Radiation therapy control, radiation therapy plan generation method, apparatus, system, and medium

Abstract

The present disclosure provides a radiotherapy control, radiotherapy plan generation method, device, system and medium, relates to the technical field of medical treatment, in particular to the technical field of radiotherapy, and is used for solving the problems 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 a diagnosis device, so as to acquire a diagnosis image of the target object by the diagnosis device; controlling the diagnosis and treatment shared bed to move the target object from the diagnosis device to a radiotherapy device, and synchronously triggering generation of a radiotherapy plan of the target object based on the diagnosis image.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of medical treatment, in particular to the technical field of radiotherapy, and specifically to a radiotherapy control method, a radiotherapy plan generation method, a device, a system and a medium. BACKGROUND

[0002] At present, when a patient is treated by radiotherapy, the patient usually needs to first perform positioning image scanning by a magnetic resonance imaging device to obtain a scan image of the patient, then determine a treatment plan according to the scan image, and perform radiotherapy according to the treatment plan by a radiotherapy device.

[0003] However, since the magnetic resonance imaging device and the radiotherapy device are usually in two different rooms (for example, the magnetic resonance imaging device is usually deployed in an imaging room, and the radiotherapy device is usually deployed in a treatment room), after the positioning image scanning is performed on the patient, the patient needs to go to the treatment room for radiotherapy. In this way, not only does the patient need to move multiple times, but also the patient needs to be repositioned before the radiotherapy device is used for treatment, which is time-consuming and laborious, has low efficiency, and reduces the treatment effect to some extent. SUMMARY

[0004] The present disclosure provides a radiotherapy control method, a radiotherapy plan generation method, a device, a system and a 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 diagnosis-treatment shared bed to move a target object to a diagnosis device to obtain a diagnosis image of the target object by the diagnosis device; and controlling the diagnosis-treatment shared bed to move the target object from the diagnosis device to a radiotherapy device, and synchronously triggering a radiotherapy plan of the target object based on the diagnosis image.

[0006] In some embodiments, the controlling the diagnosis-treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and the synchronously triggering the radiotherapy plan of the target object based on the diagnosis image, comprises: controlling the diagnosis-treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and synchronously triggering the radiotherapy plan of the target object based on the diagnosis image in the process of moving the diagnosis-treatment shared bed; or, controlling the diagnosis-treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and synchronously triggering the radiotherapy plan of the target object based on the diagnosis image when the diagnosis-treatment shared bed starts to move the target object; or, synchronously triggering the radiotherapy plan of the target object based on the diagnosis image at the time when the diagnosis image is obtained, and controlling the diagnosis-treatment shared bed to move the target object from the diagnosis device to the radiotherapy device after the diagnosis device obtains the diagnosis image.

[0007] In some embodiments, triggering the generation of the radiotherapy plan of the target object based on the diagnostic image comprises: in a case where the control device is integrated with a radiotherapy plan generation function, triggering the control device to generate the radiotherapy plan of the target object based on the diagnostic image; or in a case where the control device is not integrated with the radiotherapy plan generation function, sending a radiotherapy plan generation instruction to a radiotherapy planning system (TPS) server to trigger the TPS server to generate the radiotherapy plan of the target object based on the diagnostic image.

[0008] In some embodiments, the radiotherapy control method further comprises: controlling the diagnosis-treatment shared bed to move the target object to the diagnostic device, so as to acquire the diagnostic image of the target object by the diagnostic device.

[0009] In some embodiments, the radiotherapy control method further comprises: acquiring a predicted generation time length of the radiotherapy plan; and determining a moving speed of the diagnosis-treatment shared bed according to the predicted generation time length, so that the radiotherapy plan of the target object is generated when the diagnosis-treatment shared bed moves the target object from the diagnostic device to the radiotherapy device.

[0010] In some embodiments, the predicted generation time length is predicted according to a radiotherapy plan generation time length of a reference image; and the reference image is an image with a similarity greater than a preset similarity to the diagnostic image.

[0011] In some embodiments, in a case where the target object needs to be treated by the radiotherapy device in multiple fractions, the diagnostic image comprises: a current fraction diagnostic image of the target object acquired by the diagnostic device at a current fraction radiotherapy; and the method further comprises: receiving a control instruction of the current fraction radiotherapy; and the control instruction of the current fraction radiotherapy is generated based on a comparison result of the current fraction diagnostic image and an initial diagnostic image, or a comparison result of the current fraction diagnostic image and a previous fraction diagnostic image.

[0012] In response to the control instruction of the current fraction radiotherapy, the diagnosis-treatment shared bed is controlled to move the target object to the radiotherapy device to a position corresponding to the control instruction.

[0013] In some embodiments, the diagnosis-treatment shared bed is controlled to move the target object to the diagnostic device to acquire the diagnostic image of the target object by the diagnostic device, comprising: receiving an image acquisition instruction; the image acquisition instruction is generated based on a registration point comparison result of a previous fraction diagnostic image and an initial diagnostic image; the registration point comprises a sagittal plane or a coronal plane of a target region of the target object; and in response to the image acquisition instruction, the diagnosis-treatment shared bed is controlled to move the target object to the diagnostic device to a position corresponding to the image acquisition instruction, so as to acquire the diagnostic image of the target object by the diagnostic device.

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

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

[0016] In some embodiments, the control of the diagnostic-treatment shared bed to move the target object to the diagnostic device comprises: acquiring biometric information of the target object; and in the case that the biometric information matches pre-stored identity information of the target object, controlling the diagnostic-treatment shared bed to move the target object to the diagnostic device.

[0017] In a second aspect, a radiotherapy plan generation method is provided, applied to a TPS server, and comprising: receiving a radiotherapy plan generation instruction sent by a control device; the radiotherapy plan generation instruction being triggered synchronously when the control device controls a diagnostic-treatment shared bed to move a target object from a diagnostic device to a radiotherapy device; and in response to the radiotherapy plan generation instruction, generating a radiotherapy plan of the target object based on a diagnostic image; the diagnostic image being acquired by the diagnostic device through the diagnostic device before the control device triggers the radiotherapy plan generation instruction and the diagnostic-treatment shared bed moves the target object to the diagnostic device.

