Radiotherapy control method, radiotherapy plan generation method, equipment, system and medium

Abstract

The invention provides a radiotherapy control method, a radiotherapy plan generation method, equipment, a system and a medium, relates to the technical field of medical treatment, in particular to the technical field of radiotherapy, and aims to solve the problem of low efficiency and accuracy of radiotherapy control in the prior art. The method comprises the following steps: controlling a diagnosis and treatment shared bed to move a target object to diagnosis equipment so as to obtain a diagnosis image of the target object through the diagnosis equipment; and controlling the diagnosis and treatment shared bed to move the target object from the diagnosis equipment to the radiotherapy equipment, and synchronously triggering the generation of a radiotherapy plan of the target object based on the diagnosis image.

Description

Technical Field

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

[0002] Currently, when patients undergo radiotherapy, they usually need to first perform a positioning image scan using a magnetic resonance imaging device to obtain a scanned image of the patient, then determine a treatment plan based on the scanned image, and then perform radiotherapy using a radiotherapy device according to the treatment plan.

[0003] However, since the MRI equipment and the radiotherapy equipment are usually located in two different rooms (for example, the MRI equipment is usually deployed in the imaging room, while the radiotherapy equipment is usually deployed in the treatment room), after the patient is scanned for positioning images, the patient needs to go to the treatment room for radiotherapy. In this way, not only does the patient need to move several times, but the patient also needs to be repositioned before the radiotherapy equipment is used for treatment, which is time-consuming and labor-intensive, inefficient, and reduces the effect of the treatment to a certain extent. Summary of the invention

[0004] The present disclosure provides a radiotherapy control, radiotherapy plan generation method, device, system and medium, which can improve the efficiency of radiotherapy plan generation.

[0005] In a first aspect, the present disclosure provides a radiotherapy control method, comprising: controlling a shared diagnosis and treatment bed to move a target object to a diagnostic device to obtain a diagnostic image of the target object through the diagnostic device; controlling the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously triggering generation of a radiotherapy plan for the target object based on the diagnostic image.

[0006] In some embodiments, controlling the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously triggering generation of a radiotherapy plan for the target object based on the diagnostic image, includes: controlling the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously triggering generation of a radiotherapy plan for the target object based on the diagnostic image during the movement of the shared diagnosis and treatment bed; or, controlling the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device at the beginning, synchronously triggering generation of a radiotherapy plan for the target object based on the diagnostic image; or, at the moment when the diagnostic image is acquired, synchronously triggering generation of a radiotherapy plan for the target object based on the diagnostic image, and after the diagnostic device acquires the diagnostic image, controlling the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device.

[0007] In some embodiments, triggering generation of a radiotherapy plan for a target object based on a diagnostic image includes: when the control device is integrated with a radiotherapy plan generation function, triggering the control device to generate a radiotherapy plan for the target object based on the diagnostic image; or, when the control device is not integrated with a radiotherapy plan generation function, sending a radiotherapy plan generation instruction to a radiation therapy planning system TPS server to trigger the TPS server to generate a radiotherapy plan for the target object based on the diagnostic image.

[0008] In some embodiments, when controlling the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, a radiotherapy plan for the target object has been generated.

[0009] In some embodiments, the radiotherapy control method also includes: obtaining the predicted generation time of the radiotherapy plan; determining the moving speed of the diagnosis and treatment shared bed based on the predicted generation time, so that when the diagnosis and treatment shared bed moves the target object from the diagnostic equipment to the radiotherapy equipment, the radiotherapy plan for the target object has been generated.

[0010] In some embodiments, the predicted generation time is obtained by predicting the generation time of the radiotherapy plan based on a reference image; the reference image is an image whose similarity to the diagnostic image is greater than a preset similarity.

[0011] In some embodiments, in the case where the target object requires a radiotherapy device to perform multi-fraction radiotherapy, the diagnostic image includes: during the current fractionated radiotherapy, the diagnostic device acquires the current fractionated diagnostic image of the target object; the method further includes: receiving a control instruction for the current fractionated radiotherapy; the control instruction for the current fractionated radiotherapy includes: generated based on a comparison result of the current fractionated diagnostic image and an initial diagnostic image, or generated based on a comparison result of the current fractionated diagnostic image and a previous fractionated diagnostic image;

[0012] In response to the control instruction of the current fractionated radiotherapy, the diagnosis and treatment shared bed is controlled to move the target object to the position of the radiotherapy equipment corresponding to the control instruction.

[0013] In some embodiments, controlling the diagnosis and treatment shared bed to move the target object to the diagnostic equipment to obtain a diagnostic image of the target object through the diagnostic equipment includes: receiving an image acquisition instruction; the image acquisition instruction is generated based on the alignment point comparison result of the previous fractionated diagnostic image and the initial diagnostic image; the alignment points include: the sagittal plane or coronal plane of the target area of ​​the target object; in response to the image acquisition instruction, controlling the diagnosis and treatment shared bed to move the target object to the position on the diagnostic equipment corresponding to the image acquisition instruction to obtain a diagnostic image of the target object through the diagnostic equipment.

[0014] In some embodiments, the initial diagnostic image is acquired when the diagnostic device performs radiotherapy on the target object for the first time, or when the diagnostic device performs an initial diagnosis on the target object.

[0015] In some embodiments, when the target object is injected with a tracer, the diagnostic device includes at least one of a computed tomography (CT) device, a magnetic resonance (MRI) device, and a positron emission tomography (PET) device.

[0016] In some embodiments, controlling the diagnosis and treatment shared bed to move the target object to the diagnostic equipment includes: obtaining biometric information of the target object; and controlling the diagnosis and treatment shared bed to move the target object to the diagnostic equipment when the biometric information matches pre-stored identity information of the target object.

[0017] In a second aspect, a radiotherapy plan generation method is provided, which is applied to a TPS server, including: receiving a radiotherapy plan generation instruction sent by a control device; the radiotherapy plan generation instruction is synchronously triggered when the control device controls a shared diagnosis and treatment bed to move a target object from a diagnostic device to a radiotherapy device; in response to the radiotherapy plan generation instruction, a radiotherapy plan for the target object is generated based on a diagnostic image; the diagnostic image is obtained by the diagnostic device when the shared diagnosis and treatment bed is controlled to move the target object to the diagnostic device before the control device triggers the radiotherapy plan generation instruction.

[0018] In some embodiments, when the target object requires a radiotherapy device to perform multi-fraction radiotherapy, the diagnostic image includes: during the current fractionated radiotherapy, the diagnostic device acquires the current fractionated diagnostic image of the target object; generating a radiotherapy plan for the target object based on the diagnostic image, including: comparing the current fractionated diagnostic image with the previous fractionated diagnostic image, and optimizing the previous fractionated radiotherapy plan of the target object based on the comparison result between the current fractionated diagnostic image and the previous fractionated diagnostic image, to obtain the current fractionated radiotherapy plan for the target object; or, comparing the current fractionated diagnostic image with the initial plan image, and optimizing the initial radiotherapy plan of the target object based on the comparison result between the current fractionated diagnostic image and the initial plan image, to obtain the current fractionated radiotherapy plan for the target object.

[0019] In some embodiments, the radiotherapy plan generation method further includes: sending a control instruction of the current fractionated radiotherapy to the control device according to the current fractionated radiotherapy plan of the target object, so that the control device controls the diagnosis and treatment shared bed to move the target object to the position corresponding to the control instruction.

