controlled to rotate, and the treatment head is controlled to start or stop emitting a beam, including: when the beam path emitted by the treatment head does not pass through the organ at risk, and the isocenter of the radiotherapy device coincides with the target of the target object, the treatment head is controlled to emit a beam. When the target of the target object deviates from the isocenter of the radiotherapy device, or the beam path emitted by the treatment head passes through the organ at risk, and the isocenter of the radiotherapy device coincides with the target of the target object, the treatment head is controlled to stop emitting a beam.

[0018] In a third aspect, the present application provides a radiotherapy system, comprising: a TPS device, used to execute any possible treatment plan generation method as in the first aspect; a control device, used to execute any possible radiotherapy control method as in the second aspect; a radiotherapy device. The radiotherapy device comprises: a rack, and a treatment head disposed on the rack.

[0019] In some embodiments, the treatment head includes: a source carrier, a plurality of radiation sources distributed in a single row in a straight line are arranged on the surface of the source carrier along the central axis of the source carrier; a shielding body, a plurality of primary collimation channels penetrating the shielding body, the plurality of primary collimation channels are arranged relative to and correspond to the plurality of radiation sources one by one, and the rays emitted by the plurality of radiation sources can pass through the corresponding plurality of primary collimation channels and focus on the same point; and a driving component, used to drive the source carrier and the shielding body to move synchronously relative to each other.

[0020] In some embodiments, when the driving assembly drives the source carrier and the shield to move synchronously relative to each other until the multiple radiation sources are on the central axis of the multiple primary collimation channels, the radiation emitted by the multiple radiation sources can pass through the corresponding multiple primary collimation channels and focus on the same point, and the treatment head emits a beam. When the driving assembly drives the source carrier and the shield to move synchronously relative to each other until the multiple radiation sources deviate from the central axis of the multiple primary collimation channels, the radiation emitted by the multiple radiation sources is shielded by the shield, and the treatment head stops emitting a beam.

[0021] In some embodiments, the driving assembly includes a transmission gear pair. The transmission gear pair includes: a first gear disposed on the source carrier and a second gear disposed on the shielding body.

[0022] In some embodiments, the treatment head further includes: a shielding box, a source carrier and a shielding body are arranged in the shielding box, the shielding box is provided with a plurality of through holes corresponding to the primary collimation channels, and the rays of the plurality of radiation sources can pass through the through holes. A secondary collimator is arranged outside the shielding box and can move relative to the shielding box, the secondary collimator includes a plurality of groups of secondary collimation channels with different apertures, and the secondary collimation channels can be connected with the primary collimation channels, so that the rays of the plurality of radiation sources can pass through the secondary collimation channels and focus on the same point.

[0023] In some embodiments, the radiotherapy device further comprises: a dose collection device, located on the gantry and arranged opposite to the treatment head, for receiving the beam emitted by the treatment head and passing through the target object, and generating beam characteristic information to monitor the total dose irradiated to the treatment isocenter during the radiotherapy process. The beam characteristic information includes the dose intensity of the received beam and the position of the dose collection device when the beam is received.

[0024] In a fourth aspect, the present application provides an electronic device, the electronic device comprising: a processor. A memory configured to store processor executable instructions. The processor is configured to execute the instructions to implement any possible treatment plan generation method as described in the first aspect, or any possible radiotherapy control method as described in the second aspect.

[0025] In a fifth aspect, the present application provides a non-volatile storage medium having a computer program stored thereon. When the computer program is read and executed, it implements any possible treatment plan generation method as in the first aspect, or any possible radiotherapy control method as in the second aspect.

[0026] In a sixth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes any possible treatment plan generation method as described in the first aspect, or any possible radiotherapy control method as described in the second aspect.

[0027] These and other aspects of the present application will become more apparent from the following description.

[0028] The technical solution provided by this application brings at least the following beneficial effects:

[0029] In the present application, a respiratory motion model of the target object can be accurately established based on the target object's respiratory cycle information, multiple body surface optical images, and multiple images including the target area, so as to accurately reflect the changes in the target object's body surface characteristics and / or the target area position during the respiratory cycle. Furthermore, based on the respiratory motion model, a treatment plan adapted to the target object's respiratory motion can be generated, so that the control device controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam, so as to achieve follow-up treatment of the target area of ​​the target object, support the beam to be accurately projected to the target area of ​​the target object, and improve the treatment accuracy.

[0030] In addition, the image including the target area of ​​the target object may also include the position information of the organs at risk around the target area of ​​the target object. When establishing the respiratory motion model, the change of the position of the organs at risk during the respiratory cycle may also be established. In this way, based on the respiratory motion model, the position change information of the organs at risk of the target object during the respiratory cycle may also be obtained. During radiotherapy, irradiation of normal tissues around the target area and organs at risk may be avoided, thereby achieving better treatment effects while avoiding organs at risk and reducing the irradiation dose of organs at risk.

[0031] Furthermore, the total arc of rotation of the treatment head in each sub-treatment period can be 360°, and 360° coverage irradiation of the target area of ​​the target object can be achieved through staggered irradiation, thereby achieving a better treatment effect.

[0032] In addition, the radiotherapy equipment is provided with a source body, a shielding body and a driving component. The control device can control the driving component to drive the source body and the shielding body to move synchronously relative to each other, so as to complete the switching of the radiation source within milliseconds, improve the response speed of the switching radiation source, make the energy of the beam irradiated to the target object decay quickly, avoid damage to the normal tissue of the target object, reduce the dose of the residual beam irradiated to the target object when the radiation source is switched on and off, and reduce the inaccuracy of the residual dose during the irradiation process.

[0033] Furthermore, the secondary collimator provided on the radiotherapy equipment includes multiple groups of secondary collimation channels with different apertures, which supports switching of different secondary collimation channels to form different irradiation fields at the isocenter of the beam emitted by the treatment head, thereby achieving precise treatment of the target area of ​​the target object.

[0034] Furthermore, a dose collection device is provided on the radiotherapy equipment opposite to the treatment head. The dose collection device can receive the normal beam emitted by the treatment head during the treatment period and the residual beam emitted during the non-treatment period and the target object, and generate beam characteristic information to monitor the total dose irradiated to the treatment isocenter during the radiotherapy process. In this way, it can support the reference comparison of the total dose irradiated to the treatment isocenter and the expected dose indicated by the prescription dose information during the radiotherapy process, so as to update the prescription dose of the target area of ​​the target object during the radiotherapy process, avoid the problem of reduced accuracy of the irradiation dose due to frequent switching of the rays, and improve the safety of the dislocated irradiation treatment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0036] Figure 1 A flowchart of a treatment plan generation method provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of a flow chart of a radiotherapy control method provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of an irradiation process provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of another irradiation process provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of another irradiation process provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of the structure of a radiotherapy system provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of the structure of a treatment plan generating device provided in an embodiment of the present application;

[0043] Figure 8 A schematic diagram of the structure of a radiotherapy control device provided in an embodiment of the present application;

[0044] Fig. 9 A schematic diagram of the structure of a treatment head provided in an embodiment of the present application;

[0045] Fig.10 A schematic diagram of another irradiation process provided in an embodiment of the present application;

[0046] Fig.11 A schematic diagram of a dose collection process provided in an embodiment of the present application;

[0047] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0048] Fig.13 A schematic diagram of the structure of another electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will describe in detail the treatment plan generation method, radiotherapy control method, system and device provided in the embodiments of the present application in conjunction with the accompanying drawings.