[0018] In some embodiments, in the case that the target object needs to be treated by the radiotherapy device in multiple fractions, the diagnostic image comprises: a current fraction diagnostic image of the target object acquired by the diagnostic device at a current fraction of radiotherapy; and the generation of the radiotherapy plan of the target object based on the diagnostic image comprises: comparing the current fraction diagnostic image with a previous fraction diagnostic image, and optimizing a previous fraction radiotherapy plan of the target object based on a comparison result of the current fraction diagnostic image and the previous fraction diagnostic image to obtain a current fraction radiotherapy plan of the target object; or comparing the current fraction diagnostic image with an initial plan image, and optimizing an initial radiotherapy plan of the target object based on a comparison result of the current fraction diagnostic image and the initial plan image to obtain the current fraction radiotherapy plan of the target object.

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

[0020] In some embodiments, after the generation of the radiotherapy plan of the target object based on the diagnostic image, the method further comprises: 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 of the optional radiotherapy control methods of the first aspect or any of the optional radiotherapy plan generation methods of the second aspect.

[0022] In a fourth aspect, the present disclosure also provides a non-volatile storage medium, wherein the non-volatile storage medium stores a computer program, and the computer program is read and executed to implement any of the optional radiotherapy control methods of the first aspect or any of the optional radiotherapy plan generation methods of the second aspect.

[0023] In a fifth aspect, the present disclosure also provides a radiotherapy system, comprising: a control device configured to implement any of the optional radiotherapy control methods of the first aspect; and a TPS server configured to implement any of the optional radiotherapy plan generation methods of the second aspect.

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

[0025] As can be seen from the above, the control device can synchronously trigger the TPS server to generate a radiotherapy plan for the target object in the process of controlling the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, thereby saving the time of the target object waiting for the radiotherapy plan to be generated, improving the generation efficiency of the radiotherapy plan, and further improving the efficiency of the radiotherapy.

[0026] Moreover, since the diagnosis device and the radiotherapy device are in the same space, and the target object can be moved between the diagnosis device and the radiotherapy device by the diagnosis and treatment shared bed. In this way, the target object can be moved to the radiotherapy device (i.e., the radiotherapy position) for treatment by controlling the diagnosis and treatment shared bed, without the need for the target object to go to the treatment room for treatment, and without the need for the target object to be repositioned, thereby further improving the efficiency and effectiveness of the treatment. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings are used to better understand the present scheme and do not constitute a limitation on the present disclosure. Among them:

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

[0029] Figure 2 A flowchart of a radiotherapy control method provided by an embodiment of the present disclosure is shown in FIG. 1;

[0030] Figure 3 A flowchart of another radiotherapy control method provided by an embodiment of the present disclosure is shown in FIG. 2;

[0031] Figure 4 A scenario diagram of a radiotherapy control method provided by an embodiment of the present disclosure is shown in FIG. 3;

[0032] Figure 5 A flowchart of another radiotherapy control method provided by an embodiment of the present disclosure is shown in FIG. 4;

[0033] Figure 6 A flowchart of another radiotherapy control method provided by an embodiment of the present disclosure is shown in FIG. 5;

[0034] Figure 7 A flowchart of a radiotherapy plan generation method provided by an embodiment of the present disclosure is shown in FIG. 6;

[0035] Figure 8 A flowchart of another radiotherapy plan generation method provided by an embodiment of the present disclosure is shown in FIG. 7;

[0036] Figure 9 A structural diagram of a radiotherapy control device provided by an embodiment of the present disclosure is shown in FIG. 8;

[0037] Figure 10 A structural diagram of a radiotherapy plan generation device provided by an embodiment of the present disclosure is shown in FIG. 9;

[0038] Figure 11 A schematic block diagram of an electronic device provided by an embodiment of the present disclosure is shown in FIG. 10. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the accompanying drawings 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 fall within the scope of protection of the present disclosure.

[0040] In the description of the disclosure, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the disclosure and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the disclosure. In addition, the terms "first", "second", "third" are only for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", "third" can be explicitly or implicitly included one or more of the features. In the description of the disclosure, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0041] In the description of the disclosure, the word "exemplary" is used to mean "serving as an example, instance, or illustration." Any implementation described as "exemplary" in the disclosure is not necessarily to be construed as preferred or advantageous over other implementations. The following description is presented to enable any person skilled in the art to make and use the disclosure. In the following description, for the purposes of explanation, details are set forth in order to provide a thorough understanding of the disclosure. It should be appreciated that one skilled in the art can realize other implementations of the disclosure without using these specific details. In other instances, well-known structures and processes are not described in detail in order to avoid obscuring the description of the disclosure. Therefore, the disclosure is not intended to be limited to the implementations shown but is to be accorded the widest scope consistent with the principles and features disclosed.

[0042] It should be noted that the radiotherapy control method provided by the embodiments of the disclosure is executed in the control device, and the processing objects of the control device exist in the form of data or information, such as time, which is actually time information. It can be understood that in subsequent embodiments, if the size, quantity, position, etc. are mentioned, they all exist in corresponding data for the control device to process, and specific details are not described here.

[0043] In the radiotherapy process of a tumor, multiple fraction radiotherapy is generally required. In a complete treatment cycle, there may be positioning errors, and it is difficult to ensure that the radiation beam is completely aligned with the target area for irradiation due to factors such as the shape, size, position change of the tumor, human respiration, etc. This will cause insufficient irradiation of the tumor tissue by the radiation, leading to recurrence, and the surrounding normal tissue will also be unnecessarily irradiated.

[0044] In order to solve such problems, image guided radiotherapy (IGRT) technology emerges as the times require. The image guided radiotherapy technology can be guided by images based on imaging of an imaging device. Early online two-dimensional X-ray cross (Digitally Reconstructed Radiography, DR) and 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 accurate boundary between normal organs and tumors, so the main solution is to solve the positioning error in fractionated treatment. However, it is powerless to the problems caused by the size, shape and position changes of the tumor in the treatment cycle. This introduces online computed tomography (CT) and magnetic resonance imaging (MRI) image guided technology, which can solve the positioning error problem and adjust the plan to solve the problems caused by the size, shape and position changes of the tumor, and realize adaptive radiotherapy based on the position and shape of the tumor. If combined with breath-hold, respiratory gating technology, four-dimensional radiotherapy technology and real-time tracking technology, the treatment target area can be further reduced to achieve a more ideal radiotherapy effect.