[0020] In some embodiments, after generating a radiotherapy plan for the target object based on the diagnostic image, the method further includes: acquiring a near-infrared image of the target object; and updating the radiotherapy plan according to the near-infrared image to obtain an updated radiotherapy plan.

[0021] In a third aspect, the present disclosure also 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 radiotherapy control methods in the first aspect or any one of the optional radiotherapy plan generation methods in the second aspect.

[0022] In a fourth aspect, the present disclosure further provides a non-volatile storage medium having a computer program stored thereon. When the computer program is read and executed, it implements any one of the optional radiotherapy control methods in the first aspect or any one of the optional radiotherapy plan generation methods in the second aspect.

[0023] In a fifth aspect, the present disclosure further provides a radiotherapy system, comprising: a control device for executing any one of the optional radiotherapy control methods in the first aspect; and a TPS server for executing any one of the optional radiotherapy plan generation methods in the second aspect.

[0024] In the radiotherapy control method and radiotherapy plan generation method provided by the present disclosure, the control device can first control the diagnosis and treatment shared bed to move the target object to the diagnostic device to obtain a diagnostic image of the target object through the diagnostic device. Then, the control device can control the diagnosis and treatment shared bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously trigger the TPS server to generate a radiotherapy plan for the target object based on the diagnostic image. After receiving the radiotherapy plan generation instruction sent by the control device, the TPS server can respond to the radiotherapy plan generation instruction and generate a radiotherapy plan for the target object based on the diagnostic image.

[0025] From the above, it can be seen that when the control device controls the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device, it can synchronously trigger the TPS server to generate a radiotherapy plan for the target object, saving the target object's waiting time for the radiotherapy plan to be generated, improving the efficiency of generating the radiotherapy plan, and thereby improving the efficiency of radiotherapy.

[0026] Furthermore, since the diagnostic equipment and radiotherapy equipment are in the same space, and the target object can be moved between the diagnostic equipment and the radiotherapy equipment via the common diagnosis and treatment bed, the target object can be moved to the radiotherapy equipment (i.e., the radiotherapy position) for treatment by controlling the common diagnosis and treatment bed, without the need for the target object to go to the treatment room for treatment or to reposition the target object, further improving the efficiency and effect of the treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0028] Figure 1 A schematic diagram of a radiotherapy system provided in an embodiment of the present disclosure;

[0029] Figure 2 A schematic flow chart of a radiotherapy control method provided in an embodiment of the present disclosure;

[0030] Figure 3 A flowchart of another radiotherapy control method provided by an embodiment of the present disclosure;

[0031] Figure 4 A schematic diagram of a scenario of a radiotherapy control method provided by an embodiment of the present disclosure;

[0032] Figure 5 A flowchart of another radiotherapy control method provided by an embodiment of the present disclosure;

[0033] Figure 6 A flowchart of another radiotherapy control method provided by an embodiment of the present disclosure;

[0034] Figure 7 A schematic diagram of a process for generating a radiotherapy plan provided in an embodiment of the present disclosure;

[0035] Figure 8 A flowchart of another method for generating a radiotherapy plan provided in an embodiment of the present disclosure;

[0036] Fig. 9 A schematic diagram of the structure of a radiotherapy control device provided in an embodiment of the present disclosure;

[0037] Fig.10 A schematic diagram of the structure of a radiotherapy plan generating device provided in an embodiment of the present disclosure;

[0038] Fig.11 A schematic block diagram of an electronic device provided in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] 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.

[0042] It should be noted that since the radiotherapy control method provided in the embodiment of the present disclosure is executed in the control device, the processing objects of the control device are all 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, so that the control device can process them. The details will not be repeated here.

[0043] In the process of radiotherapy for tumors, multiple fractions of radiotherapy are generally required. In a complete treatment cycle, there may be positioning errors, or it may be difficult to ensure that the radiation beam is completely aimed at the target area due to factors such as the shape, size, position changes of the tumor itself, and human breathing. This will cause insufficient radiation to the tumor tissue, leading to recurrence, and the surrounding normal tissue will also be exposed to unnecessary radiation.

[0044] In order to solve such problems, image guided radiotherapy (IGRT) came into being. Image guided radiotherapy can be image-guided based on the imaging of imaging equipment. Early online two-dimensional X-ray cross (Digitally Reconstructed Radiography, DR) and cone beam computed tomography (Cone-Beam Computed Tomography, CBCT) are relatively advanced and widely used imaging technologies. However, the images generated by CBCT often lack soft tissue contrast and cannot accurately identify the precise boundaries between normal organs and tumors, so the main problem to be solved is the positioning error in fractionated treatment. However, it is powerless to solve the problems caused by changes in the size, shape, and position of the tumor during the treatment cycle. In this way, online electronic computed tomography (Computed Tomography, CT) and magnetic resonance imaging (Magnetic Resonance Imaging, MRI) image guidance technology were introduced to achieve the goal of solving the positioning error problem and adjusting the plan to solve the problems caused by changes in the size, shape, and position of the tumor, thus realizing adaptive radiotherapy based on the position and shape of the tumor. If breath-holding, respiratory gating technology, four-dimensional radiotherapy technology and real-time tracking technology are combined, the treatment target area can be further reduced and a more ideal radiotherapy effect can be achieved.

[0045] MRI images provide superior high-definition contrast imaging of soft tissues, which can clearly distinguish the boundaries between tumors and adjacent normal tissues, and can identify physiological and anatomical changes related to tumors during radiotherapy (such as intestinal motility, breathing, or changes in tumor size, shape, and position). This allows radiation oncologists to accurately grasp the changes in dose fields caused by changes in these structures during treatment, and can quickly make adaptive adjustments. In addition, since MR imaging is non-radioactive and can also evaluate the effect of radiotherapy through functional imaging, adaptive radiotherapy based on MRI images can be achieved.

[0046] However, since the magnetic resonance imaging device (i.e., MRI device) and the radiotherapy device are usually located in two different rooms (e.g., the magnetic resonance imaging device is usually deployed in the imaging room, while the radiotherapy device is usually deployed in the treatment room), after the patient is scanned for positioning images, the patient is required to go to the treatment room for radiotherapy. In this way, not only does the patient need to move multiple times, but the patient also needs to be repositioned before the radiotherapy device performs treatment, which is time-consuming and labor-intensive, inefficient, and reduces the effect of the treatment to a certain extent.

[0047] Based on the above technical problems, the embodiments of the present disclosure provide a radiotherapy control method and a radiotherapy plan generation method, in which the control device can first control the diagnosis and treatment shared bed to move the target object to the diagnostic device to obtain a diagnostic image of the target object through the diagnostic device. Then, the control device can control the diagnosis and treatment shared bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously trigger the radiotherapy planning system (TPS) server to generate a radiotherapy plan for the target object based on the diagnostic image. After receiving the radiotherapy plan generation instruction sent by the control device, the TPS server can respond to the radiotherapy plan generation instruction and generate a radiotherapy plan for the target object based on the diagnostic image.

[0048] From the above, it can be seen that when the control device controls the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device, it can synchronously trigger the TPS server to generate a radiotherapy plan for the target object, saving the target object's waiting time for the radiotherapy plan to be generated, improving the efficiency of generating the radiotherapy plan, and thereby improving the efficiency of radiotherapy.

