Tumor motion model determination method and electronic equipment

Abstract

The invention provides a tumor motion model determination method and electronic equipment, and relates to the technical field of medical treatment, in particular to the technical field of tumor tracking. The method comprises the following steps: acquiring a plurality of projection images of a target object and a respiration signal of the target object, and determining the position of a tumor of the target object identified in each projection image in response to a marking operation of a user (namely a medical worker) for each projection image, and finally, determining a tumor motion model based on the tumor position and the respiration signal of the target object identified in each projection image. Wherein the tumor motion model is used for representing the position change condition of the tumor of the target object in the breathing process of the target object. By means of the method, the accuracy of tumor positioning can be effectively improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical technology, in particular to the field of tumor tracking technology, and specifically to a method for determining a tumor motion model and an electronic device. Background Art

[0002] During radiotherapy, maintaining accurate tumor positioning is one of the key technologies of radiotherapy. During radiotherapy, the patient's breathing movement can cause significant changes in the position of chest and abdominal (lung, liver and pancreas) tumors. Therefore, accurate positioning of chest and abdominal tumors has become a very challenging problem.

[0003] Currently, the location of the tumor can be determined through projection images. However, the contrast between the tumor and surrounding tissue in the projection images is low, and the tumor and surrounding tissue may even overlap, making it impossible to accurately locate the tumor. Summary of the invention

[0004] The present disclosure provides a tumor motion model determination method and electronic device, which can effectively improve the accuracy of tumor positioning.

[0005] In a first aspect, the present disclosure provides a method for determining a tumor motion model, the method comprising:

[0006] Acquire multiple projection images of the target object and the target object's breathing signal, determine the position of the tumor of the target object identified in each projection image in response to the user's (i.e., medical worker's) marking operation on each projection image, and finally determine the tumor motion model based on the position and breathing signal of the tumor of the target object identified in each projection image.

[0007] The tumor motion model is used to characterize the position change of the tumor of the target object during the breathing process of the target object.

[0008] In some embodiments, in response to a user's marking operation on each projection image, the position of a tumor of a target object identified in each projection image is determined, which may specifically include: for each projection image, when the user's marking operation on the projection image is a click operation, the position marked by the click operation is determined as the position of the tumor of the target object identified in the projection image.

[0009] Alternatively, for each projection image, when the user's marking operation on the projection image is a sliding operation, feature points of the target object's tumor are determined within the area marked by the sliding operation, and the location of the feature points is determined as the location of the target object's tumor identified in the projection image.

[0010] In some embodiments, before determining the location of the tumor of the target object identified in each projection image in response to the user's marking operation on each projection image, the method may further include:

[0011] For each projection image, characteristic points of a tumor of the target object are determined in the projection image.

[0012] On this basis, the above-mentioned determination of the position of the tumor of the target object identified in each projection image in response to the user's marking operation on each projection image can be replaced by: for each projection image, in response to the user's confirmation operation on the feature point of the tumor of the target object in the projection image, the position of the feature point is determined as the position of the tumor of the target object identified in the projection image.

[0013] In some embodiments, the above-mentioned feature points may include any one of the centroid, center and center of gravity.

[0014] In some embodiments, before determining the tumor motion model based on the position and breathing signal of the tumor of the target object identified in each projection image, the above-mentioned method can also: determine whether the position of the tumor of the target object identified in the first projection image is accurate, and if the position of the tumor of the target object identified in the first projection image is inaccurate, re-determine the position of the tumor of the target object in the first projection image.

[0015] The first projection image is any projection image among the multiple projection images.

[0016] In some embodiments, the above-mentioned determination of whether the position of the tumor of the target object identified in the first projection image is accurate may specifically include: determining the motion trajectory of the target object based on the position of the tumor of the target object identified in each projection image, determining the characteristic value corresponding to the first moment in the motion trajectory, and determining that the position of the tumor of the target object identified in the first projection image is inaccurate when the characteristic value corresponding to the first moment is greater than a preset value.

[0017] The first moment refers to the moment when the first projection image is acquired.

[0018] In some embodiments, the above-mentioned characteristic value includes any one of curvature and smoothness.

[0019] In some embodiments, before acquiring multiple projection images of the target object, the method may further include: using a digital reconstruction projection algorithm to determine an angle at which a path of a tumor of the target object in a planned image of the target object from a light beam emitted by a light source does not contain a preset tissue as a target projection angle.

[0020] On this basis, the above-mentioned acquiring multiple projection images of the target object may include: acquiring multiple projection images of the target object at a target projection angle.