[0045] The MRI image provides superior soft tissue high-definition contrast imaging, which can clearly distinguish the boundary between the tumor and the adjacent normal tissue, and can identify the tumor-related physiological changes (such as intestinal peristalsis, respiration, or tumor size, shape and position changes) during radiotherapy. This enables radiation oncologists to accurately grasp the dose field changes caused by changes in these structures during treatment, and can quickly make adaptive adjustments. Moreover, MR imaging has no radioactivity, and can also evaluate the effect of radiotherapy through functional imaging, and realize adaptive radiotherapy based on MRI images.

[0046] However, since the magnetic resonance imaging device (i.e., MRI device) and the radiotherapy device are usually in two different rooms (for example, the magnetic resonance imaging device is usually deployed in an imaging room, and the radiotherapy device is usually deployed in a treatment room), after the positioning image scan is performed on the patient, the patient needs to go to the treatment room for radiotherapy. In this way, not only does the patient need to move multiple times, but also the patient needs to be repositioned before the radiotherapy device is treated, which is time-consuming and laborious, has low efficiency, and to some extent reduces the treatment effect.

[0047] To solve the above technical problems, the present disclosure provides a radiotherapy control method and a radiotherapy plan generation method. The control device can first control the diagnosis and treatment shared bed to move the target object to the diagnosis device to obtain a diagnosis image of the target object by the diagnosis device. Then, the control device can control the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and synchronously trigger a treatment planning system (TPS) server to generate a radiotherapy plan of the target object based on the diagnosis image. After receiving the radiotherapy plan generation instruction sent by the control device, the TPS server can generate the radiotherapy plan of the target object based on the diagnosis image in response to the radiotherapy plan generation instruction.

[0048] As can be seen from the above, the control device can synchronously trigger the TPS server to generate the radiotherapy plan of the target object in the process of controlling the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, thereby saving the time of the target object waiting for the generation of the radiotherapy plan, improving the generation efficiency of the radiotherapy plan, and further improving the efficiency of the radiotherapy.

[0049] In addition, since the diagnosis device and the radiotherapy device are in the same space, and the target object can be moved between the diagnosis device and the radiotherapy device by the diagnosis and treatment shared bed. In this way, the target object can be moved to the radiotherapy device (i.e., the radiotherapy position) for treatment by controlling the diagnosis and treatment shared bed, without the need for the target object to go to the treatment room for treatment, and without the need for the target object to be repositioned, thereby further improving the efficiency and effect of the treatment.

[0050] The radiotherapy control method and the radiotherapy plan generation method described above can be applied to a radiotherapy system. Figure 1 A scene schematic diagram of a radiotherapy system provided by the present disclosure can include a diagnosis device (also referred to as an image acquisition device) 101, a radiotherapy plan 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 configured to acquire images of a tumor site (i.e., a target region) 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 can 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 ultrasonic examination device.

[0052] In the embodiments of the present application, the diagnostic device 101 is configured to acquire a diagnostic image of the target object.

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

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

[0055] The radiotherapy device 104 is configured to perform radiotherapy on the target object. In some embodiments, the radiotherapy device 104 can include a gantry, a treatment head, and an image guidance device (as will be described below). Figure 1 The radiotherapy device 104 is a side view, and thus Figure 1 The structure of the gantry, the treatment head, and the image guidance device is not shown.

[0056] The gantry can be a rotatable gantry. The treatment head can be disposed on the gantry and configured to emit a radiation beam to irradiate an object to be irradiated, such as a gamma ray, an MV-level X-ray, a proton ray, etc. For example, the treatment head can be any two of a gamma knife treatment head for rotational focused radiotherapy, an accelerator treatment head for adaptive intensity-modulated radiotherapy, or other radiotherapy treatment heads. The image guidance device is configured to perform real-time image guidance during positioning and radiotherapy of the target object. For example, the image guidance device includes a ball tube and a detector. The detector can receive an imaging beam emitted by the ball tube and passing through the target object, and generate a projection image.

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

[0058] In some embodiments, the radiotherapy can be completed by rotating the gantry to drive the treatment head to irradiate the target object 360 degrees around the target object, in a case where the target object is on the diagnosis and treatment shared bed 105.

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

[0060] When the diagnosis and treatment shared bed 105 moves into the diagnosis range of the diagnosis device 101, the diagnosis device 101 can perform image acquisition on the target object on the diagnosis and treatment shared bed 105 to obtain a diagnosis image of the target object.

[0061] When the diagnosis and treatment shared 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 shared bed 105.

[0062] The radiotherapy planning device 102 is a device for obtaining a diagnosis image of a target object from a diagnosis device 101 to formulate, optimize and evaluate a radiotherapy plan. Among them, the radiotherapy planning device 102 can run a radiotherapy planning system (TPS) which is provided with the function of formulating, optimizing and evaluating a radiotherapy plan. For example, RT pro TPS system.

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

[0064] Among them, the TPS client 1021 can 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 and a laptop computer. 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 through the radiotherapy planning system running on the TPS server 1022 by the TPS client 1021. In this way, the user's time can be effectively saved, and the optimized radiotherapy plan can be more intuitively presented to the user for evaluation of the radiotherapy plan.

[0065] The TPS server 1022 can be a standalone physical server, or a server cluster or distributed file system composed of multiple physical servers, or at least one of a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content distribution network, and big data or artificial intelligence platform, etc. The embodiments of the present disclosure do not limit this. In some embodiments, the number of TPS servers 1022 can be more or less, and the embodiments of the present disclosure do not limit this. Of course, the TPS server 1022 can also include other functions in order to provide more comprehensive and diversified services. In some embodiments, the TPS server 1022 is used to provide background services for the TPS client 1021, such as performing adaptive radiotherapy plan optimization processes.

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

[0067] That is, during the movement of the diagnosis and treatment shared bed 105 between the diagnostic 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 can send the radiotherapy plan generation instruction to the TPS server 1022 directly, or send the radiotherapy plan generation instruction to the TPS server 1022 through the TPS client 1021 in the radiotherapy planning device 102, and the embodiments of the present application do not limit this.

[0069] The control device 103 is a device for controlling the radiotherapy device 104 to execute a radiotherapy plan. In some embodiments, the control device 103 can include a host computer and a lower computer, the host computer is used for interacting with the user, and the lower computer is used for controlling the movement of each moving part in the radiotherapy device 104. The host computer can be at least one of a smartphone, a smart watch, a desktop computer, a laptop computer, a virtual reality terminal, an augmented reality terminal, a wireless terminal, and a laptop computer, etc. Device and / or server device, and the lower computer can be a controller such as a programmable logic controller (PLC).

