Anti-collision control method and system of a radiotherapy system, and electronic device

Abstract

The present application relates to the technical field of anti-collision control scheme design of a radiotherapy system, and particularly relates to an anti-collision control method and system of a radiotherapy system, and an electronic device. The present application can obtain accurate calculation results under lower computing power by converting the complex three-dimensional space relationship of the existing anti-collision control algorithm of the radiotherapy system to two-dimensional plane calculation, does not need to calculate the position relationship in space in real time, has low performance requirements for the controller, can obtain the movement range of the current axis before movement, guarantees that the calculation result will not be distorted, is flexible in control, can move to all points that can be moved in space, greatly improves the intelligent degree and usability of the anti-collision control of the radiotherapy system, and greatly reduces the application cost of the anti-collision control scheme of the radiotherapy system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of collision avoidance control scheme design of a radiotherapy system, and particularly relates to a collision avoidance control method and system of a radiotherapy system and an electronic device. BACKGROUND

[0002] In a radiotherapy system, the treatment head and the treatment bed plate interfere with each other in space, which limits the movement range of each other, and the range changes in real time with the change of each axis, but the current position of each axis at each moment can be obtained according to the encoder recording the axis position, so the movement range of the axis required to be obtained can be planned according to the current position of each axis to avoid collision, and the conventional methods are as follows:

[0003] 1. A table of special points is listed, and a table range is preset, and the movement of each axis is limited according to the table during control. The advantage of this method is that it does not need to calculate the position relationship in space in real time, so the performance requirement of the controller is not high, and the movement range of the current axis can be obtained before movement; the disadvantage is that an accurate model needs to be tested and recorded in advance, and the position limitation is not flexible enough in the use process, and the positions that will not interfere may also not be able to move to reach the situation.

[0004] 2. The entire system is placed in a coordinate, and the isocenter in space is taken as the origin, the coordinates of the treatment head in space are obtained according to the known mechanical hardware, the treatment head is abstracted as a cuboid, the position values of 12 edges are obtained, and the projection is calculated whether the projection is overlapped in the 8 edges of the treatment bed plate, and the projection of the treatment bed plate to the plane of the treatment head is also calculated to determine whether the interference occurs. The advantage of this method is that the calculation result will not be distorted, and the interference will definitely occur when the interference is calculated, the control is flexible, and all points that can be moved in space can be moved, and the disadvantage is that the calculation amount is very large, the requirement of the controller is relatively high, and the program execution cycle time is obviously increased due to a large amount of calculation, and the current axis movement range cannot be obtained in advance.

[0005] Therefore, the prior art still needs to be further developed. SUMMARY

[0006] The present application aims to overcome the above technical deficiencies, and provides a collision avoidance control method and system of a radiotherapy system and an electronic device to solve the problems in the prior art.

[0007] To achieve the above technical purpose, according to the first aspect of the present application, the present application provides the method, which comprises:

[0008] S1, acquiring a current position of a treatment head and a treatment bed and a preset motion state, wherein the preset motion state comprises a first motion state in which the treatment head is single-dimensionally moved and the treatment bed is stationary or a second motion state in which the treatment head is stationary and the treatment bed is single-dimensionally moved;

[0009] S2, determining position data of a collision position according to the current position of the treatment head and the treatment bed and the preset motion state, wherein the collision position is a position of the treatment head and the treatment bed when the treatment head and the treatment bed collide in the future after being moved in the current position and the preset motion state;

[0010] S3, setting a limit position according to the position data, wherein the limit position is a position of the treatment head and the treatment bed when the treatment head and the treatment bed stop moving in the current position and the preset motion state, and the limit position is between the current position and the collision position;

[0011] S4, controlling the treatment bed or the treatment head to stop moving when the treatment bed or the treatment head reaches the limit position.

[0012] Preferably, the position data of the collision position determined according to the current position of the treatment head and the treatment bed and the preset motion state comprises acquiring single-dimensionally collision positions of the treatment head or the treatment bed according to multiple-dimensionally position data of the treatment head and / or the treatment bed.

[0013] Preferably, the treatment bed is a four-dimension treatment bed.

[0014] Preferably, the position data of the collision position determined according to the current position of the treatment head and the treatment bed and the preset motion state comprises determining a rotation angle θ of the treatment head or a farthest distance X of lateral movement of the treatment bed or a longest distance Y of extension of a bed plate of the treatment bed or a maximum angle β of revolution of the bed plate of the treatment bed or a maximum height H of an upper surface of the bed plate of the treatment bed to an isocenter according to the current position of the treatment head and the treatment bed and the preset motion state.

[0015] Preferably, the rotation angle θ of the treatment head determined according to the current position of the treatment head and the treatment bed and the preset motion state comprises determining the rotation angle θ of the treatment head according to length size relationship data of a first distance, a second distance and a third distance, wherein the first distance is a radius of rotation of the treatment head around the isocenter, the second distance is a distance from the isocenter to an edge of the treatment bed, and the third distance is a distance from the isocenter to an edge of the treatment head.

[0016] Preferably, the farthest distance X of lateral movement of the treatment bed determined according to the current position of the treatment head and the treatment bed and the preset motion state comprises determining the farthest distance X of lateral movement of the treatment bed according to the maximum height H of an upper surface of a bed plate of the treatment bed to the isocenter at the collision position.

[0017] Preferably, determining the maximum distance Y that the treatment bed deck extends according to the current position of the treatment head and the treatment bed and the preset motion state comprises determining the maximum distance Y that the treatment bed deck extends according to the maximum height H of the upper surface of the treatment bed deck at the collision position to the isocenter.

[0018] Preferably, determining the maximum angle β that the treatment bed deck revolves according to the current position of the treatment head and the treatment bed and the preset motion state comprises determining the maximum angle β that the treatment bed deck revolves according to the maximum height H of the upper surface of the treatment bed deck at the collision position to the isocenter.

[0019] Preferably, determining the maximum height H of the upper surface of the treatment bed deck to the isocenter according to the current position of the treatment head and the treatment bed and the preset motion state comprises determining the maximum height H of the upper surface of the treatment bed deck to the isocenter according to the maximum horizontal spread width W of the treatment bed deck at the collision position.