[0049] Furthermore, since the diagnostic equipment and radiotherapy equipment are in the same space, and the target object can be moved between the diagnostic equipment and the radiotherapy equipment via the common diagnosis and treatment bed, the target object can be moved to the radiotherapy equipment (i.e., the radiotherapy position) for treatment by controlling the common diagnosis and treatment bed, without the need for the target object to go to the treatment room for treatment or to reposition the target object, further improving the efficiency and effect of the treatment.

[0050] The above-mentioned radiotherapy control method and radiotherapy plan generation method can be applied to a radiotherapy system. Figure 1 A scene diagram of a radiotherapy system provided in an embodiment of the present disclosure, the radiotherapy system may include: a diagnostic device (also referred to as an image acquisition device) 101, a radiotherapy planning device 102, a control device (also referred to as a control computer device) 103, a radiotherapy device (also referred to as a radiotherapy device) 104 and a diagnosis and treatment shared bed (also referred to as a support device) 105.

[0051] The diagnostic device 101 is a device for collecting images of the tumor site (i.e., target area) and surrounding normal tissue of a target object (e.g., a patient to be treated, an experimental subject, a phantom, etc.). In some embodiments, the diagnostic device 101 may be at least one of a computed tomography (CT) device, an emission computed tomography (ECT) device, a magnetic resonance imaging (MRI) device, a positron emission tomography (PET) device, and an ultrasound examination device.

[0052] In the embodiment of the present application, the diagnostic device 101 is used to obtain a diagnostic image of a target object.

[0053] In some embodiments, when the target object is injected with a tracer, the diagnostic device includes at least one of a CT device, an MRI device, and a PET device.

[0054] Optionally, the above-mentioned tracer can be a sugar tracer.

[0055] The radiotherapy device 104 is a device for performing radiotherapy on a target object. In some embodiments, the radiotherapy device 104 may include a frame, a treatment head, and an image guidance device (due to Figure 1 is a side view of the radiotherapy device 104, so Figure 1 The structural diagram of the frame, treatment head and image guidance device is not shown yet).

[0056] The gantry may be a rotatable gantry. A treatment head may be arranged on the gantry to emit a radiation beam to irradiate the object to be irradiated, such as gamma rays, MV-level X-rays, proton rays, etc. For example, the treatment head may be any two of a gamma knife treatment head for rotational focusing radiotherapy, an accelerator treatment head for conformal intensity modulated radiotherapy, or other radiotherapy heads. The image guidance device is used to position the target object and perform real-time image guidance during radiotherapy. Exemplarily, the image guidance device includes a tube and a detector, and the detector may receive an imaging beam emitted by the tube that passes through the target object and generate a projection image.

[0057] The diagnosis and treatment shared bed 105 is used to support and move the target object, and can be a treatment bed.

[0058] In some embodiments, when the target object is on the diagnosis and treatment shared bed 105, the rotation of the gantry can drive the treatment head to perform 360-degree irradiation around the target object, thereby completing radiotherapy.

[0059] In the embodiment of the present application, the diagnostic device 101 and the radiotherapy device 104 are in the same space (eg, the same room). The diagnosis and treatment shared bed 105 can be deployed between the diagnostic device 101 and the radiotherapy device 104, and can be moved between the diagnostic device 101 and the radiotherapy device 104.

[0060] When the diagnosis and treatment bed 105 moves into the diagnosis range of the diagnosis device 101 , the diagnosis device 101 may collect images of the target object on the diagnosis and treatment bed 105 to obtain a diagnostic image of the target object.

[0061] When the diagnosis and treatment bed 105 moves into the treatment range of the radiotherapy device 104 , the radiotherapy device 104 can perform radiotherapy on the target object on the diagnosis and treatment bed 105 .

[0062] The radiotherapy planning device 102 is a device for obtaining diagnostic images of the target object from the diagnostic device 101 to formulate, optimize and evaluate the radiotherapy plan. The radiotherapy planning device 102 may run a radiotherapy planning system (TPS), which provides functions for formulating, optimizing and evaluating the radiotherapy plan. For example, the RT pro TPS system.

[0063] In some embodiments, the radiotherapy planning device 102 may include a TPS client 1021 and a TPS server 1022 .

[0064] The TPS client 1021 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, a laptop, etc. For example, in some embodiments, the user can trigger the TPS server 1022 to perform an adaptive radiotherapy plan optimization process and display the optimized radiotherapy plan by using the radiotherapy planning system running on the TPS server 1022 through the TPS client 1021. In this way, the user's time can be effectively saved, and the optimized radiotherapy plan can be presented more intuitively so that the user can evaluate the radiotherapy plan.

[0065] Among them, the TPS server 1022 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 1022 can be more or less, which is not limited in the embodiments of the present disclosure. Of course, the TPS server 1022 can also include other functions to provide more comprehensive and diversified services. In some embodiments, the TPS server 1022 is used to provide background services for the above-mentioned TPS client 1021, such as executing an adaptive radiotherapy plan optimization process.

[0066] In one embodiment of the present disclosure, the TPS server 1022 in the radiotherapy planning device 102 can receive a radiotherapy plan generation instruction sent by the control device 103, and in response to the radiotherapy plan generation instruction, generate a radiotherapy plan for the target object based on the diagnostic image acquired from the diagnostic device 101.

[0067] That is, while the diagnosis and treatment shared bed 105 is moving between the diagnosis device 101 and the radiotherapy device 104 , the TPS server 1022 in the radiotherapy planning device 102 can generate a radiotherapy plan for the target object during this period.

[0068] Optionally, the control device 103 may directly send a radiotherapy plan generation instruction to the TPS server 1022, or may send a radiotherapy plan generation instruction to the TPS server 1022 through the TPS client 1021 in the radiotherapy planning device 102, which is not limited in this embodiment of the present application.

[0069] The control device 103 is a device for controlling the radiotherapy device 104 to execute the radiotherapy plan. In some embodiments, the control device 103 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 device 104. The host computer 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, a laptop computer and / or a server device, and the slave computer may be a control device such as a programmable logic controller (PLC).

[0070] In an embodiment of the present application, the control device 103 is used to execute the radiotherapy control method provided in the embodiment of the present application, for example, controlling the diagnosis and treatment shared bed 105 to move the target object to the diagnostic device 101 to obtain a diagnostic image of the target object through the diagnostic device 101, and controlling the diagnosis and treatment shared bed 105 to move the target object from the diagnostic device 101 to the radiotherapy device 104, and synchronously triggering the TPS server 1022 in the radiotherapy planning device 102 to generate a radiotherapy plan for the target object based on the diagnostic image.

[0071] Optionally, the control device 103 can also display and control the status (such as power on / off status, etc.) and dynamics (such as current moving position, etc.) of the shared diagnosis and treatment bed 105.

[0072] Optionally, the entity of the control device 103 may be a terminal or a server with a display, which is not limited in the embodiment of the present application.

[0073] Optionally, the terminal may be at least one of a smart phone, a smart watch, a desktop computer, a laptop computer, a virtual reality terminal, an augmented reality terminal, a wireless terminal, a laptop computer and the like.

[0074] Optionally, the above-mentioned 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 servers can be more or less, which is not limited in the embodiments of the present disclosure. Of course, the server can also include other functions to provide more comprehensive and diversified services.