[0070] In the embodiments of the present application, the control device 103 is configured to execute the radiotherapy control method provided by the embodiments of the present application. For example, the control device 103 controls the diagnosis and treatment shared bed 105 to move the target object to the diagnosis device 101, so as to acquire the diagnosis image of the target object by the diagnosis device 101, and controls the diagnosis and treatment shared bed 105 to move the target object from the diagnosis device 101 to the radiotherapy device 104, and synchronously triggers the TPS server 1022 in the radiotherapy planning device 102 to generate the radiotherapy plan of the target object based on the diagnosis image.

[0071] Optionally, the control device 103 can also display and control the state (for example, the on-off state and the like) and the dynamic state (for example, the current moving position and the like) of the diagnosis and treatment shared bed 105.

[0072] Optionally, the entity of the control device 103 can be a terminal or a server with a display, and the embodiments of the present application do not limit the same.

[0073] Optionally, the terminal can 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, and a laptop computer.

[0074] Optionally, the server can be at least one of a stand-alone physical server, a server cluster or a distributed file system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content distribution network, and big data or artificial intelligence platform, and the embodiments of the present application do not limit the same. In some embodiments, the number of servers can be more or less, and the embodiments of the present application do not limit the same. Of course, the server can also include other functions in order to provide more comprehensive and diversified services.

[0075] Further, in some embodiments, the control device 103 includes a processor configured to implement the radiotherapy control method provided by the embodiments of the present application.

[0076] Optionally, the control device 103 can be deployed in the same space as the diagnosis device 101 and the radiotherapy device 104, for example, in the same room, or can be deployed in different spaces from the diagnosis device 101 and the radiotherapy device 104, or can be deployed in the cloud at the same time as the TPS server 1022, and the embodiments of the present application do not limit the same.

[0077] The radiotherapy control method provided by the embodiments of the present application will be described below based on the radiotherapy system shown in FIG. 1. Figure 1

[0078] The radiotherapy control method provided by the embodiments of the present application is applied to the radiotherapy system shown in FIG. 1. Figure 1 ​The control device 103 in the medical imaging system 100. Figure 2 A flowchart of a radiotherapy control method is shown. As shown in the figure, Figure 2 The radiotherapy control method includes S201-S202.

[0079] S201, the control device controls the shared bed to move the target object to the diagnostic device to acquire a diagnostic image of the target object by the diagnostic device.

[0080] Optionally, the control device can pre-store position information of the diagnostic range of the diagnostic device. When receiving an instruction for moving the shared bed to the diagnostic range of the diagnostic device, the control device can control the shared bed to move the target object to the diagnostic device according to the pre-stored position information of the diagnostic range of the diagnostic device.

[0081] Optionally, the control device can also acquire the relative position relationship between the diagnostic device and the shared bed. When receiving an instruction for moving the shared bed to the diagnostic range of the diagnostic device, the control device can control the shared bed to move the target object to the diagnostic device according to the relative position relationship between the diagnostic device and the shared bed.

[0082] Optionally, the therapist can control the shared bed to move the target object to the diagnostic device through the control device by manual operation.

[0083] Optionally, the diagnostic device can acquire the diagnostic image of the target object when detecting that the shared bed is moved to the diagnostic range of the diagnostic device, or can acquire the diagnostic image of the target object by receiving an instruction of manual operation when detecting that the shared bed is moved to the diagnostic range of the diagnostic device. Of course, the diagnostic device can also receive an image acquisition instruction sent by the control device when the shared bed moves the target object to the diagnostic range of the diagnostic device, and acquire the diagnostic image of the target object.

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

[0085] Optionally, the target object needs to be positioned before radiotherapy on the diagnostic device. The position of the positioning can be the same as or have a certain position relationship with the position of the initial radiotherapy plan. When positioning, a fixed accessory for preventing the target object from moving autonomously can be attached, such as a fixed headrest, a fixed bag, etc.

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

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

[0088] It should be noted that the control device controls the shared bed to move the target object from the diagnostic device to the radiotherapy device, which means that the control device controls the shared 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 subsequent radiotherapy of the target object by the radiotherapy device.

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

[0090] Optionally, during the process in which the control device controls the 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 a transfer preparation position, and then moved from the transfer preparation position to the radiotherapy device; or the target object can be directly moved from the diagnostic device to the radiotherapy device.

[0091] Optionally, during the process in which the control device controls the shared bed to move the target object from the diagnostic device to the radiotherapy device, the moving speed of the shared bed should not be too fast, so as to avoid displacement of the target object due to too fast speed, and also to avoid that the target object is moved to the radiotherapy device without completing the generation of the radiotherapy plan.

[0092] In some embodiments, the control device can synchronously trigger the generation of the radiotherapy plan of the target object during the movement of the shared bed, or can synchronously trigger the generation of the radiotherapy plan of the target object when the movement of the shared bed is started, or can trigger the generation of the radiotherapy plan of the target object after the diagnostic image is acquired. That is, as long as the generation of the radiotherapy plan of the target object is completed when the control device controls the shared bed 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 bed to move the target object from the diagnostic device to the radiotherapy device, and synchronously triggers the generation of the radiotherapy plan of the target object based on the diagnostic image, specifically includes:

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

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

[0095] Alternatively, the control device controls the shared bed to move the target object from the diagnostic device to the radiotherapy device, and at the beginning of the movement, synchronously triggers the generation of the radiotherapy plan of the target object based on the diagnostic image.

[0096] That is, after the diagnostic device acquires the diagnostic image of the target object, the control device synchronously triggers the generation of the radiotherapy plan of the target object while controlling the shared bed to move.

[0097] Alternatively, at the moment when the diagnostic image is acquired, the control device synchronously triggers the generation of the radiotherapy plan of the target object based on the diagnostic image, and after the diagnostic device acquires the diagnostic image, controls the 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 the radiotherapy plan of 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, after 1 second or 2 seconds of acquiring the diagnostic image), controls the 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 of the target object, and after the diagnostic device acquires the diagnostic image of the target object, controls the shared bed to move.