[0050] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0051] It should be noted that, in the embodiments of the present application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0052] The term "and / or" used in the present application includes using either or both of the two methods.

[0053] The terms "first", "second" and "third" etc. in the specification and drawings of this application are used to distinguish different objects, rather than to describe the specific order of the objects, nor to indicate or imply relative importance or implicitly indicate the number of the indicated technical features.

[0054] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0055] The following describes implementation scenarios of a treatment plan generation method, a radiotherapy control method, a system, and a device provided in an embodiment of the present application.

[0056] Gamma-ray stereotactic therapy in radiotherapy is an effective method for treating tumors. The gamma-ray stereotactic radiotherapy system (also known as the "gamma knife") can focus gamma rays so that the target area at the focus receives a high dose of radiation, while the surrounding healthy tissue receives a lower dose, achieving a higher focal-to-skin ratio.

[0057] When treatment is performed using a gamma-ray stereotactic radiotherapy system, collimators of different sizes are usually used to shape the rays reaching different positions in the target area into approximate "spheres" (also called target points) of different diameters. The target area is filled with these target points, and by assigning different weights to these target points, the dose field formed by the superposition of all target points in the target area can cover as much of the target area as possible.

[0058] However, as the requirements for the accuracy of radiotherapy continue to increase, this method of filling targets cannot effectively meet the need to avoid normal tissue around the target area during radiotherapy.

[0059] In the treatment plan generation method of the first aspect of the present application:

[0060] In order to improve the accuracy of the radiotherapy process and meet the need to avoid normal tissue around the target area during the radiotherapy process, an embodiment of the present application provides a treatment plan generation method applied to a radiotherapy system.

[0061] The radiotherapy system comprises: a radiotherapy device, which comprises a frame and a treatment head arranged on the frame.

[0062] The treatment plan generation method includes: during the breathing process of the target object, obtaining the target object's breathing cycle information, multiple body surface optical images, and multiple images including the target area. The breathing cycle information includes the duration of a single breathing behavior of the target object and the breathing frequency. The body surface optical image is used to reflect the body surface feature information of the target object. The image including the target area is used to reflect the target area position information of the target object. Based on the breathing cycle information, the multiple body surface optical images and the multiple images including the target area of ​​the target object, a breathing motion model of the target object is established. The breathing motion model is used to characterize the changes in the body surface features and / or target area position of the target object during the breathing cycle. Obtaining the prescription dose information of the target area, wherein the prescription dose information includes the radiation dose of different areas of the target area. Generate a treatment plan according to the breathing motion model and the prescription dose information, so that the control device controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam.

[0063] Based on this, the present application can accurately establish a respiratory motion model of the target object based on the target object's respiratory cycle information, multiple body surface optical images, and multiple images including the target area, so as to accurately reflect the changes in the target object's body surface characteristics and / or target area position during the respiratory cycle. Furthermore, based on the respiratory motion model, a treatment plan adapted to the target object's respiratory motion can be generated, so that the control device controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam, so as to achieve follow-up treatment of the target area of ​​the target object, support the beam to be accurately projected to the target area of ​​the target object, and improve the treatment accuracy.

[0064] like Figure 1 FIG. 1 is a flow chart of a treatment plan generation method provided in an embodiment of the present application. The treatment plan generation method includes: S101-S104.

[0065] S101. During the breathing process of the target object, obtain the target object's breathing cycle information, a plurality of body surface optical images, and a plurality of images including the target area.

[0066] The respiratory cycle information includes the duration and respiratory frequency of a single breathing behavior of the target object.

[0067] Considering that the duration of the target subject's breathing behavior under normal circumstances often fluctuates between 3 seconds and 5 seconds, and different breathing behaviors may last for different durations, it is difficult to accurately establish the target subject's breathing cycle, and thus it is impossible to accurately establish the target subject's breathing motion model. Therefore, before radiotherapy, the target subject can be trained to breathe to reduce the deviation in the duration between different breathing behaviors, so that when the target subject breathes during radiotherapy, the duration of different breathing behaviors is the same, and the breathing speed is uniform, that is, the breathing frequency is stable. In this way, the target subject's breathing motion model can be accurately established to improve the quality of radiotherapy.

[0068] It should be noted that the implementation of the treatment plan generation method in the embodiment of the present application is based on the basis of carrying out breathing training on the target object in advance. That is, before S101 is executed, breathing training is carried out on the target object in advance. Based on this, the duration of the single breathing behavior of the target object included in the above-mentioned breathing cycle information can accurately reflect the duration of the breathing cycle of the target object. That is, in the breathing process of the target object, the breathing cycle of the target object can be accurately determined based on the duration of the single breathing behavior of the target object obtained.

[0069] The body surface optical image is used to reflect the body surface characteristic information of the target object. The body surface optical image refers to the three-dimensional image obtained by imaging the body surface of the target object using optical principles and related imaging technologies, including the body surface contour and posture of the target object.

[0070] During the breathing process of the target object, a body surface optical image of the target object can be generated at each of the multiple consecutive moments, thereby obtaining multiple body surface optical images. The multiple body surface optical images are used to record the body surface feature information of the target object at each of the multiple consecutive moments.

[0071] The image including the target area is used to reflect the target area position information of the target object. The image including the target area can be an image obtained by performing an imaging examination on the target object, including information such as the location and shape of the tumor or lesion of the target object. Or further, the image including the target area can also include the location information of the organs at risk around the target area of ​​the target object.

[0072] During the breathing process of the target object, an image including the target area can be generated at each of the consecutive multiple moments, so as to obtain multiple images including the target area. The multiple images including the target area can be used to record the target area position information of the target object at each of the consecutive multiple moments.

[0073] Optionally, the image including the target area may be a three-dimensional image, such as a magnetic resonance (MR) image, a computed tomography (CT) image, or a positron emission tomography (PET) image.

[0074] S102: Establish a respiratory motion model of the target object based on respiratory cycle information, a plurality of body surface optical images, and a plurality of images including a target area of ​​the target object.

[0075] The respiratory motion model is used to characterize the changes in the surface characteristics of the target object and / or the target area position during the respiratory cycle. Based on the respiratory motion model, the surface characteristic information and target area position information of the target object at different times during the respiratory cycle can be obtained.

[0076] For example, based on the respiratory cycle information and multiple body surface optical images, the body surface features corresponding to each moment in the target object's respiratory cycle can be determined, and a body surface feature motion model in the respiratory cycle can be established to characterize the changes in the body surface features of the target object in the respiratory cycle. Furthermore, based on multiple images including the target area of ​​the target object, the target area position corresponding to each moment in the target object's respiratory cycle is added to the body surface feature motion model in the respiratory cycle to establish the target object's respiratory motion model.

[0077] For another example, based on the respiratory cycle information and multiple images including the target area of ​​the target object, the target area position corresponding to each moment in the respiratory cycle of the target object can be determined, and a target area position motion model in the respiratory cycle is established to characterize the change of the target area position of the target object in the respiratory cycle. Furthermore, based on multiple body surface optical images, the body surface features corresponding to each moment in the respiratory cycle of the target object are added to the target area position motion model in the respiratory cycle to establish the respiratory motion model of the target object.

[0078] If the target position is on the surface of the target object, that is, on the surface of the target object's skin, the target object's respiratory motion model can be used to characterize the changes in the target object's surface features during the respiratory cycle. In this way, through the respiratory motion model, the target object's surface features at the target position at each moment during the respiratory cycle can be determined, so as to determine the time period for irradiating the target area during the respiratory cycle, which can support the accurate formulation of a treatment plan. Alternatively, the target object's respiratory motion model can be used to characterize the changes in the target position of the target object during the respiratory cycle. In this way, through the respiratory motion model, the target position of the target object at each moment during the respiratory cycle can be determined, so as to determine the time period for irradiating the target area during the respiratory cycle, which can support the accurate formulation of a treatment plan.