[0075] Furthermore, in some embodiments, the control device 103 includes a processor, which is used to implement the radiotherapy control method provided in the embodiments of the present application.

[0076] Optionally, the control device 103 can be deployed in the same space as the diagnostic device 101 and the radiotherapy device 104, such as the same room, or can be deployed in a different space from the diagnostic device 101 and the radiotherapy device 104, or can be deployed in the cloud at the same time as the TPS server 1022, which is not limited to the embodiments of the present application.

[0077] The following is based on Figure 1 The radiotherapy system shown introduces the radiotherapy control method provided by the embodiment of the present disclosure.

[0078] The radiotherapy control method provided by the embodiment of the present disclosure is applied to Figure 1The control device 103 in. Figure 2 FIG. 1 is a flow chart of a radiotherapy control method provided in an embodiment of the present application. Figure 2 As shown, the radiotherapy control method includes: S201-S202.

[0079] S201. The control device controls the diagnosis and treatment shared bed to move the target object to the diagnosis device, so as to obtain a diagnostic image of the target object through the diagnosis device.

[0080] Optionally, the control device may pre-store location information of the diagnostic range of the diagnostic device. Upon receiving an instruction to move the diagnosis and treatment shared bed to the diagnostic range of the diagnostic device, the control device may control the diagnosis and treatment shared bed to move the target object to the diagnostic device according to the pre-stored location information of the diagnostic range of the diagnostic device.

[0081] Optionally, the control device may also obtain the relative position relationship between the diagnostic device and the shared bed for diagnosis and treatment. When receiving an instruction to move the shared bed for diagnosis and treatment into the diagnostic range of the diagnostic device, the control device may control the shared bed for diagnosis and treatment to move the target object to the diagnostic device according to the relative position relationship between the diagnostic device and the shared bed for diagnosis and treatment.

[0082] Optionally, the therapist can manually control the diagnosis and treatment shared bed through a control device to move the target object to the diagnosis device.

[0083] Optionally, when the diagnostic device acquires the diagnostic image of the target object, it may automatically acquire the diagnostic image of the target object when it detects that the shared bed for diagnosis and treatment moves into the diagnostic range of the diagnostic device; or it may acquire the diagnostic image of the target object by receiving a manual operation instruction when it detects that the shared bed for diagnosis and treatment moves into the diagnostic range of the diagnostic device. Of course, the diagnostic device may also acquire the diagnostic image of the target object by receiving an image acquisition instruction sent by the control device when the shared bed for diagnosis and treatment moves the target object into the diagnostic range of the diagnostic device.

[0084] After obtaining the diagnostic image of the target object, the diagnostic device can send it to the TPS server through a specified address.

[0085] Optionally, the target object needs to be pre-positioned before radiotherapy is performed on the diagnostic device. The pre-positioned position can be the same as the position for formulating the initial radiotherapy plan or have a certain positional relationship. When pre-positioning, fixed accessories can be added to prevent the target object from moving autonomously, such as a fixed headrest, a fixed bag, etc.

[0086] S202: The control device controls the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and synchronously triggers the generation of a radiotherapy plan for the target object based on the diagnosis image.

[0087] After the diagnostic device acquires the diagnostic image of the target object, in order to improve the efficiency of generating the radiotherapy plan, the control device can control the diagnosis and treatment shared bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously trigger the generation of the radiotherapy plan for the target object based on the diagnostic image.

[0088] It should be noted that the control device here controls the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device, which means controlling the shared diagnosis and treatment bed to move the target object from the diagnostic device to the treatment position of the radiotherapy device, or a preset position having a certain positional relationship with the treatment position, so as to facilitate the subsequent radiotherapy device to perform radiotherapy on the target object.

[0089] Optionally, the above-mentioned treatment position and preset position may be pre-stored in the control device, or the control device may obtain them in real time from a server storing the above-mentioned treatment position and preset position after the diagnostic device acquires the diagnostic image of the target object.

[0090] Optionally, in the process of the control device controlling the diagnosis and treatment shared bed to move the target object from the diagnostic device to the radiotherapy device, the target object can be first moved from the diagnostic device to the transfer preparation position, and then from the transfer preparation position to the radiotherapy device; it can also be moved directly from the diagnostic device to the radiotherapy device.

[0091] Optionally, when the control device controls the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device, the moving speed of the shared diagnosis and treatment bed should not be too fast, that is, to avoid displacement of the target object due to too fast speed, and to avoid failure to complete the generation of a radiotherapy plan after the target object is moved to the radiotherapy device.

[0092] In some embodiments, the control device can synchronously trigger the generation of a radiotherapy plan for the target object during the movement of the shared diagnosis and treatment bed, or synchronously trigger the generation of a radiotherapy plan for the target object when the shared diagnosis and treatment bed starts to move, or trigger the generation of a radiotherapy plan for the target object after the diagnostic image is acquired. In other words, as long as the generation of the radiotherapy plan for the target object is completed when the shared diagnosis and treatment bed is controlled to move the target object from the diagnostic device to the radiotherapy device. In this case, the method in which the control device controls the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously triggers the generation of a radiotherapy plan for the target object based on the diagnostic image, specifically includes:

[0093] The control device controls the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and during the movement of the diagnosis and treatment shared bed, synchronously triggers the generation of a radiotherapy plan for the target object based on the diagnostic image.

[0094] Specifically, after the diagnostic device acquires the diagnostic image of the target object, the control device may first control the diagnosis and treatment shared bed to move the target object from the diagnostic device to the radiotherapy device. During the movement of the diagnosis and treatment shared bed (for example, after the control device controls the diagnosis and treatment shared bed to move for 1 second or 2 seconds), the control device may synchronously trigger the generation of a radiotherapy plan for the target object based on the diagnostic image. That is, after the diagnostic device acquires the diagnostic image of the target object, the control device first controls the diagnosis and treatment shared bed to move, and then triggers the generation of a radiotherapy plan for the target object.

[0095] Alternatively, when the control device controls the diagnosis and treatment shared bed to start moving the target object from the diagnosis device to the radiotherapy device, it synchronously triggers the generation of a radiotherapy plan for the target object based on the diagnosis image.

[0096] That is, after the diagnostic device acquires the diagnostic image of the target object, the control device synchronously triggers the generation of a radiotherapy plan for the target object while controlling the movement of the diagnosis and treatment bed.

[0097] Alternatively, at the moment the diagnostic image is acquired, the control device synchronously triggers the generation of a radiotherapy plan for the target object based on the diagnostic image, and after the diagnostic device acquires the diagnostic image, controls the diagnosis and treatment shared bed to move the target object from the diagnostic device to the radiotherapy device.

[0098] Specifically, the control device can synchronously trigger the generation of a radiotherapy plan for the target object based on the diagnostic image at the moment when the diagnostic device acquires the diagnostic image of the target object, and after the diagnostic device acquires the diagnostic image (for example, 1 second or 2 seconds after acquiring the diagnostic image), control the diagnosis and treatment shared bed to move the target object from the diagnostic device to the radiotherapy device. That is, the control device first triggers the generation of the radiotherapy plan for the target object, and after the diagnostic device acquires the diagnostic image of the target object, controls the diagnosis and treatment shared bed to move.

[0099] In summary, no matter when the control device controls the shared diagnosis and treatment bed to move the target object from the diagnostic device to the radiotherapy device, and no matter when the control device synchronously triggers the generation of a radiotherapy plan for the target object based on the diagnostic image, as long as the radiotherapy plan for the target object has been generated when the shared diagnosis and treatment bed is controlled to move the target object from the diagnostic device to the radiotherapy device.