[0021] The planned image identifies locations of multiple objects, and the multiple objects include a target object.

[0022] In some embodiments, the above method may further include: determining the position of the tumor of the target object in real time based on the tumor motion model.

[0023] In a second aspect, the present disclosure further provides a device for determining a tumor motion model, the device comprising:

[0024] The acquisition unit is used to acquire a plurality of projection images of the target object and a breathing signal of the target object.

[0025] The first determining unit is configured to determine a position of a tumor of the target object identified in each projection image in response to a marking operation performed by a user on each projection image.

[0026] The second determination unit is used to determine a tumor motion model based on the position of the tumor of the target object identified in each projection image and the breathing signal. The tumor motion model is used to characterize the position change of the tumor of the target object during the breathing process of the target object.

[0027] In a third aspect, the present disclosure further provides an electronic device comprising: a processor and a memory configured to store processor executable instructions; wherein the processor is configured to execute the instructions to implement any one of the optional tumor motion model determination methods in the first aspect above.

[0028] The tumor motion model determination method provided by the present disclosure can first be combined with the marking operation of medical workers to accurately determine the position of the tumor of the target object in each projection image, and then the tumor motion model can be determined based on the position of the tumor of the target object identified in each projection image and the breathing signal of the target object, so that the position of the tumor of the target object can be determined in real time based on the tumor motion model.

[0029] Based on the target object's (such as a patient's) breathing state and tumor motion model, the target object's tumor position is determined in real time, without the need to determine the tumor position based on projection images. Therefore, when determining the tumor position, there is no need to compare the tumor and surrounding tissues, nor will it be affected by the superposition of the tumor and surrounding tissues. In this way, the accuracy of tumor positioning can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0031] Figure 1 A schematic diagram of a radiotherapy system provided in an embodiment of the present disclosure;

[0032] Figure 2 A schematic diagram of a flow chart of a method for determining a tumor motion model provided in an embodiment of the present disclosure;

[0033] Figure 3 A schematic diagram of a movement trajectory and a breathing trajectory of a tumor provided in an embodiment of the present disclosure;

[0034] Figure 4 A schematic diagram of a flow chart of another method for determining a tumor motion model provided by an embodiment of the present disclosure;

[0035] Figure 5 A schematic diagram of a method for determining the location of a tumor of a target object in real time provided by an embodiment of the present disclosure;

[0036] Figure 6 A schematic block diagram of an electronic device provided in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0038] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second", and "third" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0039] In the description of the present disclosure, the word "exemplary" is used to mean "used as an example, illustration, or illustration". Any embodiment described in the present disclosure as "exemplary" is not necessarily to be construed as being preferred or advantageous over other embodiments. The following description is given to enable any technician in the field to implement and use the present disclosure. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present disclosure can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present disclosure with unnecessary details. Therefore, the present disclosure is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present disclosure.

[0040] It should be noted that since the method of the embodiment of the present disclosure is executed in an imaging computer device, the processing objects of each imaging computer device exist in the form of data or information. For example, time is actually time information. It can be understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, they are all corresponding data to facilitate processing by the computer device. The details will not be repeated here.

[0041] During radiotherapy, maintaining accurate tumor positioning is one of the key technologies of radiotherapy. During radiotherapy, the patient's breathing movement can cause significant changes in the position of chest and abdominal (lung, liver and pancreas) tumors. Therefore, accurate positioning of chest and abdominal tumors has become a very challenging problem.

[0042] Currently, the location of a tumor can be determined in several ways.

[0043] The first method is to determine the location of the tumor by implanting markers in the patient's body. However, this method has the risk of pneumothorax and is difficult to be widely used in clinical practice.

[0044] The second method is to determine the location of the tumor through projected images. However, the contrast between the tumor and surrounding tissues in the projected images is low, and the tumor and surrounding tissues may even overlap, making it impossible to accurately locate the tumor.

[0045] Based on the above technical problems, the embodiment of the present disclosure provides a method for determining a tumor motion model, which can obtain multiple projection images of a target object and a breathing signal of the target object, and determine the position of the tumor of the target object identified in each projection image in response to a user's marking operation on each projection image, and finally determine the tumor motion model based on the position and breathing signal of the tumor of the target object identified in each projection image. The tumor motion model is used to characterize the position change of the tumor of the target object during the breathing process of the target object.