[0020] According to a second aspect of the present application, there is provided a collision prevention control system of a radiotherapy system, comprising:

[0021] an acquisition module configured to acquire a current position of a treatment head and a treatment bed and a preset motion state, wherein the preset motion state comprises a first motion state in which the treatment head moves in a single dimension and the treatment bed is stationary or a second motion state in which the treatment head is stationary and the treatment bed moves in a single dimension;

[0022] a first calculation module configured to determine position data of a collision position according to the current position of the treatment head and the treatment bed and the preset motion state, the collision position being a position of the treatment head and the treatment bed when a collision occurs in the future after the treatment head and the treatment bed move in the current position and the preset motion state;

[0023] a second calculation module configured to set a limit position according to the position data, the limit position being a position of the treatment head and the treatment bed when the treatment head and the treatment bed stop moving in the current position and the preset motion state, the limit position being between the current position and the collision position;

[0024] a control module configured to control the treatment bed or the treatment head to stop moving when the treatment bed or the treatment head reaches the limit position.

[0025] According to a third aspect of the present application, there is provided an electronic device comprising a memory and a processor, the memory having computer readable instructions stored thereon, the computer readable instructions being executable by the processor to implement the collision prevention control method of a radiotherapy system as described above.

[0026] Preferably, the electronic device further comprises a display, the display comprising a first graphical interface displaying start-stop buttons of at least one movement dimension of the treatment head or the treatment couch, the display comprising a second graphical interface displaying limit positions of at least one movement dimension of the current position of the treatment head or the treatment couch in real time.

[0027] Advantages:

[0028] The present application converts the complex three-dimensional spatial relationship to a two-dimensional plane for calculation, determines the collision position according to the current position of the treatment head and the preset movement state of the treatment head, sets the limit position between the collision position and the current position, and controls the treatment head and the treatment couch to stop moving when the treatment head and the treatment couch are at the limit position, thereby avoiding collision between the two. Compared with the traditional list method for determining the movement range of each axis of the treatment head and the treatment couch, the present application can obtain more accurate movement range. Compared with the line segment projection method which needs to traverse points, the present application has low computing power requirement and can adjust the limit position of each dimension of the treatment head and the treatment couch in real time according to the current position, effectively avoiding collision between the treatment head and the treatment couch. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a flowchart of the anti-collision control method of the radiotherapy system provided in the embodiments of the present application;

[0030] Figure 2 is a system composition diagram of the anti-collision control system of the radiotherapy system provided in the embodiments of the present application;

[0031] Figure 3 is a state diagram of the radiotherapy system when the second distance is less than the first distance provided in the embodiments of the present application;

[0032] Figure 4 is a state diagram of the radiotherapy system when the first distance is less than the second distance and the third distance provided in the embodiments of the present application;

[0033] Figure 5 is a state diagram of the radiotherapy system when the second distance is greater than the third distance provided in the embodiments of the present application;

[0034] Figure 6 is a schematic diagram of the treatment couch in a northeast-southwest layout in the top view provided in the embodiments of the present application;

[0035] Figure 7 is a schematic diagram of the treatment couch in a southeast-northwest layout in the top view provided in the embodiments of the present application;

[0036] Figure 8is a state diagram of a radiotherapy system when the treatment head and the treatment couch collide in the first quadrant and H3 < H1 in specific embodiments of the present application;

[0037] Figure 9 is a state diagram of a radiotherapy system when the treatment head and the treatment couch collide in the first quadrant and H3 < H1 < H2 in specific embodiments of the present application;

[0038] Figure 10 is a state diagram of a radiotherapy system when the treatment head and the treatment couch collide in the first quadrant and W1 < W < W2 in specific embodiments of the present application;

[0039] Figure 11 is a state diagram of a radiotherapy system when the treatment head and the treatment couch collide in the fourth quadrant and H4 < H3 < H1 in specific embodiments of the present application;

[0040] Figure 12 is a state diagram of a radiotherapy system when the treatment head and the treatment couch collide in the fourth quadrant and H3 > H1 in specific embodiments of the present application;

[0041] Figure 13 is a state diagram of a radiotherapy system when the treatment head and the treatment couch collide in the fourth quadrant and W > W3 in specific embodiments of the present application;

[0042] Figure 14 is a display interface diagram of an electronic device display provided in specific embodiments of the present application.

[0043] The following reference signs exist in the above figures:

[0044] 1, treatment couch; 11, translation component; 12, lifting component; 13, rotating platform; 2, treatment head; 3, extension shaft; 4, isocenter; 5, treatment head rotation angle. DETAILED DESCRIPTION

[0045] In order for those skilled in the art to better understand the technical solutions of the present application, the technical solutions of the present application will be described clearly and completely below in combination with the drawings of the present application. Based on the embodiments in the present application, other similar embodiments obtained by those skilled in the art without making creative efforts should all belong to the scope of protection of the present application. In addition, the directional words mentioned in the following embodiments, such as “up”, “down”, “left”, “right”, etc. are only the directions of the drawings, therefore, the directional words used are used to illustrate but not to limit the present application.

[0046] The present application will be further described below in combination with the drawings and preferred embodiments.

[0047] In a radiotherapy system, the mutual interference between the treatment head and the treatment bed plate in space limits the movement range of each other, and the range changes in real time with the change of each axis, but the current position of each axis at each moment can be obtained according to the encoder recording the axis position, so the movement range of the axis required to be obtained can be planned according to the current position of each axis to avoid collision. It should be noted that the technical scheme provided in the present application is dynamically adjusted for any movement state of the treatment head and the treatment bed. Including the movement state of the treatment bed static, the treatment head moving, the movement state of the treatment bed moving, the treatment head static, and the movement state of the treatment bed and the treatment head moving.

[0048] Please refer to Figure 1 The present application provides a collision avoidance control method of a radiotherapy system, comprising:

[0049] S1, obtaining the current position of the treatment head and the treatment bed and the preset movement state, wherein the preset movement state includes the first movement state of the treatment bed static when the treatment head moves in single dimension or the second movement state of the treatment bed moving in single dimension when the treatment head is static.