[0099] In summary, no matter when the control device controls the shared 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 the radiotherapy plan of the target object based on the diagnostic image, as long as the radiotherapy plan of the target object is generated when the control device controls the shared bed to move the target object from the diagnostic device to the radiotherapy device.

[0100] In some embodiments, when the radiotherapy device performs radiotherapy on the target object, the radiotherapy device can also perform positioning on the target object through an image guidance device in the radiotherapy device. For example, the image guidance device can acquire real-time KV projections of the target object, and perform positioning (for example, target area repositioning, etc.) of the target object according to the comparison result between the real-time KV projections and the DRR images at the corresponding angles of the diagnostic image.

[0101] Optionally, the above diagnostic image can be a DRR image in CT format converted from an image in MR format through image software.

[0102] Optionally, the image contrast result can be a contrast result of a certain cross section (such as a sagittal plane or a coronal plane) of the target object containing the target region.

[0103] In some embodiments, the control device is usually a simple control device with a single function, and thus the generation of the radiotherapy plan of 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 of the target object.

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

[0105] In the case where the control device integrates the radiotherapy plan generation function, the control device triggers the generation of the radiotherapy plan of the target object based on the diagnostic image. Or, in the case where the control device does not integrate the radiotherapy plan generation function, the control device sends a radiotherapy plan generation instruction to the TPS server to trigger the TPS server to generate the radiotherapy plan of the target object based on the diagnostic image.

[0106] Optionally, in the case where the control device does not integrate the radiotherapy plan generation function, the control device can directly send the radiotherapy plan generation instruction to the TPS server, or can send the radiotherapy plan generation instruction to the TPS server through the TPS client to trigger the TPS server to generate the radiotherapy plan of the target object based on the diagnostic image.

[0107] In some embodiments, the control device can adjust the moving speed of the treatment and diagnosis shared bed according to the predicted generation time length of the radiotherapy plan. In this case, as shown in FIG. 8, the radiotherapy control method provided by the embodiments of the present application further includes: Figure 3

[0108] S301, the control device acquires the predicted generation time length of the radiotherapy plan.

[0109] In some embodiments, the predicted generation time length is obtained according to the generation time length of the radiotherapy plan of the reference image. The reference image is an image with a similarity greater than a preset similarity to the diagnostic image. For example, the reference image can be a diagnostic image of a reference object similar to the target object in age, size, disease, and the like. That is, the predicted generation time length of the radiotherapy plan can be generated according to the completed radiotherapy plan (i.e., the radiotherapy plan of the reference image).

[0110] Optionally, the predicted generation time length can also be set according to the experience of the therapist, and can also be predicted by an artificial intelligence model, which is not limited in the embodiments of the present application. ​

[0111] Optionally, the prediction generation duration can be pre-stored in the control device or in a cloud server in communication with the control device, and the embodiments of the present application do not limit this.

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

[0113] Specifically, the control device can pre-store the positional relationship between the diagnosis device and the radiotherapy device. After obtaining the prediction generation duration, the control device can determine the distance between the diagnosis device and the radiotherapy device according to the positional relationship between the diagnosis device and the radiotherapy device, and determine the moving speed of the diagnosis and treatment shared bed according to the quotient of the distance and the prediction generation duration.

[0114] Of course, the moving speed can be less than or equal to the quotient of the distance and the prediction generation duration, as long as it ensures that when the diagnosis and treatment shared bed moves the target object from the diagnosis device to the radiotherapy device, the radiotherapy plan of the target object has been generated, and can also avoid the target object from being displaced due to too fast speed.

[0115] In some embodiments, for the condition of some patients (i.e. the target object), a multi-fraction radiotherapy plan can be developed, so in the case that the target object needs to be treated by the radiotherapy device for multi-fraction radiotherapy, the diagnosis image obtained by the diagnosis device can include the diagnosis image at each fraction radiotherapy. For example, at the current fraction radiotherapy, the diagnosis device can obtain the current fraction diagnosis image of the target object. In this way, when developing the radiotherapy plan, the radiotherapy plan for each fraction radiotherapy can be developed according to the diagnosis image at each fraction radiotherapy. Correspondingly, the control device needs to adjust the position of the target object in the radiotherapy device according to the radiotherapy plan for each fraction radiotherapy, so that the radiotherapy device can accurately perform radiotherapy on the target object. Therefore, as shown in the figure, the radiotherapy control method provided by the embodiments of the present application further comprises: Figure 4

[0116] S401, the control device receives a control instruction for the current fraction radiotherapy.

[0117] The control instruction for the current fraction radiotherapy includes: being generated based on the comparison result of the current fraction diagnosis image and the initial diagnosis image, or being generated based on the comparison result of the current fraction diagnosis image and the previous fraction diagnosis image.

[0118] In some embodiments, the initial diagnosis image is collected by the diagnosis device when the target object is first treated by the diagnosis device, or is collected by the diagnosis device when the target object is initially diagnosed.

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

[0120] In the case that the radiotherapy plan is directly generated by the control device, the control device can acquire the current fraction diagnosis image and the initial diagnosis image from the diagnosis device, and generate the control instruction of the current fraction radiotherapy based on the comparison result of the current fraction diagnosis image and the initial diagnosis image. Alternatively, the control device can acquire the current fraction diagnosis image and the previous fraction diagnosis image from the diagnosis device, and generate the control instruction of the current fraction radiotherapy based on the comparison result of the current fraction diagnosis image and the previous fraction diagnosis image.

[0121] In the case that the radiotherapy plan is generated by the TPS server, the TPS server can acquire the current fraction diagnosis image and the initial diagnosis image from the diagnosis device, and generate the radiotherapy plan of the current fraction radiotherapy based on the comparison result of the current fraction diagnosis image and the initial diagnosis image. Alternatively, the TPS server can acquire the current fraction diagnosis image and the previous fraction diagnosis image from the diagnosis device, and generate the radiotherapy plan of the current fraction radiotherapy based on the comparison result of the current fraction diagnosis image and the previous fraction diagnosis image. Subsequently, the TPS server generates the control instruction of the current fraction radiotherapy according to the radiotherapy plan of the current fraction radiotherapy, and sends the control instruction of the current fraction radiotherapy to the control device.

[0122] S402, the control device controls the diagnosis and treatment shared bed to move the target object to the position corresponding to the control instruction on the radiotherapy device in response to the control instruction of the current fraction radiotherapy.