[0046] After obtaining the tumor motion model through the above technical solution, the position of the tumor of the target object (such as a patient) can be determined in real time directly based on the respiratory state of the target object (such as a patient) and the tumor motion model, without the need to determine the position of the tumor based on the projection image. Therefore, when determining the position of the tumor, there is no need to compare the tumor and the surrounding tissue. It will not be affected by the superposition of the tumor and the surrounding tissue. In this way, the accuracy of tumor positioning can be effectively improved. In addition, in the above technical solution, there is no need to implant markers in the patient's body, so there is no risk of pneumothorax.

[0047] Figure 1 A schematic diagram of a scene of a radiotherapy system provided in an embodiment of the present disclosure, the system may include an image-guided radiotherapy device 101, an imaging computer device 102, a control device 103 and a breathing detection device.

[0048] The image-guided radiotherapy device 101 may include a gantry 1011 and an image-guided device disposed on the gantry 1011, wherein the image-guided device includes a light source 1012 and a detector 1013. The light source 1012 is used to emit a light beam, and the detector 1013 is used to receive the light beam passing through a target object (patient) to generate a projection image of the target object.

[0049] In the embodiment of the present disclosure, the detector 1013 may be a flat-panel detector or a curved-surface detector. The embodiment of the present disclosure does not specifically limit the shape of the detector 1013.

[0050] In the disclosed embodiment, the image guidance device may be at least one of a cone beam computed tomography (CBCT) device, a computed tomography (CT) device, and a magnetic resonance (MR) device, that is, the image guidance device may be a CBCT device, a CT device, or an MR device, or may include any two of a CBCT device, a CT device, and an MR device, and the image guidance device may also include a CBCT device, a CT device, and an MR device. The disclosed embodiment does not specifically limit the form of the image guidance device.

[0051] When the image guidance device is a CBCT device, the light source 1012 is an X-ray tube, and the detector 1013 is a flat panel detector.

[0052] In the embodiment of the present disclosure, there is no limitation on the number of light sources 1012 and the number of detectors 1013. For example, the number of light sources 1012 may be one or more. Similarly, the number of detectors 1013 may be one or more. When the number of light sources 1012 and the number of detectors 1013 are both multiple, two-dimensional images (i.e., projection images, also referred to as kilovolt (KV) images) of two-dimensional (2D) planes inside multiple target objects may be generated at a certain rack angle (or time point).

[0053] In some embodiments, when the number of light sources 1012 and the number of detectors 1013 is 1, the light source and the detector may be located at Figure 1 The direction of the Z axis shown in the figure, in this way, the position of the tumor of the target object in the directions of the X axis and the Y axis can be obtained, wherein the position of the tumor of the target object in the direction of the Y axis represents the position of the tumor of the target object in the head and foot direction. The position of the tumor of the target object in the direction of the X axis represents the position of the tumor of the target object in the left and right direction (left and right of the target object).

[0054] In some embodiments, when the number of light sources 1012 and the number of detectors 1013 are both 2, a set of light sources and detectors can be located at Figure 1 In order to obtain the position of the tumor of the target object in the direction of the X-axis and the Y-axis, another set of light sources and detectors can be located in Figure 1 The direction of the X-axis shown in the figure can be used to obtain the position of the tumor of the target object in the directions of the Z-axis and the Y-axis. In this way, the three-dimensional spatial position of the tumor of the target object can be obtained based on the position of the tumor of the target object in the directions of the X-axis and the Y-axis, and the position of the tumor of the target object in the directions of the Z-axis and the Y-axis. The position of the tumor of the target object in the direction of the Z-axis represents the front and back of the tumor of the target object (front and back of the target object, Figure 1 The position in the up and down directions.

[0055] The rack 1011 can be a ring rack, a C-arm rack, a drum rack, a multi-layer bowl-shaped / cylindrical structure rack, etc. The rack 1011 is a rotating rack that can move around a rotation axis or a fixed rack that cannot move. When the rack 1011 rotates, the light source 1012 and the detector 1013 can rotate around the Y axis at any angle, so that a two-dimensional image (i.e., a projection image) of any 2D plane of the target object can be generated.

[0056] The breathing detection device is used to detect the breathing signal of the target object.

[0057] In the embodiment of the present disclosure, the breathing detection device may include an optical camera 1041 and at least one optical marker 1042 arranged on the chest surface of the target object. Exemplarily, the optical camera 1041 may be an infrared camera, and correspondingly, the optical marker 1042 may be an infrared marker, or may be other types of optical cameras and corresponding optical markers. The embodiment of the present disclosure does not specifically limit the form of the breathing detection device.