[0079] If the target area is located inside the body of the target object, the respiratory motion model of the target object can be used to characterize the changes in the surface characteristics of the target object and the target area during the respiratory cycle. In this way, the surface characteristics and target area of ​​the target object at each moment can be determined through the respiratory motion model, so as to determine the time period for irradiating the target area during the respiratory cycle, which can support accurate formulation of treatment plans.

[0080] S103: Obtaining prescription dose information of the target area.

[0081] The prescription dose information includes radiation doses of different regions of the target area. Different regions of the target area may correspond to different radiation doses. The radiation dose is the amount of radiation energy that the target area needs to receive.

[0082] S104: Generate a treatment plan according to the respiratory motion model and the prescribed dose information, so that the control device controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam.

[0083] Considering that the target area of ​​the target object will repeatedly move with the breathing movement of the target object, while the isocenter point of the beam emitted by the radiotherapy device is fixed, that is, when the target object is receiving radiotherapy on the radiotherapy device, the position of the target area of ​​the target object moves relative to the isocenter point.

[0084] In this case, if the target area of ​​the target object is continuously radiotherapyed by gamma knife, the target area will move repeatedly, causing normal tissue around the target area to enter the irradiation area, while part of the target area will leave the irradiation area, making it difficult to achieve complete coverage of the target area. If the target area is fully covered by expanding the target area, the sharp dose gradient inside and outside the target area cannot be achieved by the characteristics of gamma knife stereotactic irradiation, which is easy to cause damage to normal tissue around the target area.

[0085] In some embodiments, considering that the respiratory motion of the target object will enter a stable stage at the end of the respiratory cycle, the target area of ​​the target object will no longer move repeatedly and remain stable before the end of the respiratory cycle. In this case, the target area of ​​the target object can be irradiated stably, and a better treatment effect can be achieved.

[0086] Based on this, the target position of the target object is determined in a stable interval from the end to the end of the respiratory cycle through the respiratory motion model, and the time period corresponding to the stable interval in the respiratory cycle is used as the treatment period. That is, the treatment period is the period during which the target point of the target object coincides with the isocenter of the radiotherapy equipment during the breathing process of the target object. In addition, other time periods in the respiratory cycle can be determined as non-treatment periods. That is, the non-treatment period is the period during which the target point of the target object does not coincide with the isocenter of the radiotherapy equipment during the breathing process of the target object. Based on this, the treatment period is the period from when the target object's breathing reaches the end to when the breathing ends. The non-treatment period is the period before the target object's breathing starts to reach the end. During the treatment period, the target position of the target object remains basically unchanged, and can be stably located at the isocenter of the beam emitted by the radiotherapy equipment, thereby achieving a better treatment effect and avoiding damage to normal tissues around the target area.

[0087] Furthermore, the treatment period in the treatment plan may include multiple sub-treatment periods. Different sub-treatment periods are in different breathing cycles. That is, every time the target object performs a breathing behavior, a sub-treatment period is set in the breathing cycle of the breathing behavior. Moreover, the rotation paths of the treatment heads in multiple sub-treatment periods do not overlap. In a sub-treatment period, the rotation path of the treatment head, that is, the arc through which the treatment head rotates with the random frame, is denoted as αi. i=1, 2, 3, ..., n. n is the same as the number of multiple sub-treatment periods. In this way, when the sum of the arcs of rotation of the treatment head in each sub-treatment period is 360°, that is, when the sum of each αi is equal to 360°, 360° coverage irradiation of the target area of ​​the target object can be achieved through staggered irradiation, thereby achieving a better treatment effect.

[0088] In some embodiments, the treatment period in the treatment plan may be determined to include multiple sub-treatment periods according to the breathing frequency of the target object. The treatment frequency of the target area of ​​the target object based on the multiple sub-treatment periods is consistent with the breathing frequency of the target object.

[0089] In some embodiments, the existence of organs at risk around the target area of ​​the target object is taken into account. In the process of staggered irradiation in combination with the respiratory movement of the target object, it is necessary to avoid irradiation of organs at risk and reduce the dose to organs at risk as much as possible. Based on this, the image including the target area of ​​the target object may also include position information of organs at risk around the target area of ​​the target object. When establishing a respiratory motion model, changes in the position of organs at risk during the respiratory cycle may also be established. In this way, based on the respiratory motion model, position change information of organs at risk of the target object during the respiratory cycle may also be obtained.

[0090] Based on this, the target area position of the target object is determined in a stable interval before the end of the respiratory cycle through the respiratory motion model, and the position of the organ at risk when the target area position of the target object is in the stable interval, and then the rotation path corresponding to the treatment head when the beam path passes through the organ at risk to irradiate the stable interval is determined, and the partial time period corresponding to the partial rotation path in the above-mentioned sub-treatment period is eliminated. Based on this, the treatment period in the treatment plan is the period during the breathing process of the target object, when the beam path emitted by the treatment head does not pass through the organ at risk, and the isocenter of the radiotherapy equipment coincides with the target of the target object. The non-treatment period in the treatment plan is the period when the target of the target object deviates from the isocenter of the radiotherapy equipment, and the beam path emitted by the treatment head passes through the organ at risk, and the isocenter of the radiotherapy equipment coincides with the target of the target object. In this way, during the treatment period, the target area position of the target object remains basically unchanged, can be stably located at the isocenter of the beam emitted by the radiotherapy equipment, and can avoid irradiating the normal tissues and organs at risk around the target area, thereby achieving a better treatment effect.

[0091] In a possible manner, the method for generating a treatment plan may further include: determining the irradiation dose of the target area of ​​the target object during the treatment period based on the respiratory motion model and the prescription dose information, and generating a complete treatment plan.

[0092] In the radiotherapy control method of the second aspect of the present application:

[0093] In order to improve the accuracy of the radiotherapy process and meet the need to avoid normal tissue around the target area during the radiotherapy process, an embodiment of the present application provides a radiotherapy control method applied to a radiotherapy system.

[0094] The radiotherapy system comprises: a radiotherapy device, which comprises a frame and a treatment head arranged on the frame.

[0095] The radiotherapy control method includes: obtaining a treatment plan. The treatment plan includes a respiratory motion model of a target object. The respiratory motion model is used to characterize changes in the surface characteristics of the target object and the position of the target area during a respiratory cycle. Based on the changes in the surface characteristics of the target object and the position of the target area during a respiratory cycle, the rack is controlled to rotate, and the treatment head is controlled to start or stop emitting a beam.

[0096] like Figure 2 FIG. 2 is a flow chart of a radiotherapy control method provided in an embodiment of the present application. The radiotherapy control method includes: S201-S202.

[0097] S201. Obtain a treatment plan.

[0098] The treatment plan includes a respiratory motion model of the target object, which is used to characterize the changes of the target object's body surface characteristics and the target area position during the respiratory cycle.

[0099] It should be understood that the method for generating the treatment plan can refer to the specific description in S101-S104 above, which will not be repeated here.

[0100] S202: Based on the changes in the surface features of the target object and the target area position during the respiratory cycle, the gantry is controlled to rotate, and the treatment head is controlled to start or stop emitting a beam.

[0101] In some embodiments, the treatment plan includes: a treatment period and a non-treatment period. During the breathing process of the target object, the treatment period includes the period when the target point of the target object coincides with the isocenter of the radiotherapy device. The non-treatment period includes the period when the target point of the target object deviates from the isocenter of the radiotherapy device.