[0123] In some embodiments, in the case that a multi-fraction radiotherapy plan is made for the target object, the diagnosis device also needs to acquire the diagnosis image at each fraction radiotherapy. Correspondingly, the control device needs to adjust the position of the target object in the diagnosis device according to the diagnosis image of each fraction radiotherapy, so that the diagnosis device can acquire accurate diagnosis images. In this case, as shown in FIG. 5, the method for controlling the control device to control the diagnosis and treatment shared bed to move the target object to the diagnosis device to acquire the diagnosis image of the target object by the diagnosis device specifically includes: Figure 5

[0124] S501, the control device receives an image acquisition instruction.

[0125] The image acquisition instruction is generated based on the registration point comparison result of the previous fraction diagnosis image and the initial diagnosis image. The registration point includes the sagittal plane or the coronal plane of the target region of the target object.

[0126] In some embodiments, in the case that the control device integrates the image comparison function, the control device can directly generate the image acquisition instruction according to the registration point comparison result of the previous fraction diagnosis image and the initial diagnosis image. ​

[0127] In a case where the control device does not integrate the image comparison function, the diagnostic device can generate a comparison result according to the registration point comparison result of the previous fraction diagnostic image and the initial diagnostic image. Subsequently, the diagnostic device can generate an image acquisition instruction according to the comparison result, and send the image acquisition instruction to the control device.

[0128] S502, the control device controls the diagnosis and treatment shared bed to move the target object to the diagnostic device at a position corresponding to the image acquisition instruction, so as to acquire a diagnostic image of the target object by the diagnostic device.

[0129] In some embodiments, in order to accurately determine that the radiotherapy object is the target object, the identity of the target object can be identified. In this case, as shown in Figure 6 The method for controlling the diagnosis and treatment shared bed to move the target object to the diagnostic device by the control device specifically includes:

[0130] S601, the control device acquires biological feature information of the target object.

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

[0132] Optionally, the biological feature information can be iris features, face features, fingerprint features, etc. of the target object.

[0133] S602, in a case where the biological feature information matches the pre-stored target object identity information, the control device controls the diagnosis and treatment shared bed to move the target object to the diagnostic device.

[0134] That is, the control device can acquire the biological feature information of the target object before controlling the diagnosis and treatment shared bed to move the target object to the diagnostic device, and match the biological feature information with the pre-stored target object identity information. In a case where the matching is successful, the diagnosis and treatment shared bed can be controlled to move the target object to the diagnostic device, so as to avoid errors of the radiotherapy object.

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

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

[0137] The radiotherapy plan generation instruction is triggered synchronously when the control device controls the diagnosis-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 of the target object based on the diagnosis image in response to the radiotherapy plan generation instruction.

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

[0140] Optionally, after the TPS server obtains the diagnosis image of the target object, the TPS server can map the position coordinates of the target object in the diagnosis image and the position coordinates of the diagnosis-treatment shared bed to the same coordinate system, and generate the radiotherapy plan of the target object according to the target point coordinates or the shot coordinates of the target object.

[0141] Optionally, when the diagnosis-treatment shared bed has a certain attenuation effect on the rays of the radiotherapy device, the TPS server can simulate and calculate the attenuation effect of the diagnosis-treatment shared bed on the rays when generating the radiotherapy plan, and then generate the radiotherapy plan including reasonable rays.

[0142] In some embodiments, when the target object needs to be treated by the radiotherapy device in multiple fractions, the diagnosis image includes: the current fraction diagnosis image of the target object obtained by the diagnosis device at the current fraction radiotherapy. The method for the TPS server to generate the radiotherapy plan of the target object based on the diagnosis image specifically includes:

[0143] Comparing the current fraction diagnosis image with the previous fraction diagnosis image, and optimizing the radiotherapy plan of the target object in the previous fraction based on the comparison result of the current fraction diagnosis image and the previous fraction diagnosis image to obtain the current fraction radiotherapy plan of the target object. Alternatively, comparing the current fraction diagnosis image with the initial plan image, and optimizing the initial radiotherapy plan of the target object based on the comparison result of the current fraction diagnosis image and the initial plan image to obtain the current fraction radiotherapy plan of the target object.

[0144] In some embodiments, after obtaining the current fraction radiotherapy plan of the target object, the TPS server can send a control instruction of the current fraction radiotherapy to the control device according to the current fraction radiotherapy plan of the target object, so that the control device controls the diagnosis-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 of the target object based on the diagnosis image can refer to the detailed description of S401 above, which will not be described here.

[0146] In some embodiments, the target object is usually injected with near-infrared fluorescent agent. In this way, the near-infrared image of the target object can be obtained, and then the target area tracking and the radiotherapy plan updating can be performed according to the near-infrared image of the target object. In this case, as shown in FIG. 8, the radiotherapy plan generation method provided by the embodiments of the present application further includes the following steps after the TPS server generates the radiotherapy plan of the target object based on the diagnostic image: Figure 8

[0147] S801, the TPS server acquires the near-infrared image of the target object.

[0148] Optionally, the TPS server can acquire the near-infrared image of the target object from the diagnostic device, or acquire the near-infrared image of the target object from other image acquisition devices, which is not limited in the embodiments of the present application.

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

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

[0151] When the TPS server acquires the 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 position of the target area of the target object in the radiotherapy plan, and then update the radiotherapy plan according to the mapping relationship to obtain the updated radiotherapy plan.

[0152] The above mainly introduces the scheme of the embodiments of the present application from the method aspect. It can be understood that the control device and the TPS server contain the corresponding hardware structure and / or software modules for executing various functions in order to realize the above functions. Those skilled in the art should easily realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in the present application can be realized in the form of hardware or the combination of hardware and computer software. Whether a certain function is realized by hardware or computer software driving hardware depends on the specific application and design constraints of the technical scheme. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of the present application.

[0153] ​The embodiments of the present application can divide the functional units of the control device and the TPS server according to the above method examples. For example, each functional unit can be divided according to each function, or two or more functions can be integrated in one processing unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit. It should be noted that the division of the units in the embodiments of the present application is illustrative, and is only a logical function division. When actually implemented, another division manner can be used.

[0154] As shown in Figure 9 The embodiments of the present application provide a radiotherapy control device, applied to a control device, comprising: a control unit 901;

[0155] The control unit 901 is configured to control the diagnosis and treatment shared bed to move the target object to the diagnosis device, so as to acquire the diagnosis image of the target object by the diagnosis device.