[0058] The imaging computer device 102 is respectively connected to the control device 103 , the detector 1013 and the breathing detection device in communication, and the control device 103 is connected to the image-guided radiotherapy device 101 in communication.

[0059] In some embodiments, the imaging computer device 102 is a computer device with a graphical user interface (GUI), and the computer device includes: one or more processors, a memory, and one or more applications. For example, the imaging computer device 102 may include an image guidance system (IGS) application, and the processor of the imaging computer device executes the IGS application to achieve: obtaining multiple projection images of the target object, and the breathing signal of the target object, in response to the marking operation of the user (medical worker) for each projection image, determining the position of the tumor of the target object identified in each projection image, and finally determining the tumor motion model based on the position and breathing signal of the tumor of the target object identified in each projection image. Among them, the tumor motion model is used to characterize the position change of the tumor of the target object during the breathing process of the target object.

[0060] In the embodiment of the present disclosure, the image computer device 102 and the control device 103 can be independent servers, or a server network or server cluster composed of servers. For example, the computer device described in the embodiment of the present disclosure includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud server composed of a plurality of servers. The cloud server is composed of a large number of computers or network servers based on cloud computing.

[0061] In the embodiment of the present disclosure, the imaging computer device 102 and the control device 103 can be general-purpose computer devices or special-purpose computer devices. In a specific implementation, the computer device can be a desktop computer, a portable computer, a network server, a PDA (Personal Digital Assistant), a mobile phone, a tablet computer, a wireless terminal device, a communication device, an embedded device, etc. This embodiment does not limit the type of computer device.

[0062] The following will be combined Figure 1 ,by Figure 1 Taking the imaging computer device in which the number of light sources and the number of detectors are 1 as an example, the tumor motion model determination method provided by the embodiment of the present disclosure is described. It should be noted that the tumor motion model determination method provided by the embodiment of the present disclosure can be performed after the positioning stage is completed and before the start of radiotherapy.

[0063] Figure 2 A schematic diagram of a flow chart of a method for determining a tumor motion model provided by an embodiment of the present disclosure, such as Figure 2 As shown, the method includes the following S201-S203.

[0064] S201, acquiring a plurality of projection images of a target object and a breathing signal of the target object.

[0065] The following will respectively describe the process of the imaging computer device acquiring multiple projection images of the target object and acquiring the breathing signal of the target object.

[0066] 1. The imaging computer device obtains multiple projection images of the target object.

[0067] The image computer device may store the acquisition frequency and acquisition duration. After the image computer device obtains the acquisition frequency and acquisition duration, it may send the acquisition frequency and acquisition duration to the control device. After the control device receives the acquisition frequency and acquisition duration, it may control the light source to emit a light beam according to the acquisition frequency within the acquisition duration. After the light beam emitted by the light source passes through the target object and reaches the detector, the detector may obtain a projection image of the target object. Afterwards, the detector may send the projection image of the target object to the image computer device. In this way, the image computer device may obtain multiple projection images of the target object.

[0068] Among them, the collection frequency and collection duration can be preset.

[0069] In the embodiment of the present disclosure, the acquisition frequency may be 9 Hz or 10 Hz. The embodiment of the present disclosure does not specifically limit the value of the acquisition frequency.

[0070] The acquisition time can be set according to the duration of a respiratory cycle. For example, assuming that the duration of a complete respiratory cycle is 5 seconds (s), the acquisition time can be 10s or 15s. The embodiment of the present disclosure does not specifically limit the value of the acquisition time.

[0071] 2. The imaging computer equipment obtains the breathing signal of the target object.

[0072] After the image computer device obtains the acquisition frequency and the acquisition duration, it can send the acquisition frequency and the acquisition duration to the breathing detection device. After receiving the acquisition frequency and the acquisition duration, the breathing detection device can detect the breathing state of the target object according to the acquisition frequency within the acquisition duration to obtain the breathing signal of the target object, and send the breathing signal to the image computer device. In this way, the image computer device can obtain the breathing signal of the target object.

[0073] The process of the breathing detection device detecting the breathing signal of the target object can refer to the relevant technology and will not be described in detail here.

[0074] In an optional embodiment, in order to ensure that the multiple projection images of the target object acquired by the imaging computer device include the tumor of the target object, the multiple projection images of the target object can be acquired at a projection angle (hereinafter referred to as the target projection angle) that can clearly capture the tumor of the target object.