[0102] In this case, based on the changes in the surface characteristics of the target object and the target area position during the respiratory cycle, the gantry is controlled to rotate, and the treatment head is controlled to start or stop emitting a beam. When the target point of the target object coincides with the isocenter of the radiotherapy equipment, the treatment head is controlled to start emitting a beam, and when the target point of the target object deviates from the isocenter of the radiotherapy equipment, the treatment head is controlled to stop emitting the beam, thereby achieving staggered irradiation of the target area of ​​the target object.

[0103] For example, Figure 3 FIG. 1 is a schematic diagram of an irradiation process provided by an embodiment of the present application. In the process of controlling the rotation of the rack, the target area of ​​the target object can repeatedly move between the upper limit position and the lower limit position according to the breathing behavior of the target object. In addition, the target area position of the target object can be in different rotation angles. Figure 3When the target point of the target object coincides with the isocenter of the radiotherapy device, the treatment head can be controlled to start emitting beams. In addition, during the process of controlling the rotation of the gantry, if the target area of ​​the target object deviates from the correct position at other rotation angles, the treatment head can be controlled to stop emitting beams.

[0104] In one possible manner, at the beginning of the radiotherapy process, the control frame drives the treatment head to be located at 0 degrees, and monitors the changes in the surface features of the target object and the position of the target area. When it is determined that the target point of the target object coincides with the isocenter of the radiotherapy equipment, the control frame drives the treatment head to rotate, and controls the treatment head to start emitting a beam. Subsequently, the control frame drives the treatment head to rotate continuously, and when it is determined that the target point of the target object is out of the isocenter of the radiotherapy equipment, the treatment head is controlled to stop emitting a beam. During the radiotherapy process, the control frame rotates continuously without stopping, and when it is determined that the target point of the target object coincides with the isocenter of the radiotherapy equipment again, the treatment head is controlled to start emitting a beam.

[0105] In the first breathing cycle at the beginning of the radiotherapy process, the angle at which the target object target area is driven by the gantry to rotate the treatment head during the treatment period from the end of the breathing cycle to the end stage is recorded as β1, and the angle at which the gantry drives the treatment head to rotate during the non-treatment period of the breathing cycle is recorded as β2. β1 and β2 can be regarded as an irradiation cycle. After the gantry drives the treatment head to rotate for the first irradiation cycle, the gantry drives the treatment head to rotate to the starting position of the β2 angle of the irradiation cycle. Subsequently, during the treatment period of the second breathing cycle, the treatment head is controlled to start emitting a beam. In this way, within the range of the β2 angle in the first irradiation cycle, the target object target area is again irradiated with an angle that is the same as the β1 angle. And so on, until uniform irradiation of the target object target area is formed at various angles through this staggered irradiation method. In this way, the high-speed switch switching of the treatment head combined with the rotational movement of the gantry can be used to follow the position of the target object target area, effectively supporting precise radiotherapy.

[0106] For example, Figure 4 As shown, it is a schematic diagram of another irradiation process provided by an embodiment of the present application. As shown in (a), (b), (c) and (d) in the figure, as the radiotherapy process proceeds, the target area of ​​the target object can be irradiated at different angles until the target area of ​​the target object is uniformly irradiated at all angles.

[0107] Optionally, during radiotherapy, changes in the body surface features and target area positions of the target object during the respiratory cycle can be identified. If the current body surface features of the target object are identified to match the body surface features at the end of the respiratory cycle, the target point of the target object is determined to coincide with the isocenter of the radiotherapy device. Alternatively, if the current body surface features of the target object are identified to match the body surface features at the end of the respiratory cycle, and the target area position of the target object is identified to match the target area position at the end of the respiratory cycle, the target point of the target object is determined to coincide with the isocenter of the radiotherapy device. Otherwise, it is determined that the target point of the target object does not coincide with the isocenter of the radiotherapy device.

[0108] In some embodiments, during the breathing process of the target object, the treatment period includes a period when the beam path emitted by the treatment head does not pass through the organ at risk, and the isocenter of the radiotherapy device coincides with the target of the target object. The non-treatment period includes a period when the target of the target object deviates from the isocenter of the radiotherapy device, and a period when the beam path emitted by the treatment head passes through the organ at risk, and the isocenter of the radiotherapy device coincides with the target of the target object.

[0109] For example, Figure 5 , which is a schematic diagram of another irradiation process provided in an embodiment of the present application. Figure 5 In the present invention, the organ at risk is located on one side of the target area of ​​the target object, and the target area of ​​the target object is at the isocenter of the radiotherapy device. Figure 5 The dotted line in the figure is the beam path that passes through the organ at risk and irradiates to the target area of ​​the target object. In this case, the treatment head is controlled to stop emitting the beam to avoid the organ at risk. Figure 5 The solid line in is the beam path that does not pass through the organ at risk to the target area of ​​the target object. In this case, the treatment head is controlled to start emitting a beam to implement irradiation treatment on the target area of ​​the target object.

[0110] In this case, based on the changes in the surface characteristics of the target object and the target area position during the respiratory cycle, the gantry is controlled to rotate, and the treatment head is controlled to start or stop emitting a beam. When the beam path emitted by the treatment head does not pass through the endangered organ, and the isocenter of the radiotherapy equipment coincides with the target of the target object, the control device controls the treatment head to emit a beam. In addition, when the target of the target object deviates from the isocenter of the radiotherapy equipment, or the beam path emitted by the treatment head passes through the endangered organ, and the isocenter of the radiotherapy equipment coincides with the target of the target object, the control device controls the treatment head to stop emitting the beam. In this way, when there is an endangered organ between the position of the treatment head and the target area position of the target object during the arc irradiation process, the treatment head can be turned off to avoid the endangered organ and reduce the irradiation dose of the endangered organ.

[0111] For example, the changes of the body surface features, target area positions and risk organ positions of the target object during the respiratory cycle can be identified. If the current body surface features of the target object are identified to match the body surface features at the end of the respiratory cycle, and the risk organ position is not on the beam path of the treatment head, then the target point of the target object is determined to coincide with the isocenter of the radiotherapy device. Alternatively, if the current body surface features of the target object are identified to match the body surface features at the end of the respiratory cycle, and the risk organ position is not on the beam path of the treatment head, and the current target area position of the target object is identified to match the target area position at the end of the respiratory cycle, then the target point of the target object is determined to coincide with the isocenter of the radiotherapy device. Otherwise, it is determined that the target point of the target object does not coincide with the isocenter of the radiotherapy device.

[0112] In the radiation therapy system of the third aspect of the present application:

[0113] Combined with the above Figure 1 The treatment plan generation method shown, and the above Figure 2 The radiotherapy control method shown in the embodiment of the present application provides a radiotherapy system. The radiotherapy system includes: a TPS device for executing the treatment plan generation method as described above, a control device for executing the radiotherapy control method as described above, and a radiotherapy device. The radiotherapy device includes: a frame and a treatment head arranged on the frame.

[0114] In the radiotherapy system of the present application, the TPS device can obtain the target object's respiratory cycle information, multiple body surface optical images, and multiple images including the target area during the target object's breathing process. Among them, the respiratory cycle information includes the duration and respiratory frequency of the target object's single breathing behavior. The body surface optical image is used to reflect the body surface feature information of the target object. The image including the target area is used to reflect the target area position information of the target object. Further, the TPS device can establish a respiratory motion model of the target object based on the respiratory cycle information, multiple body surface optical images, and multiple images including the target area of ​​the target object. The respiratory motion model is used to characterize the changes in the target object's body surface features and / or target area position during the respiratory cycle. Furthermore, the TPS device can generate a treatment plan based on the respiratory motion model and the prescription dose information, so that the control device controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting beams.