[0100] In some embodiments, when performing radiotherapy on a target object, the radiotherapy device can also locate the target object through an image guidance device in the radiotherapy device. For example, the image guidance device can obtain a real-time KV projection of the target object, and locate the target object (e.g., target area resetting, etc.) based on the comparison result of the real-time KV projection and the DRR image at the corresponding angle of the diagnostic image.

[0101] Optionally, the above diagnostic image may be a DRR image converted from an MR format image to a CT format image using imaging software.

[0102] Optionally, the above-mentioned image comparison result may be a comparison result of a certain cross section (such as a sagittal plane or a coronal plane) of the target object that includes the target area.

[0103] In some embodiments, the control device is usually a simple control device with a relatively simple function, so the generation of the radiotherapy plan for the target object is usually performed by the TPS server. Of course, after the radiotherapy plan generation function is integrated into the control device, the control device can also directly generate the radiotherapy plan for the target object.

[0104] That is, the control device can directly generate a radiotherapy plan for the target object, or can trigger the generation of a radiotherapy plan for the target object based on the diagnostic image through the TPS server. In this case, the control device triggers the generation of a radiotherapy plan for the target object based on the diagnostic image, including:

[0105] In the case where the control device is integrated with a radiotherapy plan generation function, the control device is triggered to generate a radiotherapy plan for the target object based on the diagnostic image. Alternatively, in the case where the control device is not integrated with a radiotherapy plan generation function, the control device sends a radiotherapy plan generation instruction to the TPS server to trigger the TPS server to generate a radiotherapy plan for the target object based on the diagnostic image.

[0106] Optionally, when the control device is not integrated with the radiotherapy plan generation function, the control device can directly send the radiotherapy plan generation instruction to the TPS server, or send the radiotherapy plan generation instruction to the TPS server through the TPS client to trigger the TPS server to generate a radiotherapy plan for the target object based on the diagnostic image.

[0107] In some embodiments, the control device can adjust the moving speed of the diagnosis and treatment shared bed according to the predicted generation time of the radiotherapy plan. Figure 3 As shown, the radiotherapy control method provided in the embodiment of the present application also includes:

[0108] S301. Control a device to obtain a predicted generation time of a radiotherapy plan.

[0109] In some embodiments, the predicted generation time is predicted based on the radiotherapy plan generation time of the reference image. The reference image is an image whose similarity to the diagnostic image is greater than a preset similarity. For example, the reference image may be a diagnostic image of a reference object with similar characteristics to the target object, such as age, body shape, and condition. In other words, the predicted generation time of the radiotherapy plan may be generated based on a completed radiotherapy plan (i.e., the radiotherapy plan of the reference image).

[0110] Optionally, the predicted generation time may be set according to the therapist's experience, or may be predicted by an artificial intelligence model, which is not limited in the embodiments of the present application.

[0111] Optionally, the predicted generation duration may be pre-stored in the control device, or may be stored in a cloud server that communicates with the control device, which is not limited in the embodiments of the present application.

[0112] S302. The control device determines the moving speed of the diagnosis and treatment shared bed according to the predicted generation time, so that when the diagnosis and treatment shared bed moves the target object from the diagnosis device to the radiotherapy device, the radiotherapy plan for the target object has been generated.

[0113] Specifically, the control device may pre-store the positional relationship between the diagnostic device and the radiotherapy device. After obtaining the predicted generation time, the control device may determine the distance between the diagnostic device and the radiotherapy device based on the positional relationship between the diagnostic device and the radiotherapy device, and determine the moving speed of the diagnosis and treatment shared bed based on the quotient of the distance and the predicted generation time.

[0114] Of course, the moving speed can be less than or equal to the quotient of the distance and the predicted generation time, as long as the radiotherapy plan for the target object has been generated when the shared diagnosis and treatment bed moves the target object from the diagnostic equipment to the radiotherapy equipment. It can also avoid the displacement of the target object due to too fast speed.

[0115] In some embodiments, a radiotherapy plan with multiple radiotherapy fractions may be formulated for the condition of certain patients (i.e., target subjects). Therefore, when the target subject requires a radiotherapy device to perform multiple radiotherapy fractions, the diagnostic images acquired by the diagnostic device may include diagnostic images for each radiotherapy fraction. For example, during the current radiotherapy fraction, the diagnostic device may acquire the current diagnostic image of the target subject. In this way, when formulating a radiotherapy plan, a radiotherapy plan for each radiotherapy fraction may be formulated based on the diagnostic image for each radiotherapy fraction. Accordingly, the control device needs to adjust the position of the target subject in the radiotherapy device according to the radiotherapy plan for each radiotherapy fraction, so that the radiotherapy device can accurately perform radiotherapy on the target subject. Therefore, if Figure 4 As shown, the radiotherapy control method provided in the embodiment of the present application also includes:

[0116] S401. A control device receives a control instruction for current fractionated radiotherapy.

[0117] The current fractionated radiotherapy control instruction includes: the control instruction generated based on the comparison result between the current fractionated diagnostic image and the initial diagnostic image, or the control instruction generated based on the comparison result between the current fractionated diagnostic image and the previous fractionated diagnostic image.

[0118] In some embodiments, the initial diagnostic image is acquired when the diagnostic device performs radiotherapy on the target object for the first time, or when the diagnostic device performs an initial diagnosis on the target object.

[0119] As can be seen from the above, the radiotherapy plan for the target object can be directly generated by the control device or generated by the TPS server.

[0120] In the case where the radiotherapy plan is directly generated by the control device, the control device may obtain the current fractionated diagnostic image and the initial diagnostic image from the diagnostic device, and generate the control instruction of the current fractionated radiotherapy based on the comparison result of the current fractionated diagnostic image and the initial diagnostic image. Alternatively, the control device may obtain the current fractionated diagnostic image and the previous fractionated diagnostic image from the diagnostic device, and generate the control instruction of the current fractionated radiotherapy based on the comparison result of the current fractionated diagnostic image and the previous fractionated diagnostic image.

[0121] In the case where the radiotherapy plan is generated by the TPS server, the TPS server can obtain the current fractionated diagnostic image and the initial diagnostic image from the diagnostic device, and generate the radiotherapy plan for the current fractionated radiotherapy based on the comparison result of the current fractionated diagnostic image and the initial diagnostic image. Alternatively, the TPS server can obtain the current fractionated diagnostic image and the previous fractionated diagnostic image from the diagnostic device, and generate the radiotherapy plan for the current fractionated radiotherapy based on the comparison result of the current fractionated diagnostic image and the previous fractionated diagnostic image. Subsequently, the TPS server generates the control instructions for the current fractionated radiotherapy according to the radiotherapy plan for the current fractionated radiotherapy, and sends the control instructions for the current fractionated radiotherapy to the control device.

[0122] S402: The control device responds to the control instruction of the current fractionated radiotherapy and controls the diagnosis and treatment shared bed to move the target object onto the radiotherapy device to a position corresponding to the control instruction.