[0075] The disclosed embodiments do not limit the method for determining the target projection angle. For example, the target projection angle may be preset by a user (hereinafter referred to as a medical worker), or may be determined by an imaging computer device based on a planned image of the target object. The planned image is an image obtained by imaging the tumor of the target object when a treatment plan is formulated for the target object.

[0076] The following will describe the process by which the image computer device determines the target projection angle based on the planned image of the target object.

[0077] In an optional embodiment, the planning image may include the outlines of multiple tissues (such as the liver, lungs, heart, spine, etc.) that are automatically or manually marked, and the multiple tissues include the tumor of the target object. On this basis, before the imaging computer device acquires multiple projection images of the target object, it can also acquire the planning image of the target object, and use a digital reconstruction projection algorithm to determine the angle at which the path of the tumor of the target object in the planning image of the target object where the light beam emitted by the light source reaches does not include the preset tissue as the target projection angle. Accordingly, the above S201 can be replaced by: acquiring the multiple projection images of the target object at the target projection angle.

[0078] The preset tissues may include the remaining tissues among the above-mentioned multiple tissues except the tumor of the target object.

[0079] Specifically, after the imaging computer device acquires the planned image of the target object stored in itself, it can use a preset path simulation algorithm to simulate the path (also called ray path) of the light beam emitted by the light source through the tumor of the target object to reach the detector at various projection angles based on the positions of multiple tissues and the position of the light source in the planned image. And determine at least one target projection angle in which the path does not include other tissues except the tumor of the target object, that is, at the target projection angle, the light beam emitted by the light source can be free from interference from other objects (such as liver, lungs, heart, spine, etc.) except the tumor in the planned image.

[0080] In the embodiment of the present disclosure, the path simulation algorithm may be a digitally reconstructed radiograph (DRR) algorithm, or a ray tracing algorithm or a Monte Carlo algorithm. The embodiment of the present disclosure does not specifically limit the path simulation algorithm.

[0081] After determining the target projection angle in the above manner, the image computer device can send the target projection angle to the control device. After receiving the target projection angle, the control device can control the light source to emit a light beam at the target projection angle. After the light beam emitted by the light source passes through the target object and reaches the detector, the detector can obtain a projection image of the target object. Afterwards, the detector can send the obtained multiple projection images of the target object to the image computer device. In this way, the image computer device can obtain multiple projection images of the target object.

[0082] S202 : In response to a marking operation performed by a user on each projection image, a position of a tumor of the target object identified in each projection image is determined.

[0083] After the image computer device acquires multiple projection images of the target object through the above S201, each projection image can be displayed on the display screen. For each projection image, the medical worker can mark the projection image on the display screen. Accordingly, the image computer device can determine the location of the tumor of the target object in each projection image in response to the marking operation of the medical worker.

[0084] In the embodiment of the present disclosure, the marking operation of the user on each projection image may be a click operation or a slide operation, and the embodiment of the present disclosure does not limit the marking operation of the user on each projection image.

[0085] The following describes the process of S202 by taking a click operation and a slide operation as examples.

[0086] 1. The marking operation performed by the user on each projected image is a click operation.

[0087] In an optional embodiment, for each projection image, when the user's marking operation on the projection image is a click operation, the imaging computer device may determine the position marked by the click operation as the position of the tumor of the target object identified in the projection image.

[0088] Specifically, for each projection image displayed on the display screen of the image computer device, the medical worker can determine the characteristic point of the tumor in the projection image, and perform a click operation on the characteristic point on the display screen of the image computer device, that is, mark the characteristic point. Accordingly, the image computer device can respond to the medical worker's click operation on the projection image and determine the position marked by the click operation as the position of the tumor of the target object identified in the projection image. In this way, the image computer device can obtain the position of the tumor of the target object identified in each projection image.

[0089] The embodiment of the present disclosure does not limit the characteristic point of the tumor. For example, the characteristic point of the tumor can be any one of the centroid, center, and center of gravity. The following description takes the characteristic point of the tumor as the centroid of the tumor as an example.

[0090] Second, the marking operation performed by the user on each projected image is a sliding operation.

[0091] In an optional embodiment, for each projection image, when the user's marking operation for the projection image is a sliding operation, the imaging computer device can determine the characteristic point of the tumor of the target object within the area marked by the sliding operation, and determine the location of the characteristic point as the location of the tumor of the target object identified in the projection image.