[0115] In this way, the TPS device in the embodiment of the present application can accurately establish a respiratory motion model of the target object based on the target object's respiratory cycle information, multiple body surface optical images, and multiple images including the target area, so as to accurately reflect the changes in the target object's body surface characteristics and / or the target area position during the respiratory cycle. Furthermore, the TPS device can generate a treatment plan adapted to the target object's respiratory motion based on the respiratory motion model, so that the control device controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam, so as to achieve follow-up treatment of the target area of ​​the target object, support the beam to be accurately projected to the target area of ​​the target object, and improve the treatment accuracy.

[0116] like Figure 6 , which is a schematic diagram of the structure of a radiotherapy system provided in an embodiment of the present application. Figure 6 The radiation therapy system 300 shown includes a TPS device 301, a control device 302, and a radiotherapy device 303. The control device 302 can be connected to the TPS device 301 and the radiotherapy device 303, respectively.

[0117] TPS equipment:

[0118] In some embodiments, the TPS device 301 is used to perform the above Figure 1 The treatment plan generation method shown is to obtain the target object's respiratory cycle information, multiple body surface optical images, and multiple images including the target area during the target object's breathing process, and establish a respiratory motion model of the target object based on the respiratory cycle information, the multiple body surface optical images, and the multiple images including the target area of ​​the target object, so as to further generate a treatment plan according to the respiratory motion model and the prescription dose information, so that the control device 302 controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam.

[0119] Thus, in the embodiment of the present application, the TPS device 301 can accurately establish a respiratory motion model of the target object based on the target object's respiratory cycle information, multiple body surface optical images, and multiple images including the target area, so as to accurately reflect the changes in the target object's body surface characteristics and / or the target area position during the respiratory cycle. Furthermore, the TPS device 301 can generate a treatment plan adapted to the target object's respiratory motion based on the respiratory motion model, so that the control device 302 controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam, so as to achieve follow-up treatment of the target area of ​​the target object, support accurate projection of the beam to the target area of ​​the target object, and improve the treatment accuracy.

[0120] In some embodiments, in order to facilitate the formulation of a treatment plan for the target object, in the above S102, the TPS device 301 can process multiple body surface optical images of the target object and multiple images including the target area through the radiotherapy planning system, accurately locate the body surface feature information at each moment in the target object's respiratory cycle, and the target area position, structure, boundary, morphology, distribution characteristics and other information of the target object. Furthermore, the TPS device 301 can establish a respiratory motion model of the target object.

[0121] In some embodiments, in S103, the TPS device 301 can perform calculation superposition through the radiotherapy planning system to accurately determine the prescription dose information of the target area. Alternatively, the prescription dose information of the target area can also be manually set in the TPS device 301. The TPS device 301 can read the prescription dose information of the target area manually set when necessary.

[0122] In some embodiments, the TPS device 301 can be divided into functional modules according to the above-mentioned treatment plan generation method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0123] For example, when the TPS device 301 is implemented in the form of a software function module, Figure 7 FIG. 4 is a schematic diagram showing the structure of a treatment plan generating device. The treatment plan generating device 40 can be applied to the TPS device 301 to implement any possible treatment plan generating method involved in the above-mentioned embodiments. Figure 7 As shown, the treatment plan generating device 40 may include: an acquisition unit 401 and a processing unit 402 .

[0124] The acquisition unit 401 is used to acquire the target object's respiratory cycle information, multiple body surface optical images, and multiple images including the target area during the target object's breathing process. The respiratory cycle information includes the duration of a single breathing behavior of the target object and the respiratory frequency. The body surface optical image is used to reflect the body surface feature information of the target object. The image including the target area is used to reflect the target area position information of the target object. The processing unit 402 is used to establish a respiratory motion model of the target object based on the respiratory cycle information, the multiple body surface optical images, and the multiple images including the target area of ​​the target object. The respiratory motion model is used to characterize the changes in the target object's body surface features and / or the target area position during the respiratory cycle. The acquisition unit 401 is also used to acquire the prescription dose information of the target area, wherein the prescription dose information includes the radiation dose of different areas of the target area. The processing unit 402 is also used to generate a treatment plan based on the respiratory motion model and the prescription dose information, so that the control device controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam.

[0125] In some embodiments, based on the respiratory motion model, the body surface feature information and target area position information of the target object at different times in the respiratory cycle are obtained.

[0126] In some embodiments, the treatment plan includes: a treatment period and a non-treatment period. During the breathing process of the target object, the treatment period includes a period when the target point of the target object coincides with the isocenter of the radiotherapy device. The non-treatment period includes a period when the target point of the target object does not coincide with the isocenter of the radiotherapy device.

[0127] In some embodiments, the image also includes the position information of the target object's organs at risk. Based on the respiratory motion model, the position change information of the target object's organs at risk during the respiratory cycle can also be obtained. The treatment plan includes: a treatment period and a non-treatment period. During the target object's breathing process, the treatment period includes the period when the beam path emitted by the treatment head does not pass through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target of the target object. The non-treatment period includes the period when the target of the target object deviates from the isocenter of the radiotherapy equipment, and the period when the beam path emitted by the treatment head passes through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target of the target object.

[0128] In some embodiments, the treatment period is the period from when the breathing of the target object reaches the end to when the breathing ends. The non-treatment period is the period from when the breathing of the target object starts to before it reaches the end.

[0129] In some embodiments, the treatment period includes multiple sub-treatment periods, and the rotation paths of the treatment head in the multiple sub-treatment periods do not overlap. Within the sub-treatment period, the arc of rotation of the treatment head is denoted as αi, i=1, 2, 3, ..., n, and the sum of αi is equal to 360°.

[0130] Control device:

[0131] In some embodiments, the control device 302 is used to perform the above Figure 2 The radiotherapy control method shown is used to control the radiotherapy device 303 to execute the treatment plan, that is, based on the changes of the surface characteristics of the target object and the target area position during the breathing cycle, control the rotation of the gantry and control the treatment head to start or stop emitting beams.

[0132] In some embodiments, after the TPS device 301 generates a treatment plan according to the respiratory motion model and the prescription dose information, the generated treatment plan can be sent to the control device 302. Accordingly, the control device 302 can receive the treatment plan from the TPS device 301. Further, the control device 302 can parse the treatment plan, determine the respiratory motion model of the target object, and control parameters related to the treatment period and the non-treatment period, etc., so as to control the rotation of the gantry and control the treatment head to start or stop emitting beams based on the parsed information and the changes of the surface characteristics of the target object and the target area position in the respiratory cycle.

[0133] In some embodiments, the control device 302 can be divided into functional modules according to the above-mentioned radiotherapy control method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0134] For example, when the control device 302 is implemented in the form of a software function module, Figure 8 FIG. 5 shows a schematic diagram of the structure of a radiotherapy control device. The radiotherapy control device 50 can be applied to the control device 302 to implement any possible radiotherapy control method involved in the above embodiments. Figure 8 As shown, the radiotherapy control device 50 may include: an acquisition unit 501 and a control unit 502 .

[0135] The acquisition unit 501 is used to acquire a treatment plan. The treatment plan includes a respiratory motion model of the target object. The respiratory motion model is used to characterize the changes of the surface characteristics of the target object and the target area position during the respiratory cycle. The control unit 502 is used to control the rotation of the gantry and control the treatment head to start or stop emitting a beam based on the changes of the surface characteristics of the target object and the target area position during the respiratory cycle.