[0050] S2, determining the position data of the collision position according to the current position of the treatment head and the treatment bed and the preset movement state, the collision position being the position of the treatment head and the treatment bed when the collision occurs in the future after the treatment head and the treatment bed move in the current position and the preset movement state;

[0051] S3, setting the limit position according to the position data, the limit position being the position of the treatment head and the treatment bed when the movement stops in the current position and the preset movement state, the limit position being between the current position and the collision position;

[0052] S4, when the treatment bed or the treatment head reaches the limit position, controlling the treatment bed or the treatment head to stop moving.

[0053] The limit position can be set to a certain buffer interval before the collision position, for example, a 5mm buffer distance is set before the collision position of the treatment bed X axis, and the treatment bed stops moving at the position 5mm before the collision position. Due to the setting of 5mm buffer distance, the collision between the two is avoided. When the treatment head rotates, a 6° buffer angle can be set before the collision position, and the treatment head stops rotating at the position 6° before the collision position.

[0054] The current position of the treatment head and the treatment bed can be read directly by an encoder or the like, and the preset motion state includes a first motion state in which the treatment bed is stationary when the treatment head moves in a single dimension or a second motion state in which the treatment head is stationary when the treatment bed moves in a single dimension. When the limit position of the treatment head needs to be determined, the preset motion state is the first motion state in which the treatment bed is stationary and the treatment head moves. When the limit position of the treatment bed needs to be determined, the preset motion state is the second motion state in which the treatment head is stationary and the treatment bed moves.

[0055] It should be noted that the preset motion state is not necessarily the actual motion state of the treatment head and the treatment bed. The preset motion state is the first motion state or the second motion state, and the current motion state can be only the first motion state or the second motion state or a combination of the first motion state and the second motion state. For example, the current motion state is that the treatment bed rotates around the Z axis while moving along the X axis and the treatment head rotates, and the preset motion state is a combination of the first motion state in which the treatment bed is stationary when the treatment head rotates, the second motion state in which the treatment head is stationary when the treatment bed rotates around the Z axis, and the second motion state in which the treatment bed moves along the X axis when the treatment head is stationary.

[0056] Further, for a four-dimensional treatment bed and treatment head, the first motion state includes a motion state in which the treatment bed is stationary while the treatment head rotates, the second motion state includes a motion state in which the treatment bed is offset along the X axis when the treatment head is stationary, a motion state in which the treatment bed is offset along the Y axis when the treatment head is stationary, a motion state in which the treatment bed is offset along the Z axis when the treatment head is stationary, and a motion state in which the treatment bed rotates around the Z axis when the treatment head is stationary.

[0057] In other embodiments, a five-dimensional or six-dimensional treatment bed can be used. When a six-dimensional treatment bed is used, the first motion state includes a motion state in which the treatment bed is stationary when the treatment head rotates, and the second motion state includes a motion state in which the treatment bed is offset along the X axis when the treatment head is stationary and / or a motion state in which the treatment bed is offset along the Y axis when the treatment head is stationary and / or a motion state in which the treatment bed is offset along the Z axis when the treatment head is stationary and / or a motion state in which the treatment bed rotates around the X axis when the treatment head is stationary and / or a motion state in which the treatment bed rotates around the Y axis when the treatment head is stationary and / or a motion state in which the treatment bed rotates around the Z axis when the treatment head is stationary.

[0058] The collision position is the position at which the treatment head and the treatment bed collide when moving in the preset motion state. Because the collision position changes at each moment. At the same time, the limit position of the treatment head and the treatment bed at any moment is adjusted in real time, which can effectively avoid the collision of the treatment head and the treatment bed.

[0059] It should be noted that the four-dimensional treatment couch includes a bottom end lifting component 12 and a top end translation component 11, the bottom end component is arranged on a rotating platform 13, the rotating platform can rotate around an isocenter, the lifting component can adjust the height of the treatment couch in the vertical direction, and the translation component can move in the positive and negative directions of the X axis and can also move in the positive and negative directions of the Y axis.

[0060] The position data of the collision position determined according to the current position of the treatment head and the treatment couch and the preset motion state includes acquiring a single dimension collision position of the treatment head or the treatment couch according to multiple dimension position data of the treatment head and / or the treatment couch.

[0061] For example, taking the four-dimensional treatment couch involved in the present application as an example, when the position quantities of each dimension of the treatment couch are known, the rotation angle of the treatment head can be calculated; when the farthest distance X of the lateral movement of the treatment couch, the longest distance Y of the extension of the bed plate of the treatment couch, and the maximum angle β of the revolution of the bed plate of the treatment couch are known position quantities, the maximum height H of the upper surface of the bed plate of the treatment couch to the isocenter can be calculated. For example, when the treatment couch and the treatment head involve six dimension position quantities in total, five dimension position quantities are known, and the remaining single dimension position quantity can be calculated.

[0062] The position data of the collision position determined according to the current position of the treatment head and the treatment couch and the preset motion state includes: determining the rotation angle θ of the treatment head, the farthest distance X of the lateral movement of the treatment couch, the longest distance Y of the extension of the bed plate of the treatment couch, the maximum angle β of the revolution of the bed plate of the treatment couch, and the maximum height H of the upper surface of the bed plate of the treatment couch to the isocenter according to the current position of the treatment head and the treatment couch and the preset motion state.

[0063] Further, determining the rotation angle θ of the treatment head according to the current position of the treatment head and the treatment couch and the preset motion state needs to determine three length size relationships of a first distance, a second distance and a third distance, the three length size relationships include three cases that the second distance is smaller than the first distance, the second distance is greater than the first distance and the second distance is smaller than the third distance, and the second distance is greater than the third distance, the first distance is a radius RB of the rotation of the treatment head around the isocenter, the second distance is a distance from the isocenter to the edge of the treatment couch, and the third distance is a distance from the isocenter to the edge of the treatment head, the first distance is equal to RB, the second distance is equal to , and the third distance is equal to .