[0092] Specifically, for each projected image displayed on the display screen of the image computer device, the medical worker can determine the area where the tumor is located in the projected image, and mark the area where the tumor is located on the display screen of the image computer device, that is, perform a sliding operation on the display screen of the image computer device to mark the area where the tumor is located. Accordingly, the image computer device can respond to the medical worker's sliding operation on the projected image and determine the area marked by the sliding operation as the area where the tumor of the target object identified in the projected image is located.

[0093] Afterwards, the imaging computer device may determine a feature point of the tumor of the target object in the region where the tumor of the target object is located, and determine the position of the feature point as the position of the tumor of the target object identified in the projection image.

[0094] In an optional embodiment, the imaging computer device may also automatically determine the characteristic points of the tumor of the target object in each projection image before executing S202. Accordingly, the above S202 may be replaced by: for each projection image, in response to a user's confirmation operation on the characteristic points of the tumor of the target object in the projection image, determining the position of the characteristic points as the position of the tumor of the target object identified in the projection image.

[0095] Specifically, taking the characteristic point of the tumor as the center of mass of the tumor as an example, the planned image of the target object may contain the area where the tumor of the target object is located, which is identified by the medical staff. On this basis, for each projection image, the imaging computer device may register the planned image of the target object with the projection image based on the area where the tumor is located in the planned image of the target object, and obtain the area where the tumor of the target object is located in the projection image. Afterwards, the imaging computer device may determine the center of mass of the tumor of the target object in the area where the tumor of the target object is located, and display the projection image and the position of the center of mass of the projection image on the display screen.

[0096] The medical worker can confirm the position of the center of mass of the tumor in each projection image displayed on the display screen, and after confirming that the position of the center of mass of the tumor in each projection image is correct, perform a confirmation operation (such as clicking a confirmation control, etc.). The imaging computer device can respond to the medical worker's confirmation operation and determine the position of the center of mass of the tumor in each projection image as the position of the tumor of the target object identified in each projection image.

[0097] In addition, after the medical worker confirms that the position of the center of mass of the tumor in any projection image is incorrect, the medical worker can manually mark the position of the center of mass of the tumor in the projection image (for details, please refer to the methods described in one or two above, which will not be repeated here), or perform a correction operation on the projection image (such as clicking a correction control, etc.), and the imaging computer device can respond to the correction operation of the medical worker and re-determine the position of the center of mass of the tumor in the projection image.

[0098] S203 , determining a tumor motion model based on the position of the tumor of the target object identified in each projection image and the respiratory signal.

[0099] Specifically, when the detector sends the projection image of the target object to the image computer device, it can also send the time when each projection image is collected to the image computer device. After the image computer device determines the position of the tumor of the target object identified in each projection image, it can generate a motion trajectory of the tumor of the target object based on the position of the tumor of the target object identified in each projection image and the time when each projection image is collected. And the expression form of the motion trajectory is as follows: Figure 3The sine function shown in (a) in FIG. 1 is a sine function, the horizontal axis represents time, and the vertical axis represents the position of the tumor of the target object. The imaging computer device can also determine the breathing trajectory of the target object based on the breathing signal and acquisition frequency of the target object. And the breathing trajectory is expressed as follows Figure 3 In the sine function shown in (b), the horizontal axis represents time and the vertical axis represents the breathing state of the target object.

[0100] Afterwards, the imaging computer device can adopt a motion model generation method to obtain a tumor motion model of the target object based on the motion trajectory of the target object's tumor and the target object's respiratory trajectory, and the tumor motion model is used to characterize the mapping relationship between the target object's respiratory state and the position of the target object's tumor.

[0101] In the embodiment of the present disclosure, the motion model generation method may be a polynomial fitting method, a linear regression method, or a neural network method (such as a multilayer perceptron), and the embodiment of the present disclosure does not specifically limit this.

[0102] Specifically, the process of obtaining the tumor motion model of the target object based on the motion trajectory of the tumor of the target object and the breathing trajectory of the target object can refer to the relevant technology and will not be repeated here.

[0103] Through the above technical solution, after obtaining the tumor motion model, the position of the tumor of the target object (such as a patient) can be determined in real time directly based on the respiratory state of the target object (such as a patient) and the tumor motion model, without the need to determine the position of the tumor based on the projection image. Therefore, when determining the position of the tumor, there is no need to compare the tumor and the surrounding tissue, and it will not be affected by the superposition of the tumor and the surrounding tissue. In this way, the accuracy of tumor positioning can be effectively improved. In addition, in the above technical solution, there is no need to implant markers in the patient's body, so there is no risk of pneumothorax.