[0136] In some embodiments, the treatment plan includes: a treatment period and a non-treatment period. During the breathing process of the target object, the treatment period includes the period when the target point of the target object coincides with the isocenter of the radiotherapy device. The non-treatment period includes the period when the target point of the target object deviates from the isocenter of the radiotherapy device.

[0137] The control unit 502 is specifically used to: when the target point of the target object coincides with the isocenter of the radiotherapy device, control the treatment head to emit a beam, and when the target point of the target object deviates from the isocenter of the radiotherapy device, control the treatment head to stop emitting a beam.

[0138] In some embodiments, the treatment plan also includes a treatment period, a non-treatment period, and the position information of the target object's organs at risk. During the target object's breathing process, the treatment period includes a period when the beam path emitted by the treatment head does not pass through the organs at risk, and the isocenter of the radiotherapy device coincides with the target of the target object. The non-treatment period includes a period when the target of the target object deviates from the isocenter of the radiotherapy device, and a period when the beam path emitted by the treatment head passes through the organs at risk, and the isocenter of the radiotherapy device coincides with the target of the target object.

[0139] The control unit 502 is specifically used to: when the beam path emitted by the treatment head does not pass through the organ at risk, and the isocenter of the radiotherapy device coincides with the target of the target object, control the treatment head to emit the beam. When the target of the target object deviates from the isocenter of the radiotherapy device, or when the beam path emitted by the treatment head passes through the organ at risk, and the isocenter of the radiotherapy device coincides with the target of the target object, control the treatment head to stop emitting the beam.

[0140] Radiotherapy equipment:

[0141] In some embodiments, the radiotherapy device 303 is used to emit a beam to the target area of ​​the target object, and specifically includes a frame and a treatment head arranged on the frame. The frame can rotate to drive the treatment head to rotate. In this way, considering that the position of the target area of ​​the target object is relatively stable from the end to the end stage of the respiratory cycle, and it moves repeatedly in other stages of the respiratory cycle, the treatment head can be driven to rotate by the frame to achieve arc irradiation of the target area of ​​the target object from different angles from the end to the end stage of different respiratory cycles.

[0142] In some embodiments, the treatment head may include: a source body, a shielding body, and a driving assembly.

[0143] On the source carrier, along the central axis direction of the source carrier, a plurality of radiation sources are arranged in a single row and distributed in a straight line on the surface of the source carrier.

[0144] The shielding body is provided with a plurality of primary collimation channels penetrating the shielding body. The plurality of primary collimation channels are arranged relative to and correspond to the plurality of radiation sources on the surface of the source carrier. The rays emitted by the plurality of radiation sources can pass through the corresponding plurality of primary collimation channels and focus on the same point. That is, one primary collimation channel is arranged correspondingly to one radiation source. Moreover, the rays emitted by one radiation source pass through a correspondingly arranged primary collimation channel and irradiate to the focal point.

[0145] The driving assembly is used to drive the source carrier and the shield to move synchronously relative to each other. In this way, the switching of the radiation source can be supported by the synchronous relative movement of the source carrier and the shield, which can improve the response speed of the switching radiation source, reduce the dose of the residual beam irradiated to the target object when the radiation source is switched on and off, and reduce the inaccuracy of the residual dose during the irradiation process.

[0146] For example, when the driving assembly drives the source carrier and the shielding body to move synchronously relative to each other until the multiple radiation sources are on the central axis of the multiple primary collimation channels, the radiation emitted by the multiple radiation sources can pass through the corresponding multiple primary collimation channels and focus on the same point. In this case, the treatment head can emit a beam to implement irradiation treatment of the target area of ​​the target object.

[0147] For another example, when the driving assembly drives the source carrier and the shielding body to move synchronously relative to each other until the multiple radiation sources deviate from the central axis of the multiple primary collimation channels, the radiation emitted by the multiple radiation sources is shielded by the shielding body. In this case, the treatment head stops emitting beams and stops irradiating the target area of ​​the target object.

[0148] Based on this, when the control device 302 needs to control the treatment head to switch from starting to emit a beam to stopping emitting a beam, the control device 302 can control the driving component to drive the source carrier and the shielding body to move synchronously relative to each other, so that multiple radiation sources deviate from the central axis of multiple primary collimation channels, and achieve rapid shutdown of the gamma radiation source, thereby shielding the beam irradiating the target object within milliseconds, causing the energy of the beam irradiating the target object to decay rapidly, thereby avoiding damage to the normal tissue of the target object.

[0149] In some embodiments, the driving assembly includes a transmission gear pair. The transmission gear pair includes: a first gear disposed on the source carrier and a second gear disposed on the shielding body. Alternatively, the speed ratio of the first gear and the second gear may be 1:1.

[0150] Optionally, in the transmission gear pair, the first gear may be a driving gear, and the second gear may be a driven gear. Alternatively, the first gear may be a driven gear, and the second gear may be a driving gear.

[0151] For example, Fig. 9The figure is a schematic diagram of the structure of a treatment head provided by an embodiment of the present application. The synchronous relative movement between the source carrier and the shielding body is achieved by rotating the transmission gear pair of the driving assembly. Fig. 9 As shown in (a) in the figure, when the radiation source is on the central axis of the primary collimation channel, the radiation can pass through the primary collimation channel to the focal point. Fig. 9 As shown in (b), when the radiation source deviates from the central axis of the primary collimation channel, the rays cannot pass through the primary collimation channel to irradiate the focal point.

[0152] Furthermore, if Fig.10 , which is a schematic diagram of another irradiation process provided in an embodiment of the present application. Fig.10 In the present invention, the organ at risk is located on one side of the target area of ​​the target object, and the target area of ​​the target object is at the isocenter of the radiotherapy device. Fig.10 The dotted line in the figure is the beam path that passes through the organ at risk and irradiates to the target area of ​​the target object. In this case, the control device 302 can control the drive assembly to drive the transmission gear pair to rotate, so that the radiation source deviates from the central axis of the primary collimation channel, thereby controlling the treatment head to stop emitting beams and avoid the organ at risk. Fig.10 The solid line in is the beam path that does not pass through the organs at risk to the target area of ​​the target object. In this case, the control device 302 can control the drive assembly to drive the transmission gear pair to rotate so that the radiation source is on the central axis of the primary collimation channel, thereby controlling the treatment head to start emitting a beam to implement irradiation treatment on the target area of ​​the target object.

[0153] In some embodiments, the treatment head may further include: a shielding box and a secondary collimator.

[0154] The source carrier and shielding body of the treatment head can be arranged in a shielding box. The shielding box can be provided with a plurality of through holes corresponding to the primary collimation channels. The rays of the plurality of radiation sources arranged on the source carrier can pass through the through holes. That is, the rays emitted by each radiation source can pass through the through holes through the primary collimation channels correspondingly arranged on the shielding body.

[0155] The secondary collimator is disposed outside the shielding box and can move relative to the shielding box. In addition, the secondary collimator includes multiple groups of secondary collimation channels with different apertures. The secondary collimation channel can be connected to the primary collimation channel so that the rays from multiple radiation sources can pass through the secondary collimation channel and focus on the same point. In this way, the control device 302 can switch different secondary collimation channels by controlling the radiotherapy device 303 to form different irradiation fields at the isocenter of the beam emitted by the treatment head, thereby achieving precise treatment of the target area of ​​the target object.