[0123] In some embodiments, when a multi-fraction radiotherapy plan is formulated for a target object, the diagnostic device also needs to obtain diagnostic images for each radiotherapy fraction. Accordingly, the control device needs to adjust the position of the target object in the diagnostic device according to the diagnostic images of each radiotherapy fraction, so that the diagnostic device can obtain accurate diagnostic images. In this case, Figure 5 As shown, the control device controls the diagnosis and treatment shared bed to move the target object to the diagnosis device to obtain a diagnostic image of the target object through the diagnosis device, specifically, including:

[0124] S501: Control a device to receive an image acquisition instruction.

[0125] The image acquisition instruction is generated based on the comparison result of the registration points of the previous diagnostic image and the initial diagnostic image. The registration points include: the sagittal plane or the coronal plane of the target area of ​​the target object.

[0126] In some embodiments, when the control device is integrated with an image comparison function, the control device can directly generate an image acquisition instruction based on the comparison result of the registration points of the previous diagnostic image and the initial diagnostic image.

[0127] In the case where the control device is not integrated with an image comparison function, the diagnostic device can generate a comparison result based on the registration point comparison result of the previous diagnostic image and the initial diagnostic image. Subsequently, the diagnostic device can generate an image acquisition instruction based on the comparison result and send the image acquisition instruction to the control device.

[0128] S502: In response to the image acquisition instruction, the control device controls the diagnosis and treatment shared bed to move the target object onto the diagnosis device to a position corresponding to the image acquisition instruction, so as to obtain a diagnostic image of the target object through the diagnosis device.

[0129] In some embodiments, in order to accurately determine that the radiotherapy object is the target object, the target object may be identified. Figure 6 As shown, the method of controlling the diagnosis and treatment shared bed by the control device to move the target object to the diagnosis device specifically includes:

[0130] S601: Control a device to obtain biometric information of a target object.

[0131] Optionally, an image acquisition device may be provided at the entrance of the space where the diagnostic device is located or on the diagnostic device. The image acquisition device may acquire biometric information of the target object. Subsequently, the image acquisition device may send the acquired biometric information of the target object to the control device.

[0132] Optionally, the above-mentioned biometric information may be iris features, facial features, fingerprint features, etc. of the target object.

[0133] S602: When the biometric information matches the pre-stored identity information of the target object, the control device controls the diagnosis and treatment shared bed to move the target object to the diagnosis device.

[0134] That is, before controlling the diagnosis and treatment shared bed to move the target object to the diagnosis and treatment device, the control device can first obtain the target object's biometric information and match it with the pre-stored target object identity information. Only when the match is successful can the diagnosis and treatment shared bed be controlled to move the target object to the diagnosis and treatment device to avoid the error of the radiotherapy object.

[0135] In some embodiments, the radiotherapy plan generation method provided by the present disclosure is applied to Figure 1 TPS server 1022 in. Figure 7 FIG. 1 is a flow chart of a method for generating a radiotherapy plan provided in an embodiment of the present application. Figure 7 As shown, the radiotherapy plan generating method includes: S701-S702.

[0136] S701. The TPS server receives a radiotherapy plan generation instruction sent by a control device.

[0137] Among them, the radiotherapy plan generation instruction is synchronously triggered when the control device controls the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device.

[0138] S702 : The TPS server generates a radiotherapy plan for the target object based on the diagnostic image in response to the radiotherapy plan generation instruction.

[0139] The diagnostic image is obtained by controlling the diagnosis and treatment shared bed to move the target object to the diagnostic device before the control device triggers the radiotherapy plan generation instruction.

[0140] Optionally, after the TPS server obtains the diagnostic image of the target object, it can map the position coordinates of the target object in the diagnostic image and the position coordinates of the diagnosis and treatment bed into the same coordinate system, and generate a radiotherapy plan for the target object based on the target point coordinates or field coordinates of the target object.

[0141] Optionally, when the shared bed for diagnosis and treatment has a certain attenuation effect on the radiation of the radiotherapy equipment, the TPS server can call the three-dimensional model data to simulate and calculate the attenuation effect of the shared bed for diagnosis and treatment on the radiation when generating the radiotherapy plan, and then generate a radiotherapy plan including reasonable radiation.

[0142] In some embodiments, when the target object requires a radiotherapy device to perform multiple fractions of radiotherapy, the diagnostic image includes: during the current fraction of radiotherapy, the diagnostic device obtains the current fraction of diagnostic image of the target object. The method for the TPS server to generate a radiotherapy plan for the target object based on the diagnostic image specifically includes:

[0143] Compare the current fractionated diagnostic image with the previous fractionated diagnostic image, and optimize the previous fractionated radiotherapy plan of the target object based on the comparison result between the current fractionated diagnostic image and the previous fractionated diagnostic image, so as to obtain the current fractionated radiotherapy plan of the target object. Alternatively, compare the current fractionated diagnostic image with the initial plan image, and optimize the initial radiotherapy plan of the target object based on the comparison result between the current fractionated diagnostic image and the initial plan image, so as to obtain the current fractionated radiotherapy plan of the target object.

[0144] In some embodiments, after obtaining the current fractionated radiotherapy plan for the target object, the TPS server may send a control instruction for the current fractionated radiotherapy to the control device according to the current fractionated radiotherapy plan for the target object, so that the control device controls the diagnosis and treatment shared bed to move the target object to the position corresponding to the control instruction.

[0145] The detailed process of the TPS server generating the radiotherapy plan for the target object based on the diagnostic image can be referred to the detailed description of S401 above, which will not be repeated here.

[0146] In some embodiments, the target object is usually injected with a near-infrared fluorescent agent. In this way, a near-infrared image of the target object can be obtained, and then the target area can be tracked and the radiotherapy plan can be updated based on the near-infrared image of the target object. In this case, Figure 8 As shown, the radiotherapy plan generation method provided in the embodiment of the present application further includes:

[0147] S801. The TPS server obtains a near-infrared image of a target object.

[0148] Optionally, the TPS server may obtain a near-infrared image of the target object from a diagnostic device, or may obtain a near-infrared image of the target object from other image acquisition devices, which is not limited in this embodiment of the present application.

[0149] S802. The TPS server updates the radiotherapy plan according to the near-infrared image to obtain an updated radiotherapy plan.

[0150] Optionally, when the TPS server obtains a near-infrared image of the target object from the diagnostic device, the TPS server may directly update the radiotherapy plan according to the near-infrared image to obtain an updated radiotherapy plan.

[0151] When the TPS server obtains a near-infrared image of the target object from other image acquisition devices, the TPS server can first map the position of the target area of ​​the target object in the near-infrared image to the target area position of the target object in the radiotherapy plan, and then update the radiotherapy plan according to the mapping relationship to obtain an updated radiotherapy plan.

[0152] The above mainly introduces the scheme of the embodiment of the present application from the perspective of method. It is understandable that, in order to realize the above functions, the control device and the TPS server include hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware 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 exceed the scope of the embodiments of the present application.

[0153] The embodiment of the present application can divide the control device and the TPS server into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0154] like Fig. 9 As shown, the embodiment of the present application provides a radiotherapy control device, which is applied to a control device, including: a control unit 901;

[0155] The control unit 901 is used to control the diagnosis and treatment shared bed to move the target object to the diagnostic device to obtain a diagnostic image of the target object through the diagnostic device;

[0156] The control unit 901 is also used to control the diagnosis and treatment shared bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously trigger the generation of a radiotherapy plan for the target object based on the diagnostic image.