[0064] Further, the radius RB of the rotation of the treatment head around the isocenter, the distance H of the upper surface of the bed plate of the treatment couch to the isocenter at the collision position, the maximum horizontal development width W of the bed plate of the treatment couch at the collision position, and the width TW of the treatment head can be acquired first according to the acquired position data.

[0065] Exemplarily, the rotation angle of the treatment head is described as follows:

[0066] Please refer to Figure 3 , specifically, the determining the rotation angle of the treatment head comprises:

[0067] When the second distance is less than the first distance, the width TW of the treatment head and the maximum horizontal spread width W of the bed board of the treatment bed at the collision position are obtained, the radius RB of the rotation of the treatment head around the isocenter is obtained, and the rotation angle is calculated by using the following relationship:

[0068] (TW / 2) * COS(π-θ) + W = RB * SIN(π-θ);

[0069] ).

[0070] Please refer to Figure 4 , specifically, the determining the rotation angle of the treatment head comprises: when the second distance is greater than the first distance and the second distance is less than the third distance, the maximum height H from the upper surface of the bed board of the treatment bed at the collision position to the isocenter point, the maximum horizontal spread width W of the bed board of the treatment bed, and the radius RB of the rotation of the treatment head around the isocenter are obtained, and the rotation angle is calculated by using the following relationship:

[0071] W * SINθ + H * COSθ = RB;

[0072] .

[0073] Please refer to Figure 5 , specifically, the determining the rotation angle of the treatment head comprises: when the second distance is greater than the third distance, the width TW of the treatment head is obtained, the radius RB of the rotation of the treatment head around the isocenter is obtained, the maximum height H from the upper surface of the bed board of the treatment bed at the collision position to the isocenter point is obtained, and the rotation angle is calculated by using the following relationship:

[0074] (TW / 2) * SINθ + H = RB * COSθ;

[0075] .

[0076] In the above three collision position cases, the preset movement state of the treatment head is determined based on the treatment bed being stationary. At this time, the treatment bed is stationary and located at the collision position.

[0077] Please refer to Figure 6When the treatment bed is in the northeast-southwest layout in the top view plane, the collision point of the treatment bed and the treatment head is on the rightmost vertex of the treatment bed. Now, the limit position of any dimension of the treatment bed is calculated, as long as the position of the treatment bed in any dimension other than the dimension to be calculated is known. In Figures 3-5 In the three positions, it should be noted that the position of the treatment bed is known when calculating the limit position of the treatment head. The position of the treatment bed is the position of the current position of the treatment bed, which can be directly obtained by the encoder or the size parameters of the treatment bed itself. The maximum horizontal expansion width W of the treatment bed bedplate at the collision position includes the longest distance Y of the treatment bed bedplate at the collision position, the maximum angle β of the treatment bed bedplate at the collision position, the distance Y' between the collision position of the treatment bed extension shaft 3 and the center point 4, the width K of the treatment bed bedplate, and the farthest distance X of the treatment bed bedplate at the collision position. The above several quantities of the treatment bed are known and determined when the treatment bed is stationary, and thus the maximum horizontal expansion width W of the treatment bed bedplate at the collision position is calculated using the following relationship:

[0078] W=( Y - Y')*SINβ + (X + K / 2)*COSβ.

[0079] Therefore, W=( Y - Y')*SINβ + (X + K / 2)*COSβ can be brought into Figures 3-5 to solve the rotation angle 5 of the treatment head in the three cases.

[0080] Similarly, please refer to Figure 7 When the treatment bed is in the southeast-northwest layout in the top view plane, the collision point of the treatment bed and the treatment head is on the right side of the treatment bed. The distance TD of the collision point of the treatment head from the center point in the top view is needed, which is a fixed constant determined by the length of the treatment head itself. In the scenario in the figure, when the treatment bed is translated along the positive direction of the X axis, the top end translation component of the treatment bed will collide with the treatment head first, so the displacement of the top end translation component, i.e., the farthest distance X of the treatment bed bedplate,

[0081] As can be seen from the geometric relationship in the figure, W=-TD*SINβ / COSβ+(K / 2+X) / COSβ.

[0082] Therefore, W=-TD*SINβ / COSβ+(K / 2+X) / COSβ can be brought into Figures 3-5 to solve the rotation angle of the treatment head in the three cases.

[0083] It should be noted that in Figures 3-5In the middle, the rotation angle of the treatment head is taken as the reference axis of the first quadrant and the second quadrant, the treatment head rotates clockwise from the reference axis, the rotation angle of the treatment head is positive, and the treatment head rotates counterclockwise from the reference axis, the rotation angle of the treatment head is negative. Figure 6 And Figure 7 In the middle, the maximum rotation angle of the treatment bed is taken as the reference axis of the third quadrant and the fourth quadrant, when the center of the treatment bed plate is located on the reference axis, the rotation angle of the treatment bed is 0 degrees, rotating clockwise from the reference axis is positive, and rotating counterclockwise is negative. The longest distance Y of the treatment bed plate extension refers to the displacement of the translation component relative to the lifting component on the Y axis, and the farthest distance X of the treatment bed transverse movement refers to the displacement of the translation component relative to the lifting component on the X axis.

[0084] It should be noted that the present application can obtain accurate calculation results under lower computing power by converting complex three-dimensional spatial relationships to two-dimensional planes for calculation. Without the need for real-time calculation of spatial position relationships, the performance requirements of the controller are not high, and the current axis movement range can be obtained before movement, while ensuring that the calculation results will not be distorted, the interference will definitely occur when the interference is calculated, the control is flexible, and all points in space can be moved. To a great extent, it improves the intelligent degree and usability of the anti-collision control of the radiotherapy system, while greatly reducing the application cost of the anti-collision control scheme of the radiotherapy system.