[0156] In some embodiments, the radiotherapy device 303 further includes: a dose collection device. The dose collection device is located on the frame and is arranged opposite to the treatment head, and is used to receive the beam emitted by the treatment head and passing through the target object, and generate beam characteristic information to monitor the total dose irradiated to the treatment isocenter during the radiotherapy process. The beam characteristic information includes the dose intensity of the received beam and the position of the dose collection device when the beam is received.

[0157] For example, Fig.11 As shown, it is a schematic diagram of a dose collection process provided by an embodiment of the present application. The normal beam in the treatment period irradiates the target area of ​​the target object at the isocenter, and passes through the body of the target object to irradiate the irradiation position in the treatment period on the dose collection device. In this way, the dose collection device can receive the normal beam emitted by the treatment head and passing through the target object in the treatment period, and record the total dose irradiated to the treatment isocenter in the treatment period. In addition, in the process of the control device 302 controlling the radiation source of the radiotherapy device 303 to switch from on to off, the residual beam in the switching process can pass through the body of the target object to irradiate the irradiation position in the non-treatment period on the dose collection device. In this way, the dose collection device can receive the residual beam passing through the target object in the non-treatment period, and record the total dose irradiated to the normal group leader of the target object in the non-treatment period.

[0158] In this way, during radiotherapy, the total dose irradiated to the treatment isocenter can be compared with the expected dose indicated by the prescription dose information, so as to update the prescription dose for the target area of ​​the target object during radiotherapy, avoid the problem of reduced accuracy of irradiation dose due to frequent switching of rays, and improve the safety of the staggered irradiation treatment process.

[0159] In the electronic device of the fourth aspect of the present invention:

[0160] In the case of an integrated unit, Fig.12 Schematic diagram of the structure of an electronic device is shown. The electronic device 60 may be a treatment plan generating device to implement any possible treatment plan generating method involved in the above embodiments. Alternatively, the electronic device 60 may be a radiotherapy control device to implement any possible radiotherapy control method involved in the above embodiments. Fig.12 As shown, the electronic device 60 may include: a processing module 601 and a communication module 602. The processing module 601 may be used to control and manage the actions of the electronic device 60. The communication module 602 may be used to support the communication between the electronic device 60 and other entities. Fig.12 As shown, the electronic device 60 may further include a storage module 603 for storing program codes and data of the electronic device 60 .

[0161] The processing module 601 may be a processor or a controller. The communication module 602 may be a transceiver, a transceiver circuit or a communication interface, etc. The storage module 603 may be a memory.

[0162] When the processing module 601 is a processor, the communication module 602 is a transceiver, and the storage module 603 is a memory, the processor, the transceiver, and the memory may be connected via a bus.

[0163] In some embodiments, the electronic device 60 is used as a treatment plan generating device to implement any possible treatment plan generating method involved in the above embodiments. The electronic device 60 may include a TPS client and a TPS server. The TPS server may run a radiation therapy planning system (TPS). The radiation therapy planning system provides the functions of formulating, optimizing, and evaluating treatment plans.

[0164] The TPS client may be at least one of a smart phone, a smart watch, a desktop computer, a laptop, a virtual reality terminal, an augmented reality terminal, a wireless terminal, and a laptop computer. For example, in some embodiments, a user may trigger the TPS server to perform an adaptive treatment plan optimization process and display the optimized treatment plan through a radiotherapy planning system running on a TPS server through a TPS client. In this way, the user's time can be effectively saved, and the optimized treatment plan can be presented more intuitively so that the user can evaluate the treatment plan.

[0165] Among them, the TPS server can be an independent physical server, or a server cluster or distributed file system composed of multiple physical servers, or at least one of the cloud servers that provide basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks, and big data or artificial intelligence platforms, etc., which is not limited in the embodiments of the present disclosure. In some embodiments, the number of the above-mentioned TPS servers can be more or less, which is not limited in the embodiments of the present disclosure. Of course, the TPS server can also include other functions to provide more comprehensive and diversified services. In some embodiments, the TPS server is used to provide background services for the above-mentioned TPS client, such as executing an adaptive treatment plan optimization process.

[0166] In some embodiments, the electronic device 60 is used as a radiotherapy control device to implement any possible radiotherapy control method involved in the above embodiments. The electronic device 60 may include a host computer and a slave computer. The host computer is used to interact with the user, and the slave computer is used to control the movement of each moving part in the radiotherapy equipment 303. The host computer can be at least one of a smart phone, a smart watch, a desktop computer, a laptop, a virtual reality terminal, an augmented reality terminal, a wireless terminal, a laptop computer and other devices and / or a server device, and the slave computer can be a control device such as a programmable logic controller (PLC).

[0167] In the nonvolatile storage medium of the fifth aspect of the present invention:

[0168] The non-volatile storage medium stores a computer program, and when the computer program is read and executed, it implements any possible treatment plan generation method as in the above embodiments, or any possible radiotherapy control method as in the above embodiments.

[0169] In the computer program product of the fifth aspect of the present invention:

[0170] The computer program product includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes any possible treatment plan generation method in the above embodiments, or any possible radiotherapy control method in the above embodiments.

[0171] In one embodiment, Fig.13 FIG. 2 shows a schematic diagram of the structure of another electronic device. Fig.13 As shown, the electronic device 70 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 to a random access memory 703. In the random access memory (RAM) 703, various programs and data required for the operation of the electronic device 70 can also be stored. The computing unit 701, ROM 702 and RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0172] Multiple components in the electronic device 70 are connected to the input / output interface 705, including: an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a disk, an optical disk, etc.; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the electronic device 70 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0173] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit, a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors, and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above, such as a treatment plan generation method or a radiotherapy control method. For example, in one embodiment, the treatment plan generation method may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 708. For another example, in one embodiment, the radiotherapy control method may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 708.

[0174] In one embodiment, part or all of the computer program may be loaded and / or installed into the computer via ROM 702 and / or communication unit 709. Fig.13 When the computer program is loaded into RAM 703 and executed by the computing unit 701, one or more steps of the treatment plan generation method described above may be executed, or one or more steps of the radiotherapy control method described above may be executed. Alternatively, in other embodiments, the computing unit 701 may be configured to execute the treatment plan generation method or the radiotherapy control method in any other appropriate manner (e.g., by means of firmware).

[0175] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays, application specific integrated circuits, application specific standard parts (ASSP), system on chip systems (System On Chip, SOC), complex programmable logic devices (Complex Programmable Logic Device, CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor, which can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0176] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0177] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories, read-only memories, erasable programmable read-only memories, optical fibers, portable compact disk read-only memories, optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0178] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user, such as a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0179] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

[0180] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0181] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0182] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0183] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0184] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0185] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber terminal line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0186] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A treatment plan generation method, applied to a radiotherapy system, characterized in that: The radiotherapy system comprises: a radiotherapy device, wherein the radiotherapy device comprises a frame and a treatment head arranged on the frame; The treatment plan generating method comprises: During the breathing process of the target object, the target object's breathing cycle information, multiple body surface optical images, and multiple images including the target area are obtained; the breathing cycle information includes the duration and breathing frequency of a single breathing behavior of the target object; the body surface optical images are used to reflect the body surface feature information of the target object; and the images including the target area are used to reflect the target area position information of the target object; Based on the respiratory cycle information, the multiple body surface optical images and the multiple images including the target area of ​​the target object, a respiratory motion model of the target object is established; the respiratory motion model is used to characterize the changes of the body surface characteristics and / or the target area position of the target object during the respiratory cycle; Acquiring prescription dose information of the target area, wherein the prescription dose information includes radiation doses of different areas of the target area; A treatment plan is generated according to the respiratory motion model and the prescription dose information, so that the control device controls the rotation of the gantry based on the treatment plan, and controls the treatment head to start or stop emitting a beam.