[0156] The control unit 901 is further configured to control the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and synchronously trigger the radiotherapy plan of the target object based on the diagnosis image.

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

[0158] control the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device, and synchronously trigger the radiotherapy plan of the target object based on the diagnosis image during the movement of the diagnosis and treatment shared bed;

[0159] or, synchronously trigger the radiotherapy plan of the target object based on the diagnosis image when the diagnosis and treatment shared bed starts to move the target object from the diagnosis device to the radiotherapy device;

[0160] or, synchronously trigger the radiotherapy plan of the target object based on the diagnosis image at the moment when the diagnosis image is acquired, and control the diagnosis and treatment shared bed to move the target object from the diagnosis device to the radiotherapy device after the diagnosis device acquires the diagnosis image.

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

[0162] in the case where the control device integrates the radiotherapy plan generation function, trigger the control device to generate the radiotherapy plan of the target object based on the diagnosis image;

[0163] or, in the case where the control device does not integrate the radiotherapy plan generation function, send a radiotherapy plan generation instruction to a radiotherapy planning system (TPS) server, so as to trigger the TPS server to generate the radiotherapy plan of the target object based on the diagnosis image.

[0164] In some embodiments, the control device is configured to control the shared bed to move the target object from the diagnosis device to the radiotherapy device, and the radiotherapy plan of the target object is generated.

[0165] In some embodiments, the radiotherapy control device further comprises a communication unit 902 and a processing unit 903.

[0166] The communication unit 902 is configured to acquire a predicted generation time length of the radiotherapy plan.

[0167] The processing unit 903 is configured to determine a moving speed of the shared bed according to the predicted generation time length, so that the radiotherapy plan of the target object is generated when the shared bed moves the target object from the diagnosis device to the radiotherapy device.

[0168] In some embodiments, the predicted generation time length is predicted according to a radiotherapy plan generation time length of a reference image, and the reference image is an image with a similarity greater than a preset similarity to the diagnosis image.

[0169] In some embodiments, when the target object needs to be treated by the radiotherapy device in multiple fractions, the diagnosis image comprises a current fraction diagnosis image of the target object acquired by the diagnosis device at a current fraction radiotherapy.

[0170] The communication unit 902 is further configured to receive a control instruction of the current fraction radiotherapy, and the control instruction of the current fraction radiotherapy is generated based on a comparison result of the current fraction diagnosis image and the initial diagnosis image, or generated based on a comparison result of the current fraction diagnosis image and a previous fraction diagnosis image.

[0171] The control unit 901 is further configured to control the shared bed to move the target object to the radiotherapy device at a position corresponding to the control instruction of the current fraction radiotherapy in response to the control instruction of the current fraction radiotherapy.

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

[0173] receive an image acquisition instruction, and the image acquisition instruction is generated based on a registration point comparison result of the previous fraction diagnosis image and the initial diagnosis image, and the registration point comprises a sagittal plane or a coronal plane of a target region of the target object.

[0174] In response to the image acquisition instruction, the shared bed is controlled to move the target object to the diagnosis device at a position corresponding to the image acquisition instruction, so as to acquire the diagnosis image of the target object by the diagnosis device.

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

[0176] In some embodiments, in the case that the target object is injected with a tracer, the diagnostic device comprises 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 biological feature information of the target object;

[0179] in the case that the biological feature information matches the pre-stored target object identity information, control the diagnosis and treatment shared bed to move the target object to the diagnostic device.

[0180] As shown in Figure 10 The embodiments of the present application provide a radiotherapy plan generation device, applied to a TPS server, comprising a communication unit 1001 and a processing unit 1002.

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

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

[0183] In some embodiments, in the case that the target object needs to be treated by the radiotherapy device in multiple fractions, the diagnostic image comprises a current fraction diagnostic image of the target object obtained by the diagnostic device at the current fraction radiotherapy; the processing unit 1002 is specifically configured to:

[0184] compare the current fraction diagnostic image with a previous fraction diagnostic image, and optimize a previous fraction radiotherapy plan of the target object based on a comparison result of the current fraction diagnostic image and the previous fraction diagnostic image to obtain a current fraction radiotherapy plan of the target object; or

[0185] compare the current fraction diagnostic image with an initial plan image, and optimize an initial radiotherapy plan of the target object based on a comparison result of the current fraction diagnostic image and the initial plan image to obtain the current fraction radiotherapy plan of the target object.

[0186] In some embodiments, the communication unit 1001 is further configured to send a current fraction radiotherapy control instruction to the control device according to the current fraction 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.

[0187] In some embodiments, after generating the radiotherapy plan of the target object based on the diagnostic image, the communication unit 1001 is further configured to acquire 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 further provides an electronic device, comprising at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform 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 perform 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 comprising a computer program, wherein the computer program, when executed by a processor, implements the radiotherapy control method provided by the present disclosure.

[0192] Figure 11 A schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present disclosure described and / or claimed in this document. In some embodiments, the electronic device can be the radiotherapy control device shown in Figure 4

[0193] As Figure 11 ​As shown, the electronic device 1100 includes a computing unit 1101 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory 1102 or a computer program loaded into a random access memory 1103 from a storage unit 1108. Various programs and data required for the operation of the electronic device 1100 can also be stored in the random access memory (RAM) 1103. The computing unit 1101, the read-only memory (ROM) 1102, and the RAM 1103 are connected to each other through a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0194] Various 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, and the like, an output unit 1107 such as various types of displays, a speaker, and the like, a storage unit 1108 such as a magnetic disk, an optical disk, and the like, and a communication unit 1109 such as a network card, a modem, a wireless communication transceiver, and the like. 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 can be various general-purpose and / or special-purpose processing components having 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 specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor, and any appropriate processor, controller, microcontroller, and the like. The computing unit 1101 performs various methods and processes described above, such as the data matching method. For example, in an embodiment, the data matching method can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 1108. In an embodiment, part or all of the computer program can be loaded and / or installed on the electronic device 1100 via the ROM 702 and / or the communication unit 1109. When the computer program is loaded into the RAM 1103 and executed by the computing unit 1101, one or more steps of the data matching method described above can be performed. Alternatively, in other embodiments, the computing unit 1101 can be configured to perform the data matching method by any other appropriate means, such as by means of firmware.