[0085] For the treatment bed limit position, the farthest distance X of the treatment bed transverse movement, the longest distance Y of the treatment bed plate extension, the maximum angle β of the treatment bed plate rotation, and the maximum height H of the treatment bed plate upper surface to the isocenter point, the treatment head and the treatment bed collision position are classified and discussed. When the treatment head and the treatment bed collide in the first quadrant, three cases need to be discussed, please refer to Figure 8 , H1 is the height of the treatment head vertex D to the horizontal plane where the isocenter point is located, H2 is the height of the treatment head vertex A to the horizontal plane where the isocenter point is located, and H3 is the height of the treatment bed current position to the plane where the isocenter point is located. H3 can be directly obtained by the encoder as a known quantity.

[0086] As Figure 8 shown, when H3<H1, H1= RB*COSθ-(TW / 2)*SINθ, from the figure, it can be seen that whether the treatment bed rotates or translates along the X axis or the Y axis, the treatment bed will not collide with the treatment head, so the farthest distance X of the treatment bed plate transverse movement, the longest distance Y of the treatment bed plate extension, and the maximum angle β of the treatment bed plate rotation are not limited, and the treatment bed stroke is the maximum stroke of the mechanical structure.

[0087] Please refer to Figure 9 , when H1<H3<H2, from the geometric relationship in the figure,

[0088] H1=RB*COSθ-(TW / 2)*SINθ;

[0089] H2=RB*COSθ+(TW / 2)*SINθ;

[0090] RB=W*SINθ+H3*COSθ;

[0091] W=(RB-H3*COSθ) / SINθ。

[0092] Now continue to classify the treatment bed discussion, when the treatment bed in the overhead plane is northeast-southwest layout position, by Figure 6 and Figure 9 It is known that the collision point of the treatment bed and the treatment head is located at the rightmost vertex of the treatment bed at this time, and now the extreme position of any dimension of the treatment bed is calculated, as long as the position of the treatment head and the treatment bed in any dimension other than the dimension to be calculated is known. Therefore further, in the scenario shown in Figure 6 and Figure 9 When the treatment bed is translated along the positive direction of the X axis, the top end of the treatment bed will first collide with the treatment head, so the displacement of the top end of the treatment bed, that is, the maximum distance X of the treatment bed plate translation, is considered. For example, now the rotation angle θ of the treatment head, the maximum distance Y of the treatment bed plate extension, the distance Y' between the collision position of the treatment bed extension shaft and the center point, the maximum height H of the treatment bed plate upper surface to the center point, and the maximum angle β of the treatment bed plate revolution are known. The maximum distance X of the treatment bed plate translation can be calculated, and the geometric relationship is:

[0093] W=(Y - Y') * SINβ + (X + K / 2) * COSβ;

[0094] X=(W-(Y-Y')*SINβ) / COSβ-K / 2;

[0095] W=(RB-H3*COSθ) / SINθ is brought into X.

[0096] For the treatment bed to translate along the negative direction of the X axis, the maximum distance X of the treatment bed plate translation can not be limited. Similarly, to calculate the maximum distance Y of the treatment bed plate extension, only the remaining amount can be obtained. Similarly, from Figure 6 and Figure 9It can be seen that the treatment bed translates along the positive direction of the Y axis, Y = ((W - (X + K / 2) * COSβ) / SINβ) + Y'. Only need to bring the equation W = (RB - H3 * COSθ) / SINθ into it, and the maximum distance Y of the treatment bed bedplate extending along the negative direction of the Y axis can be unlimited. Similarly, by Figure 6 and Figure 9 It can be seen from the geometric relationship that:

[0097] For the treatment bed translating along the positive direction of the X axis, ;

[0098] For the treatment bed translating along the negative direction of the X axis, .

[0099] The above treatment bed is in the right direction of the isocenter in the overhead plane of the treatment bed, and the left direction of the isocenter is the negative direction of the X axis. The positive direction of the Y axis of the treatment bed is the upper direction of the isocenter in the overhead plane of the treatment bed, and the lower direction of the isocenter is the negative direction of the Y axis.

[0100] When the treatment bed is in the southeast-northwest layout position in the overhead plane, by Figure 7 and Figure 9 It can be seen that the collision position of the treatment bed and the treatment head is on the right side of the treatment bed, and the distance TD of the collision position of the treatment head from the isocenter in the overhead view needs to be obtained, TD is a fixed constant determined by the length of the treatment head itself. In the scenario shown in Figure 7 and Figure 9 When the treatment bed translates along the positive direction of the X axis, the top end translation component of the treatment bed will first collide with the treatment head, so the displacement amount of the top end translation component, that is, the maximum distance X of the treatment bed bedplate transverse translation, needs to be considered.

[0101] From the geometric relationship in Figure 7 and Figure 9 It can be seen that

[0102] W = -TD * SINβ / COSβ + (K / 2 + X) / COSβ;

[0103] W * SINθ + H3 * COSθ = RB.

[0104] When the treatment bed translates along the positive direction of the X axis, X = (W * COSβ + TD * SINβ) - K / 2; only need to bring the equation W = (RB - H3 * COSθ) / SINθ into it to obtain X.

[0105] When the treatment bed translates along the negative direction of the X axis, the maximum distance X of the treatment bed bedplate transverse translation can be unlimited.

[0106] The maximum distance Y of the treatment bed along the positive or negative direction of the Y axis can not be limited.

[0107] When the treatment bed is translated along the positive direction of the X axis, ;

[0108] When the treatment bed is translated along the negative direction of the X axis, .

[0109] It should be noted that when H3>H2, the treatment bed is below the treatment head to ensure that the patient receives radiotherapy, and when H3>H2, the treatment bed is on the top of the treatment head, so the patient cannot receive radiotherapy, so this case is not considered.

[0110] Please refer to Figure 10 , TW is the width of the treatment head, θ is the current angle of the treatment head, RB is the radius of the treatment head rotating around the isocenter, W1 is the shortest width of the treatment head inside horizontally, W2 is the longest width of the treatment head inside horizontally, W is the maximum horizontal expansion width of the treatment bed bed board, W1=RB*SINθ-(TW / 2)*COSθ, W2=RB*SINθ+(TW / 2)*COSθ,

[0111] It should be noted that when the treatment bed is arranged in the northeast-southwest direction,

[0112] W=(Y - Y') * SINβ + (X + K / 2) * COSβ.