[0157] In some embodiments, the control unit 901 is specifically configured to:

[0158] Controlling the diagnosis and treatment shared bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously triggering the generation of a radiotherapy plan for the target object based on the diagnostic image during the movement of the diagnosis and treatment shared bed;

[0159] Alternatively, when the diagnosis and treatment shared bed is controlled to move the target object from the diagnosis device to the radiotherapy device, a radiotherapy plan for the target object is synchronously triggered to be generated based on the diagnosis image;

[0160] Alternatively, at the moment when the diagnostic image is acquired, a radiotherapy plan for the target object is synchronously triggered based on the diagnostic image, and after the diagnostic device acquires the diagnostic image, the diagnosis and treatment shared bed is controlled to move the target object from the diagnostic device to the radiotherapy device.

[0161] In some embodiments, the control unit 901 is specifically configured to:

[0162] In the case where the control device is integrated with a radiotherapy plan generation function, triggering the control device to generate a radiotherapy plan for the target object based on the diagnostic image;

[0163] Alternatively, when the control device is not integrated with the radiotherapy plan generation function, a radiotherapy plan generation instruction is sent to the radiotherapy planning system TPS server to trigger the TPS server to generate a radiotherapy plan for the target object based on the diagnostic image.

[0164] In some embodiments, when controlling the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, a radiotherapy plan for the target object has been generated.

[0165] In some embodiments, the radiotherapy control device further includes: a communication unit 902 and a processing unit 903;

[0166] A communication unit 902 is used to obtain the predicted generation time of the radiotherapy plan;

[0167] The processing unit 903 is used to determine the moving speed of the diagnosis and treatment shared bed according to the predicted generation time, so that when the diagnosis and treatment shared bed moves the target object from the diagnostic device to the radiotherapy device, the radiotherapy plan of the target object has been generated.

[0168] In some embodiments, the predicted generation time is obtained by predicting the generation time of the radiotherapy plan based on a reference image; the reference image is an image whose similarity to the diagnostic image is greater than a preset similarity.

[0169] In some embodiments, in the case where the target object requires a radiotherapy device to perform multi-fraction radiotherapy, the diagnostic image includes: during the current fraction radiotherapy, the diagnostic device acquires a current fraction diagnostic image of the target object;

[0170] The communication unit 902 is further used to receive a control instruction for the current fractionated radiotherapy; the control instruction for the current fractionated radiotherapy includes: a control instruction generated based on a comparison result between the current fractionated diagnostic image and the initial diagnostic image, or a control instruction generated based on a comparison result between the current fractionated diagnostic image and the previous fractionated diagnostic image;

[0171] The control unit 901 is also used to control the diagnosis and treatment shared bed to move the target object onto the radiotherapy equipment to a position corresponding to the control instruction in response to the control instruction of the current fractionated radiotherapy.

[0172] In some embodiments, the control unit 901 is specifically configured to:

[0173] receiving an image acquisition instruction; the image acquisition instruction is generated based on the comparison result of the registration points of the previous diagnostic image and the initial diagnostic image; the registration points include: the sagittal plane or the coronal plane of the target area of ​​the target object;

[0174] In response to the image acquisition instruction, the diagnosis and treatment shared bed is controlled to move the target object to the position corresponding to the image acquisition instruction on the diagnostic equipment, so as to obtain a diagnostic image of the target object through the diagnostic equipment.

[0175] In some embodiments, the initial diagnostic image is acquired when the diagnostic device performs radiotherapy on the target object for the first time, or when the diagnostic device performs an initial diagnosis on the target object.

[0176] In some embodiments, when the target object is injected with a tracer, the diagnostic device includes at least one of a computed tomography (CT) device, a magnetic resonance (MRI) device, and a positron emission tomography (PET) device.

[0177] In some embodiments, the control unit 901 is specifically configured to:

[0178] Obtain biometric information of the target object;

[0179] When the biometric information matches the pre-stored identity information of the target object, the diagnosis and treatment shared bed is controlled to move the target object to the diagnosis equipment.

[0180] like Fig.10 As shown, the embodiment of the present application provides a radiotherapy plan generation device, which is applied to a TPS server, including: a communication unit 1001 and a processing unit 1002;

[0181] The communication unit 1001 is used to receive a radiotherapy plan generation instruction sent by a control device; the radiotherapy plan generation instruction is synchronously triggered when the control device controls the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device;

[0182] The processing unit 1002 is used to generate a radiotherapy plan for the target object based on the diagnostic image in response to the radiotherapy plan generation instruction; the diagnostic image is obtained by controlling the diagnosis and treatment shared bed to move the target object to the diagnostic device before the control device triggers the radiotherapy plan generation instruction.

[0183] In some embodiments, when the target object requires a radiotherapy device to perform multi-fraction radiotherapy, the diagnostic image includes: during the current fraction radiotherapy, the diagnostic device acquires the current fraction diagnostic image of the target object; the processing unit 1002 is specifically used to:

[0184] Comparing the current fractionated diagnostic image with the previous fractionated diagnostic image, and optimizing the previous fractionated radiotherapy plan of the target object based on the comparison result between the current fractionated diagnostic image and the previous fractionated diagnostic image to obtain the current fractionated radiotherapy plan of the target object; or,

[0185] The current fractionated diagnostic image is compared with the initial planned image, and the initial radiotherapy plan of the target object is optimized based on the comparison result of the current fractionated diagnostic image and the initial planned image to obtain the current fractionated radiotherapy plan of the target object.

[0186] In some embodiments, the communication unit 1001 is further used to send a control instruction of the current fractionated radiotherapy to the control device according to the current fractionated radiotherapy plan of the target object, so that the control device controls the diagnosis and treatment shared bed to move the target object to the position corresponding to the control instruction.

[0187] In some embodiments, after generating a radiotherapy plan for the target object based on the diagnostic image, the communication unit 1001 is further used to obtain a near-infrared image of the target object;

[0188] The processing unit 1002 is further configured to update the radiotherapy plan according to the near-infrared image to obtain an updated radiotherapy plan.

[0189] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the radiotherapy control method provided by the present disclosure.

[0190] According to an embodiment of the present disclosure, the present disclosure further provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable an electronic device to execute the radiotherapy control method provided by the present disclosure.

[0191] According to an embodiment of the present disclosure, the present disclosure further provides a computer program product, including a computer program, which implements the radiotherapy control method provided by the present disclosure when executed by a processor.

[0192] Fig.11 A schematic block diagram of an example electronic device 1100 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 4 The radiation therapy control device shown in .

[0193] like Fig.11As shown, the electronic device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory 1102 or a computer program loaded from a storage unit 1108 to a random access memory 1103. In the random access memory (Random Access Memory, RAM) 1103, various programs and data required for the operation of the electronic device 1100 can also be stored. The computing unit 1101, the read-only memory (Read-Only Memory, ROM) 1102 and the RAM 1103 are connected to each other via a bus 1104. An input / output (Input / Output, I / O) interface 1105 is also connected to the bus 1104.

[0194] Multiple components in the electronic device 1100 are connected to the input / output interface 1105, including: an input unit 1106, such as a keyboard, a mouse, etc.; an output unit 1107, such as various types of displays, speakers, etc.; a storage unit 1108, such as a disk, an optical disk, etc.; and a communication unit 1109, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1109 allows the electronic device 1100 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0195] The computing unit 1101 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1101 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 1101 performs the various methods and processes described above, such as a data matching method. For example, in one embodiment, the data matching method may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 1108. In one embodiment, part or all of the computer program may be loaded and / or installed on the electronic device 1100 via ROM 702 and / or a communication unit 1109. When the computer program is loaded into RAM 1103 and executed by the computing unit 1101, one or more steps of the data matching method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to execute the data matching method in any other appropriate manner (eg, by means of firmware).