[0104] In addition, in the above technical solution, the position of the tumor of the target object in each projection image can be manually marked by medical workers, so that the accuracy of the position of the tumor of the target object in each projection image can be effectively guaranteed.

[0105] In an optional embodiment, before executing the above S203, the imaging computer device can also determine, for each projection image, whether the position of the tumor of the target object identified in the projection image is accurate, and if the position of the tumor of the target object identified in a projection image (such as the first projection image) is inaccurate, re-determine the position of the tumor of the target object identified in the projection image.

[0106] The following describes a process in which an imaging computer device determines whether the position of a tumor of a target object identified in the first projection image is accurate, taking the first projection image included in the multiple projection images as an example.

[0107] Specifically, the image computer device can determine the motion trajectory of the target object based on the position of the tumor of the target object identified in each projection image, and determine the feature value corresponding to the moment of acquiring the first projection image (hereinafter referred to as the first moment) in the motion trajectory. When the feature value corresponding to the first moment is greater than a preset value, the image computer device can determine that the position of the tumor of the target object identified in the first projection image is inaccurate. When the feature value corresponding to the first moment is less than a preset value, the image computer device can determine that the position of the tumor of the target object identified in the first projection image is accurate.

[0108] According to the above method, the imaging computer device can determine whether the position of the tumor of the target object marked in each projection image is accurate.

[0109] The manner in which the imaging computer device re-determines the position of the tumor of the target object identified in the projection image can refer to the description in S202 above, which will not be repeated here.

[0110] The embodiment of the present disclosure does not limit the case where the characteristic value corresponding to the first moment is equal to the preset value. For example, when the characteristic value corresponding to the first moment is equal to the preset value, the imaging computer device can determine that the position of the tumor of the target object identified in the first projection image is inaccurate, or can determine that the position of the tumor of the target object identified in the first projection image is accurate.

[0111] In an optional implementation, the characteristic value may include any one of curvature and smoothness.

[0112] Through the above technical solution, the imaging computer device can verify the accuracy of the position of the tumor of the target object identified in each projection image. In this way, the accuracy of the tumor motion model subsequently obtained based on the position of the tumor of the target object identified in each projection image can be guaranteed, thereby ensuring that the position of the tumor of the target object can be accurately located based on the tumor motion model.

[0113] The following will combine the above embodiments to Figure 2 The method for determining the tumor motion model shown is further introduced. Figure 4 A flow chart of another method for determining a tumor motion model provided by an embodiment of the present disclosure is shown in FIG. Figure 4 As shown, the method includes the following S401-S408.

[0114] S401, determining a target projection angle.

[0115] S402, acquiring a plurality of projection images of the target object at a target projection angle, and acquiring a breathing signal of the target object.

[0116] S403, displaying a plurality of projection images of the target object on a display screen, so that the medical worker can mark the position of the tumor of the target object in each projection image.

[0117] S404 , in response to the marking operation of the medical worker on each projection image, determining the position of the tumor of the target object identified in each projection image.

[0118] S405, determining whether the position of the tumor of the target object identified in each projection image is accurate. If the position of the tumor of the target object identified in each projection image is accurate, then S408 is executed; if the position of the tumor of the target object identified in any projection image (such as the first projection image) is inaccurate, then S406-S407 are executed.

[0119] S406: Displaying the projection image with the inaccurate position of the tumor of the target object on the display screen, so that the medical worker can re-mark the position of the tumor of the target object in the projection image.

[0120] S407 , in response to the user's marking operation on the projection image, re-determine the position of the tumor of the target object marked in the projection image.

[0121] S408 , determining a tumor motion model based on the position of the tumor of the target object identified in each projection image and the respiratory signal.

[0122] For the specific implementation process of S401-S408, please refer to the above Figure 2 The description in will not be repeated here.

[0123] In an optional embodiment, after the tumor motion model is determined in the above manner, the imaging computer device can determine the location of the tumor of the target object in real time based on the tumor motion model.

[0124] Specifically, Figure 5As shown, after obtaining the tumor motion model based on the target object's respiratory signal and the motion trajectory of the target object's tumor, during the real-time monitoring stage of radiotherapy, the imaging computer device can obtain the target object's respiratory state in real time through the respiratory detection device, and determine the position of the target object's tumor in real time based on the target object's respiratory state and the tumor motion model, thereby realizing the prediction of the tumor position. Afterwards, the imaging computer device can control the treatment beam to be emitted through the control device based on the determined position of the target object's tumor, and reach the target object's tumor after passing through the collimator (Multi Leaf Collimator, MLC), thereby realizing the treatment of the target object's tumor.