[0113] When the treatment bed is arranged in the southeast-northwest direction,

[0114] W=-TD*SINβ / COSβ+(K / 2+X) / COSβ, so W can be calculated according to the arrangement direction of the treatment bed, and then the size relationship of W, W1 and W2 is compared, and then calculated according to the following several cases.

[0115] When W<W1, the treatment bed always does not collide with the treatment head when moving on the Z axis, and the maximum height H of the upper surface of the treatment bed bed board to the isocenter point is not limited.

[0116] When W1<W<W2, from the geometric relationship in Figure 4 , RB=W*SINθ+H*COSθ, at this time, the maximum height H of the upper surface of the treatment bed bed board to the isocenter point can be calculated as H=(RB-W*SINθ) / COSθ.

[0117] When W>W2, the treatment bed is raised to the lowest position of the treatment head, from the geometric relationship in Figure 5 , the maximum height H of the upper surface of the treatment bed bed board to the isocenter point is H=RB*COSθ-(TW / 2)*SINθ.

[0118] When the treatment head collides with the treatment couch in the fourth quadrant, it needs to be discussed in two cases, please refer to Figure 11 , TW is the width of the treatment head, TH is the thickness of the treatment head, θ is the current angle of the treatment head, RB is the radius of the treatment head rotating around the isocenter, H4 is the height of the treatment head vertex C to the horizontal plane where the isocenter point is located, H2 is the height of the treatment head vertex A to the horizontal plane where the isocenter point is located, H3 is the height of the current position of the treatment couch to the plane where the isocenter point is located, H1 is the height of the treatment head vertex D to the horizontal plane where the isocenter point is located, and W is the maximum horizontal expansion width of the treatment couch bed.

[0119] When H3 < H4, it can be seen from the figure that no matter whether the treatment couch rotates or translates along the X or Y axis, the treatment couch will not collide with the treatment head, so the farthest distance X of the treatment couch bed plate translation, the longest distance Y of the treatment couch bed plate extension, and the maximum angle β of the treatment couch bed plate revolution are not limited, and the treatment couch stroke is the maximum stroke that the mechanical structure can move.

[0120] When H4 < H3 < H1, now the classification is classified to discuss the treatment couch, when the treatment couch is in the northeast-southwest layout position in the top view, please refer to Figure 6 and Figure 11 It can be seen that W1 is the shortest width inside the treatment head, and W7 is the horizontal distance from the inside of the treatment head to the right side of the treatment couch. From the geometric relationship in the figure, we have:

[0121] W1 = RB * SINθ + (TW / 2) * COSθ,

[0122] W7 = (H1-H3) * (-TANθ),

[0123] W = W1 + W7,

[0124] W = RB * SINθ + (TW / 2) * COSθ + (RB * COSθ - (TW / 2) * SINθ - H3) * (-TANθ),

[0125] H3 is the position quantity that the encoder can directly read.

[0126] From the geometric relationship, when the treatment couch translates along the positive direction of the X axis, at this time X = (W - (Y-Y') * SINβ) / COSβ - K / 2, when the treatment couch translates along the negative direction of the X axis, the farthest distance X of the treatment couch bed plate translation can be unlimited.

[0127] Similarly, to calculate the longest distance Y of the treatment couch bed plate extension, only the remaining quantities need to be obtained.

[0128] Similarly from Figure 6 and Figure 11When the treatment couch is translated along the positive direction of the Y axis, the maximum distance Y that the treatment couch top extends can be unlimited.

[0129] When the treatment couch is translated along the negative direction of the Y axis, the maximum distance Y that the treatment couch top extends can be unlimited.

[0130] When the treatment couch is translated along the positive direction of the X axis, X = (W - (Y - Y') * SINβ) / COSβ - K / 2,

[0131] When the treatment couch is translated along the positive direction of the X axis, ;

[0132] When the treatment couch is translated along the negative direction of the X axis, .

[0133] Please refer to Figure 7 and Figure 11 When the treatment couch is in the southeast-northwest layout in the top view, the collision position of the treatment couch and the treatment head is on the right side of the treatment couch. The distance TD between the collision position of the treatment head and the isocenter in the top view is a fixed constant determined by the length of the treatment head itself, and RR is the radius of the rotating platform. In the scenarios shown in Figure 7 and Figure 11 When the treatment couch is translated along the positive direction of the X axis, the top end translation component of the treatment couch will first collide with the treatment head, so the displacement of the top end translation component, i.e., the maximum distance X that the treatment couch top is translated horizontally, needs to be considered. According to the geometric relationship in Figure 7 and Figure 11 , W = -TD * SINβ / COSβ + (K / 2 + X) / COSβ,

[0134] When the treatment couch is translated along the positive direction of the X axis, the maximum distance X that the treatment couch top is translated horizontally is (W * COSβ + TD * SINβ) - K / 2.

[0135] When the treatment couch is translated along the negative direction of the X axis, the maximum distance X that the treatment couch top is translated horizontally can be unlimited.

[0136] The maximum distance Y that the treatment couch top is translated along the positive or negative direction of the Y axis can be unlimited.

[0137] When the treatment couch is translated along the negative direction of the X axis, ;

[0138] When the treatment couch is translated along the negative direction of the X axis, .

[0139] Please refer to Figure 6 and Figure 12, if H1 < H3 < H2 + HB, HB is the thickness of the bed board,

[0140] W5 is the farthest distance between the top surface of the bed and the treatment head,

[0141] W6 is the distance by which the bottom surface of the bed exceeds the treatment head,

[0142] W1 and the height H3 have the following relationship: RB = W5 * SIN θ + H3 * COS θ,

[0143] W = W5 - W6,

[0144] W5 = (RB - H3 * COS θ) / SIN θ,

[0145] W6 = - HB / SIN θ * COS θ,

[0146] W = RB / SIN θ - (H3 - HB) / TAN θ.

[0147] From the geometric relationship, when the treatment bed is translated along the positive direction of the X axis, at this time X = (W - (Y - Y') * SIN β) / COS β - K / 2,

[0148] When the treatment bed is translated along the negative direction of the X axis, the farthest distance X of the treatment bed board transverse translation can be unlimited.