2. The method for generating a treatment plan according to claim 1, characterized in that: Based on the respiratory motion model, the body surface feature information and target area position information of the target object at different times in the respiratory cycle are obtained.

3. The method for generating a treatment plan according to claim 1, characterized in that: The treatment plan includes: treatment period and non-treatment period; During the breathing process of the target object, the treatment period includes the period when the target point of the target object coincides with the isocenter of the radiotherapy equipment; the non-treatment period includes the period when the target point of the target object does not coincide with the isocenter of the radiotherapy equipment.

4. The method for generating a treatment plan according to claim 1, characterized in that: The image also includes information on the location of organs at risk of the target object; Based on the respiratory motion model, it is also possible to obtain position change information of the target object's organs at risk during the respiratory cycle; the treatment plan includes: a treatment period and a non-treatment period; During the breathing process of the target object, the treatment period includes a period when the beam path emitted by the treatment head does not pass through the endangered organ and the isocenter of the radiotherapy equipment coincides with the target point of the target object; the non-treatment period includes a period when the target point of the target object deviates from the isocenter of the radiotherapy equipment and a period when the beam path emitted by the treatment head passes through the endangered organ and the isocenter of the radiotherapy equipment coincides with the target point of the target object.

5. The method for generating a treatment plan according to claim 3, characterized in that: The treatment period is the period from when the breathing of the target subject reaches the end to when the breathing ends; the non-treatment period is the period from when the breathing of the target subject starts to when it reaches the end.

6. The method for generating a treatment plan according to claim 3 or 5, characterized in that: The treatment period includes multiple sub-treatment periods, and the rotation paths of the treatment head in the multiple sub-treatment periods do not overlap. Within the sub-treatment periods, the arc of rotation of the treatment head is denoted as αi, i=1, 2, 3, ..., n, and the sum of αi is equal to 360°.

7. A radiotherapy control method, applied to a radiotherapy system, characterized in that: The radiotherapy system comprises: a radiotherapy device, wherein the radiotherapy device comprises a frame and a treatment head arranged on the frame; The radiotherapy control method comprises: Acquire a treatment plan; the treatment plan includes a respiratory motion model of the target object; the respiratory motion model is used to characterize changes in the surface characteristics of the target object and the target area position during the respiratory cycle; Based on the changes of the body surface features of the target object and the target area position during the respiratory cycle, the rack is controlled to rotate, and the treatment head is controlled to start or stop emitting a beam.

8. The radiotherapy control method according to claim 7, characterized in that: The treatment plan includes: treatment period and non-treatment period; During the breathing process of the target object, the treatment period includes a period when the target point of the target object coincides with the isocenter of the radiotherapy device; the non-treatment period includes a period when the target point of the target object deviates from the isocenter of the radiotherapy device; The step of controlling the rotation of the rack and controlling the treatment head to start or stop emitting a beam based on the changes of the body surface characteristics of the target object and the target area position during the respiratory cycle comprises: When the target point of the target object coincides with the isocenter of the radiotherapy device, controlling the treatment head to emit a beam; When the target point of the target object deviates from the isocenter of the radiotherapy device, the treatment head is controlled to stop beam irradiation.

9. The radiotherapy control method according to claim 7, characterized in that: The treatment plan also includes treatment time period, non-treatment time period, and location information of organs at risk of the target subject; During the breathing process of the target object, the treatment period includes a period when the beam path emitted by the treatment head does not pass through the organ at risk, and the isocenter of the radiotherapy device coincides with the target of the target object; the non-treatment period includes a period when the target of the target object deviates from the isocenter of the radiotherapy device, and a period when the beam path emitted by the treatment head passes through the organ at risk, and the isocenter of the radiotherapy device coincides with the target of the target object; The step of controlling the rotation of the rack and controlling the treatment head to start or stop emitting a beam based on the changes of the body surface characteristics of the target object and the target area position during the respiratory cycle comprises: When the beam path emitted by the treatment head does not pass through the organ at risk and the isocenter of the radiotherapy device coincides with the target point of the target object, controlling the treatment head to emit the beam; When the target point of the target object deviates from the isocenter of the radiotherapy device, or the beam path emitted by the treatment head passes through the organ at risk and the isocenter of the radiotherapy device coincides with the target point of the target object, the treatment head is controlled to stop irradiating the beam.

10. A radiotherapy system, characterized in that: include: TPS device, used to execute the treatment plan generation method according to any one of claims 1 to 6; A control device, used to execute the radiotherapy control method according to any one of claims 7 to 9; Radiotherapy equipment; The radiotherapy equipment comprises: a frame and a treatment head arranged on the frame.

11. The radiation therapy system according to claim 10, characterized in that The treatment head comprises: A source carrier, wherein a plurality of radiation sources are arranged in a single row and in a straight line on the surface of the source carrier along the central axis of the source carrier; A shielding body, provided with a plurality of primary collimation channels penetrating the shielding body, wherein the plurality of primary collimation channels are arranged relative to and correspond to the plurality of radiation sources one by one, and the rays emitted by the plurality of radiation sources can pass through the corresponding plurality of primary collimation channels and be focused on the same point; The driving assembly is used to drive the source-carrying body and the shielding body to move synchronously relative to each other.

12. The radiation therapy system according to claim 11, characterized in that When the driving assembly drives the source carrier and the shielding body to move synchronously relative to each other until the multiple radiation sources are located on the central axes of the multiple primary collimation channels, the radiation emitted by the multiple radiation sources can pass through the corresponding multiple primary collimation channels and focus on the same point, and the treatment head emits a radiation beam; When the driving assembly drives the source carrier and the shielding body to move synchronously relative to each other until the multiple radiation sources deviate from the central axes of the multiple primary collimation channels, the rays emitted by the multiple radiation sources are shielded by the shielding body, and the treatment head stops emitting beams.

13. The radiation therapy system according to claim 11, characterized in that The drive assembly includes a transmission gear pair; The transmission gear pair comprises: a first gear arranged on the source-carrying body and a second gear arranged on the shielding body.

14. The radiation therapy system according to claim 11, characterized in that The treatment head also includes: A shielding box, wherein the source carrier and the shielding body are arranged in the shielding box, and the shielding box is provided with a plurality of through holes corresponding to the primary collimation channels one by one, and the rays of the plurality of radiation sources can pass through the through holes; A secondary collimator is arranged outside the shielding box and can move relative to the shielding box. The secondary collimator includes multiple groups of secondary collimation channels with different apertures. The secondary collimation channels can be connected to the primary collimation channels so that rays from multiple radiation sources can pass through the secondary collimation channels and focus on the same point.

15. The radiation therapy system according to claim 11, characterized in that The radiotherapy equipment also includes: a dose collection device, located on the gantry and arranged opposite to the treatment head, for receiving the beam emitted by the treatment head and passing through the target object, and generating beam characteristic information to monitor the total dose irradiated to the treatment isocenter during the radiotherapy process; The beam characteristic information includes the dose intensity of the received beam and the position of the dose collection device when the beam is received.

16. An electronic device, characterized in that: The electronic device comprises: processor; a memory configured to store instructions executable by the processor; The processor is configured to execute the instructions to implement the treatment plan generation method as described in any one of claims 1 to 6, or the radiotherapy control method as described in any one of claims 7 to 9.

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