[0196] 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.

[0197] 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.

[0198] 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.

[0199] 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).

[0200] 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.

[0201] 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.

[0202] 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.

[0203] 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 radiotherapy control method, characterized in that: Applied to control equipment, including: Controlling the diagnosis and treatment shared bed to move the target object to the diagnostic device, so as to obtain a diagnostic image of the target object through the diagnostic device; The diagnosis and treatment shared bed is controlled to move the target object from the diagnosis device to the radiotherapy device, and synchronously triggers the generation of a radiotherapy plan for the target object based on the diagnosis image.

2. The method according to claim 1, characterized in that The controlling the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and synchronously triggering the generation of a radiotherapy plan for the target object based on the diagnosis image, comprises: Controlling the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and synchronously triggering generation of a radiotherapy plan for the target object based on the diagnostic image during the movement of the diagnosis and treatment shared bed; Alternatively, when the diagnosis and treatment shared bed is controlled to move the target object from the diagnosis device to the radiotherapy device, a radiotherapy plan for the target object is synchronously triggered to be generated based on the diagnosis image; Alternatively, at the moment when the diagnostic image is acquired, a radiotherapy plan for the target object is synchronously triggered to be generated based on the diagnostic image, and after the diagnostic device acquires the diagnostic image, the diagnosis and treatment shared bed is controlled to move the target object from the diagnostic device to the radiotherapy device.

3. The method according to claim 1, characterized in that The triggering of generating a radiotherapy plan for the target object based on the diagnostic image includes: In a case where the control device is integrated with a radiotherapy plan generation function, triggering the control device to generate a radiotherapy plan for the target object based on the diagnostic image; Alternatively, when the control device is not integrated with the radiotherapy plan generation function, a radiotherapy plan generation instruction is sent to a radiotherapy planning system TPS server to trigger the TPS server to generate a radiotherapy plan for the target object based on the diagnostic image.

4. The method according to claim 1, characterized in that: When the diagnosis and treatment shared bed is controlled to move the target object from the diagnosis device to the radiotherapy device, a radiotherapy plan for the target object has been generated.

5. The method according to claim 4, characterized in that Also includes: Obtaining a predicted generation time of the radiotherapy plan; The moving speed of the diagnosis and treatment shared bed is determined according to the predicted generation time, so that when the diagnosis and treatment shared bed moves the target object from the diagnostic device to the radiotherapy device, the radiotherapy plan for the target object has been generated.

6. The method according to claim 5, characterized in that The predicted generation time is obtained by predicting the radiotherapy plan generation time of a reference image; the reference image is an image whose similarity to the diagnostic image is greater than a preset similarity.

7. The method according to claim 1, characterized in that In the case where the target object requires the radiotherapy device to perform multi-fraction radiotherapy, the diagnostic image includes: during the current fractionated radiotherapy, the diagnostic device acquires the current fractionated diagnostic image of the target object; the method further includes: receiving a control instruction for the current fractionated radiotherapy; the control instruction for the current fractionated radiotherapy includes: generated based on a comparison result between the current fractionated diagnostic image and an initial diagnostic image, or generated based on a comparison result between the current fractionated diagnostic image and a previous fractionated diagnostic image; In response to the control instruction of the current fractionated radiotherapy, the diagnosis and treatment shared bed is controlled to move the target object to the position on the radiotherapy equipment corresponding to the control instruction.

8. The method according to claim 7, characterized in that The controlling the diagnosis and treatment shared bed to move the target object to the diagnosis equipment so as to obtain a diagnostic image of the target object through the diagnosis equipment includes: receiving an image acquisition instruction; the image acquisition instruction is generated based on a comparison result of registration points between the previous fractionated diagnostic image and the initial diagnostic image; the registration points include: a sagittal plane or a coronal plane of a target area of ​​the target object; In response to the image acquisition instruction, the diagnosis and treatment shared bed is controlled to move the target object to a position on the diagnostic equipment corresponding to the image acquisition instruction, so as to obtain a diagnostic image of the target object through the diagnostic equipment.

9. The method according to claim 8, characterized in that The initial diagnostic image is acquired when the diagnostic device performs the first radiotherapy on the target object, or when the diagnostic device performs the initial diagnosis on the target object.

10. The method according to claim 1, characterized in that In the case where the target object is injected with a tracer, the diagnostic device comprises at least one of a computer tomography (CT) device, a magnetic resonance (MRI) device, and a positron emission tomography (PET) device.

11. The method according to claim 1, characterized in that: The controlling the diagnosis and treatment shared bed to move the target object to the diagnosis equipment comprises: Acquiring biometric information of the target object; In the case where the biometric information matches the pre-stored identity information of the target object, the diagnosis and treatment shared bed is controlled to move the target object to the diagnostic equipment.

12. A method for generating a radiotherapy plan, characterized in that: Applied to TPS servers, including: Receiving a radiotherapy plan generation instruction sent by a control device; the radiotherapy plan generation instruction is synchronously triggered when the control device controls the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device; In response to the radiotherapy plan generation instruction, a radiotherapy plan for the target object is generated based on a diagnostic image; the diagnostic image is acquired by the diagnostic device by controlling the diagnosis and treatment shared bed to move the target object to the diagnostic device before the control device triggers the radiotherapy plan generation instruction.

13. The method according to claim 12, characterized in that In the case where the target object requires the radiotherapy device to perform multi-fraction radiotherapy, the diagnostic image includes: during the current fraction radiotherapy, the diagnostic device acquires the current fraction diagnostic image of the target object; and generating the radiotherapy plan for the target object based on the diagnostic image includes: Comparing the current fractionated diagnostic image with the previous fractionated diagnostic image, and optimizing the previous fractionated radiotherapy plan of the target object based on the comparison result between the current fractionated diagnostic image and the previous fractionated diagnostic image, to obtain the current fractionated radiotherapy plan of the target object; or, The current fractionated diagnostic image is compared with the initial planned image, and the initial radiotherapy plan of the target object is optimized based on the comparison result of the current fractionated diagnostic image and the initial planned image to obtain the current fractionated radiotherapy plan of the target object.

14. The method according to claim 13, characterized in that Also includes: A control instruction of the current fractionated radiotherapy is sent to the control device according to the current fractionated radiotherapy plan of the target object, so that the control device controls the diagnosis and treatment shared bed to move the target object to a position corresponding to the control instruction.

15. The method according to claim 12, characterized in that After generating the radiotherapy plan for the target object based on the diagnostic image, the method further includes: Acquire a near infrared image of the target object; The radiotherapy plan is updated according to the near-infrared image to obtain an updated radiotherapy plan.

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 method according to any one of claims 1 to 11, or the method according to any one of claims 12 to 15.

17. A radiotherapy system, characterized in that: include: A control device, configured to execute the method according to any one of claims 1 to 11; The TPS server is used to execute the method according to any one of claims 12 to 15.

18. A non-volatile storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is read and executed, it implements the method described in any one of claims 1 to 11, or the method described in any one of claims 12 to 15.

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