[0149] Similarly, to calculate the longest distance Y of the treatment bed board extension, only the remaining amount can be obtained.

[0150] Similarly, from Figure 6 and Figure 12 , when the treatment bed is translated along the positive direction of the Y axis, Y = ((W - (X + K / 2) * COS β) / SIN β) + Y'.

[0151] When the treatment bed is translated along the negative direction of the Y axis, the longest distance Y of the treatment bed board extension can be unlimited.

[0152] For the treatment bed translation along the positive direction of the X axis, ;

[0153] For the treatment bed translation along the negative direction of the X axis, .

[0154] Please refer to Figure 7 and Figure 12 , W = - TD * SIN β / COS β + (K / 2 + X) / COS β,

[0155] For the treatment bed translation along the positive direction of the X axis, the farthest distance X of the treatment bed board transverse translation is (W * COS β + TD * SIN β) - K / 2;

[0156] The farthest distance X of the treatment couch top moving along the negative direction of the X axis can be unlimited.

[0157] The longest distance Y of the treatment couch top moving along the positive or negative direction of the Y axis can be unlimited.

[0158] When the treatment couch is moving along the negative direction of the X axis,

[0159] When the treatment couch is moving along the negative direction of the X axis,

[0160] It should be noted that when H3>H2+HB, the patient cannot receive radiotherapy because the treatment couch is already on the top of the treatment head, so this case is not considered.

[0161] Please refer to Figure 13 , where TW is the width of the treatment head, TH is the thickness of the treatment head, θ is the current angle of the treatment head, RB is the radius of the treatment head rotating around the isocenter, W1 is the shortest horizontal distance inside the treatment head, W2 is the longest horizontal distance inside the treatment head, W3 is the shortest horizontal distance outside the treatment couch, W4 is the longest horizontal distance outside the treatment couch, and W is the maximum horizontal spread width of the treatment couch top, where:

[0162] W1=RB*SINθ+(TW / 2)*COSθ,

[0163] W2=RB*SINθ-TW / 2*COSθ,

[0164] W3=(RB+TH)*SINθ+TW / 2*COSθ,

[0165] W4=(RB+TH)*SINθ-TW / 2*COSθ,

[0166] H1 is the height of the treatment head vertex D to the horizontal plane where the isocenter is located,

[0167] H2 is the height of the treatment head vertex A to the horizontal plane where the isocenter is located,

[0168] H4 is the height of the treatment head vertex C to the horizontal plane where the isocenter is located,

[0169] H3 is the current height of the treatment couch,

[0170] H1=RB*COSθ-TW / 2*SINθ,

[0171] H2=RB*COSθ+TW / 2*SINθ,​​

[0172] H4=(RB+TH)*COSθ-TW / 2*SINθ,

[0173] It should be noted that when the treatment bed is arranged in the northeast-southwest direction,

[0174] W=(Y - Y') * SINβ + (X + K / 2) * COSβ.

[0175] When the treatment bed is arranged in the southeast-northwest direction,

[0176] W=-TD*SINβ / COSβ+(K / 2+X) / COSβ, so it can be solved according to the arrangement direction of the treatment bed by bringing it into the following equation.

[0177] When W < W1, the upper vertical position of the treatment bed is not limited and can be freely raised and lowered, and the maximum height H of the upper surface of the treatment bed plate to the isocenter point is not limited.

[0178] When W > W3, the treatment bed is raised to the lowest position of the treatment head, at which time

[0179] H=H4= (RB+TH)*COSθ-TW / 2*SINθ.

[0180] When W3 > W > W1 and H3 < H1, the maximum height H of the upper surface of the treatment bed plate to the isocenter point is H1 + (W-W1) / TANθ,

[0181] That is, H=RB*COSθ-TW / 2*SINθ+(W-RB*SINθ+TW / 2*COSθ) / TANθ,

[0182] When H3 > H1 and W < W2, H= (RB-W*SINθ) / COSθ,

[0183] When H3 > H1 and W > W2, H=RB*COSθ+TW / 2*SINθ.

[0184] It should be noted that the application only describes the collision of the treatment bed and the treatment head in the first quadrant and the fourth quadrant, and the first quadrant and the second quadrant are symmetrical, and the fourth quadrant and the third quadrant are symmetrical, so the application will not be described in detail in the second quadrant and the third quadrant.

[0185] It can be understood that the application can obtain accurate calculation results under lower computing power by converting complex three-dimensional spatial relationships to two-dimensional planes for calculation, ensure that the calculation results will not be distorted, the interference will definitely occur when the calculation is interfered, the control is flexible, can move to all points that can be moved in space, greatly improve the intelligent degree and availability of the anti-collision control of the radiotherapy system, and greatly reduce the application cost of the anti-collision control scheme of the radiotherapy system.

[0186] Please refer to Figure 2 The application also provides an anti-collision control system of a radiotherapy system, which comprises

[0187] An acquisition module S5 is configured to acquire a current position of a treatment head and a treatment bed and a preset motion state, wherein the preset motion state comprises a first motion state in which the treatment head moves in a single dimension and the treatment bed is static or a second motion state in which the treatment head is static and the treatment bed moves in a single dimension;

[0188] A first calculation module S6 is configured to determine position data of a collision position according to the current position of the treatment head and the treatment bed and the preset motion state, the collision position being a position of the treatment head and the treatment bed when the treatment head and the treatment bed move in the current position and the preset motion state and future collision occurs;

[0189] A second calculation module S7 is configured to set a limit position according to the position data, the limit position being a position of the treatment head and the treatment bed when the treatment head and the treatment bed stop moving in the current position and the preset motion state, the limit position being between the current position and the collision position;

[0190] A control module S8 is configured to control the treatment bed or the treatment head to stop moving when the treatment bed or the treatment head reaches the limit position.

[0191] In a preferred embodiment, the application also provides an electronic device, comprising a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions are executed by the processor to implement the anti-collision control method of the radiotherapy system according to any one of the above.