[0125] Figure 6 A schematic block diagram of an example electronic device 600 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein. In some embodiments, the electronic device may be the above-mentioned Figure 1 The image computer equipment shown in .

[0126] like Figure 6 As shown, the electronic device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 to a random access memory (RAM) 603. In RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The computing unit 601, ROM 602 and RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0127] Multiple components in the electronic device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0128] The computing unit 601 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 601 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 601 performs the various methods and processes described above, such as a tumor motion model determination method. For example, in one embodiment, the tumor motion model determination method may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 608. In one embodiment, part or all of the computer program may be loaded and / or installed on the electronic device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the tumor motion model determination method described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to execute the tumor motion model determination method in any other appropriate manner (eg, by means of firmware).

[0129] Various implementations 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 (ASSPs), system on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that 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 that 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.

[0130] 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.

[0131] 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.

[0132] 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 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).

[0133] 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: a local area network (LAN), a wide area network (WAN), and the Internet.

[0134] 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.

[0135] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of this disclosure can be achieved, and this document is not limited here.

[0136] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for determining a tumor motion model, characterized in that: The method comprises: Acquire a plurality of projection images of a target object and a breathing signal of the target object; In response to a marking operation performed by a user on each of the projection images, determining a location of a tumor of the target object identified in each of the projection images; A tumor motion model is determined based on the position of the tumor of the target object identified in each of the projection images and the breathing signal; the tumor motion model is used to characterize the position change of the tumor of the target object during the breathing process of the target object.

2. The method according to claim 1, characterized in that In response to a marking operation performed by a user on each of the projection images, determining a location of a tumor of the target object identified in each of the projection images comprises: For each of the projection images, when the marking operation of the user on the projection image is a click operation, determining the position marked by the click operation as the position of the tumor of the target object identified in the projection image; or, For each of the projection images, when the user's marking operation on the projection image is a sliding operation, the feature points of the tumor of the target object are determined within the area marked by the sliding operation, and the position of the feature points is determined as the position of the tumor of the target object identified in the projection image.

3. The method according to claim 1, characterized in that: Before determining the position of the tumor of the target object identified in each of the projection images in response to the user's marking operation on each of the projection images, the method further includes: For each of the projection images, determining a characteristic point of a tumor of the target object in the projection image; In response to a marking operation performed by a user on each of the projection images, determining a location of a tumor of the target object identified in each of the projection images comprises: For each of the projection images, in response to a user's confirmation operation on a feature point of the tumor of the target object in the projection image, a position where the feature point is located is determined as a position of the tumor of the target object identified in the projection image.

4. The method according to claim 2 or 3, characterized in that: The feature points include any of the following: Center of mass; center; Center of gravity.

5. The method according to any one of claims 1 to 3, characterized in that: Before determining the tumor motion model based on the position of the tumor of the target object identified in each of the projection images and the respiratory signal, the method further includes: Determining whether the position of the tumor of the target object identified in the first projection image is accurate; the first projection image is any projection image among the multiple projection images; In a case where the position of the tumor of the target object identified in the first projection image is inaccurate, the position of the tumor of the target object is re-determined in the first projection image.

6. The method according to claim 5, characterized in that The determining whether the position of the tumor of the target object identified in the first projection image is accurate comprises: determining a motion trajectory of the target object based on a position of a tumor of the target object identified in each of the projection images; Determine a characteristic value corresponding to a first moment in the motion trajectory; the first moment refers to a moment when the first projection image is acquired; When the characteristic value corresponding to the first moment is greater than a preset value, it is determined that the position of the tumor of the target object identified in the first projection image is inaccurate.

7. The method according to claim 6, characterized in that The characteristic value includes any of the following: Curvature; Smoothness.

8. The method according to any one of claims 1 to 3, characterized in that Before acquiring a plurality of projection images of the target object, the method further includes: Using a digital reconstruction projection algorithm, an angle where a path of a light beam emitted by a light source reaching a tumor of the target object in a planned image of the target object does not contain a preset tissue is determined as a target projection angle; The step of acquiring a plurality of projection images of the target object comprises: At the target projection angle, the multiple projection images of the target object are acquired.

9. The method according to claim 1, characterized in that: The method further comprises: Based on the tumor motion model, the position of the tumor of the target object is determined in real time.

10. 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 tumor motion model determination method as described in any one of claims 1-9.

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