[0196] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits, application specific standard products (ASSPs), system on a chip (SOCs), complex programmable logic devices (CPLDs), computers hardware, firmware, software, and / or combinations of them. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0197] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0198] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory, read-only memory, erasable programmable read-only memory, optical fibers, portable compact disc read-only memories, optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0199] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a Cathode Ray Tube (CRT) or Liquid Crystal Display (LCD) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0200] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), and the Internet.

[0201] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can 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 flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, in series, or in a different order, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0203] The above detailed description does not limit the scope of the disclosure. Various modifications, combinations, sub-combinations and alternatives can be made to the detailed description. Any modification, equivalent replacement and improvement etc. made within the spirit and principle of the disclosure shall be included in the scope of the disclosure.

Claims

1. A method for controlling radiotherapy, characterized in that, Used in control equipment, including: Controlling a shared diagnostic and treatment bed to move a target object to a diagnostic device to acquire a diagnostic image of the target object via the diagnostic device includes: receiving an image acquisition command and, in response to the image acquisition command, controlling the shared diagnostic and treatment bed to move the target object to a position on the diagnostic device corresponding to the image acquisition command, so as to acquire a diagnostic image of the target object via the diagnostic device; the image acquisition command is generated based on the registration point comparison results of a previous diagnostic image and an initial diagnostic image; the registration points include: the sagittal plane or coronal plane of the target object's target area; The system controls the shared diagnostic and treatment bed to move the target object from the diagnostic equipment to the radiotherapy equipment, and simultaneously triggers the generation of a radiotherapy plan for the target object based on the diagnostic images; When the target object requires multi-fraction radiotherapy by the radiotherapy equipment, the diagnostic image includes: a current fractional diagnostic image of the target object acquired by the diagnostic equipment during the current fractional radiotherapy; the method further includes: Receive the control command for the current fractionation radiotherapy; the control command for the current fractionation radiotherapy includes: generated based on the comparison result of the current fractionation diagnostic image and the initial diagnostic image, or generated based on the comparison result of the current fractionation diagnostic image and the previous fractionation diagnostic image; In response to the control command for the current fractionated radiotherapy, the treatment bed is controlled to move the target object to the radiotherapy equipment at the position corresponding to the control command.

2. The method according to claim 1, characterized in that, The control of the shared diagnostic and treatment bed to move the target object from the diagnostic equipment to the radiotherapy equipment, and simultaneously triggering the generation of a radiotherapy plan for the target object based on the diagnostic images, includes: The diagnostic and treatment shared bed is controlled to move the target object from the diagnostic device to the radiotherapy device, and during the movement of the diagnostic and treatment shared bed, a radiotherapy plan for the target object is generated based on the diagnostic image. Alternatively, when the shared diagnostic and treatment bed begins to move the target object from the diagnostic device to the radiotherapy device, a radiotherapy plan for the target object is simultaneously triggered based on the diagnostic image. Alternatively, at the moment the diagnostic image is acquired, a radiotherapy plan for the target object is generated simultaneously based on the diagnostic image, and after the diagnostic device acquires the diagnostic image, the shared treatment 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: When the control device integrates 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, if the control device does not have the radiotherapy plan generation function integrated, a radiotherapy plan generation command 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.

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

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

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

7. The method according to claim 1, characterized in that, The initial diagnostic image is either acquired by the diagnostic device during the first radiotherapy of the target object, or acquired by the diagnostic device during the initial diagnosis of the target object.

8. The method according to claim 1, characterized in that, 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 imaging (MRI) device, and a positron emission tomography (PET) device.

9. The method according to claim 1, characterized in that, The control and treatment shared bed moves the target object to the diagnostic equipment, including: Obtain the biometric information of the target object; If the biometric information matches the pre-stored identity information of the target object, the shared treatment bed is controlled to move the target object to the diagnostic device.

10. A method for generating a radiotherapy plan, characterized in that, Applied to TPS servers, including: Receives a radiotherapy plan generation instruction sent by the control device; the radiotherapy plan generation instruction is triggered synchronously when the control device controls the shared diagnostic and treatment bed to move the target object from the diagnostic device to the radiotherapy device; In response to the radiotherapy plan generation command, a radiotherapy plan for the target object is generated based on a diagnostic image. The diagnostic image is obtained by the diagnostic device at the position corresponding to the image acquisition command, before the control device triggers the radiotherapy plan generation command, in response to a received image acquisition command, by controlling the shared treatment bed to move the target object to the diagnostic device. The image acquisition command is generated based on the registration point comparison results between the previous fractional diagnostic image and the initial diagnostic image. The registration points include the sagittal or coronal plane of the target object's target area. When the target object requires multi-fraction radiotherapy by the radiotherapy equipment, the diagnostic image includes: a current fractional diagnostic image of the target object acquired by the diagnostic equipment during the current fractional radiotherapy; generating a radiotherapy plan for the target object based on the diagnostic image includes: Compare the current fractional diagnostic image with the previous fractional diagnostic image, and optimize the radiotherapy plan for the target object in the previous fraction based on the comparison result, to obtain the current fractional radiotherapy plan for the target object; or, The current fractionated diagnostic image is compared with the initial planning image, and the initial radiotherapy plan for the target object is optimized based on the comparison result to obtain the current fractionated radiotherapy plan for the target object.

11. The method according to claim 10, characterized in that, Also includes: According to the current fractionation radiotherapy plan of the target object, the control device sends the current fractionation radiotherapy control command to the control device, so that the control device controls the shared treatment bed to move the target object to the position corresponding to the control command.

12. The method according to claim 10, characterized in that, After generating the radiotherapy plan for the target object based on the diagnostic images, the method further includes: Acquire a near-infrared image of the target object; The radiotherapy plan is updated based on the near-infrared image to obtain an updated radiotherapy plan.

13. An electronic device, characterized in that, The electronic device includes: processor; A memory configured to store processor-executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1-9, or the method as described in any one of claims 10-12.

14. A radiotherapy system, characterized in that, include: Control device for performing the method as described in any one of claims 1-9; A TPS server for performing the method as described in any one of claims 10-12.

15. A non-volatile storage medium, characterized in that, The storage medium stores a computer program, which, when read and executed, implements the method described in any one of claims 1-9, or the method described in any one of claims 10-12.

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