[0192] As Figure 14As shown, the electronic device further comprises a display, the display comprises a first graphical interface showing start-stop buttons of at least one movement dimension of the treatment head or the treatment bed, the display comprises a second graphical interface showing limit positions of at least one movement dimension of the current position of the treatment head or the treatment bed, the right side of the figure is the first graphical interface, the X-axis represents the start-stop button of the X-axis offset of the treatment bed, the Y-axis represents the start-stop button of the Y-axis offset of the treatment bed, the Z-axis represents the start-stop button of the Z-axis offset of the treatment bed, A corresponds to the start-stop button of the rotation of the treatment head, B corresponds to the start-stop button of the revolution of the treatment bed. The left side of the figure is the second graphical interface, 138.00mm corresponds to the limit position of the treatment bed on the X-axis, 1000.00mm corresponds to the limit position of the treatment bed on the Y-axis, 5.10mm corresponds to the limit position of the treatment bed on the current position of the Z-axis, 36.8° corresponds to the rotation angle of the treatment head, -74.6° corresponds to the maximum revolution angle of the treatment bed.

[0193] a memory having computer readable instructions stored thereon, and a processor, wherein the computer readable instructions, when executed by the processor, implement the anti-collision control method of the radiotherapy system. The computer device can be a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities in a broad sense. In an embodiment, the computer device can include a processor, a memory, a network interface, a communication interface, and the like connected by a system bus. The processor of the computer device can be used to provide necessary computing, processing, and / or control capabilities. The memory of the computer device can include a non-volatile storage medium and an internal memory. The non-volatile storage medium or thereon can store an operating system, a computer program, and the like. The internal memory can provide an environment for running the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. The computer program, when executed by the processor, performs the steps of the method of the present application.

[0194] The application can be implemented as a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of the method of the embodiments of the application to be performed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled to a network, such that the computer program is stored, accessed and executed by one or more computer devices or processors in a distributed manner. A single method step / operation, or two or more method steps / operations, can be performed by a single computer device or processor, or by two or more computer devices or processors. One or more method steps / operations can be performed by one or more computer devices or processors, and one or more other method steps / operations can be performed by one or more other computer devices or processors. One or more computer devices or processors can perform a single method step / operation, or perform two or more method steps / operations.

[0195] As will be appreciated by one of ordinary skill in the art, the method steps of the present application can be directed to relevant hardware, such as computer devices or processors, by way of computer programs that can be stored in non-transitory computer-readable storage media, which, when executed, cause the steps of the present application to be performed. Any reference to memory, storage, databases, or other media herein can include non-volatile and / or volatile memory storage. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disks, magnetic

[0196] It can be understood that the application can obtain accurate calculation results under lower computing power by converting complex three-dimensional spatial relationships to two-dimensional planes for calculation, ensure that the calculation results will not be distorted, that interference will definitely occur when interference is calculated, and that the control is flexible and can move to all points that can be moved in space, greatly improve the intelligent degree and availability of the anti-collision control of the radiotherapy system, and greatly reduce the application cost of the anti-collision control scheme of the radiotherapy system.

[0197] The various technical features described above can be combined in any manner. Although not all possible combinations of the technical features are described, any combination of the technical features should be considered to be within the scope of the present specification, as long as such a combination does not result in a contradiction.

[0198] The above description of the specific embodiments of the present application is not intended to limit the scope of the present application. Any other corresponding changes and modifications made according to the technical concept of the present application should be included in the scope of protection of the claims of the present application.

Claims

1. A method of collision avoidance control of a radiotherapy system, characterized by, The method comprises: S1, acquiring the current position of the treatment head and the treatment bed and the preset motion state, wherein the preset motion state comprises a first motion state in which the treatment bed is stationary when the treatment head moves in a single dimension or a second motion state in which the treatment head is stationary when the treatment bed moves in a single dimension; S2, determining position data of a collision position according to the current position of the treatment head and the treatment bed and the preset motion state, the collision position being a position of the treatment head and the treatment bed when a collision occurs in the future after the treatment head and the treatment bed move in the current position and the preset motion state; S3, setting a limit position according to the position data, the limit position being a position of the treatment head and the treatment bed when the treatment head and the treatment bed stop moving in the current position and the preset motion state, the limit position being between the current position and the collision position; S4, controlling the treatment bed or the treatment head to stop moving when the treatment bed or the treatment head reaches the limit position; Determining the position data of the collision position according to the current position of the treatment head and the treatment bed and the preset motion state comprises acquiring single-dimension collision position data of the treatment head or the treatment bed according to multiple-dimension position data of the treatment head and / or the treatment bed; Determining the position data of the collision position according to the current position of the treatment head and the treatment bed and the preset motion state comprises determining a rotation angle θ of the treatment head or a maximum distance X of lateral movement of the treatment bed or a maximum distance Y of extension of a bed plate of the treatment bed or a maximum angle β of revolution of the bed plate of the treatment bed or a maximum height H of the upper surface of the bed plate of the treatment bed to the isocenter according to the current position of the treatment head and the treatment bed and the preset motion state; The actual motion state of the treatment head and the treatment bed can be only the first motion state or the second motion state or a combination of the first motion state and the second motion state.

2. The anti-collision control method of a radiotherapy system according to claim 1, characterized in that, The treatment bed is a four-dimensional treatment bed.

3. The anti-collision control method of a radiotherapy system according to claim 1, characterized by, Determining the rotation angle θ of the treatment head according to the current position of the treatment head and the treatment bed and the preset motion state comprises determining the rotation angle θ of the treatment head according to the length size relationship data of a first distance, a second distance and a third distance and the radius RB of rotation of the treatment head around the isocenter, the distance H of the upper surface of the bed plate of the treatment bed at the collision position to the isocenter, the maximum horizontal expansion width W of the bed plate of the treatment bed at the collision position and the width TW of the treatment head, the first distance being the radius of rotation of the treatment head around the isocenter, the second distance being the distance from the isocenter to the edge of the treatment bed, and the third distance being the distance from the isocenter to the edge of the treatment head.

4. A collision avoidance control system of a radiotherapy system, characterized in that, The anti-collision control method of the radiotherapy system according to any one of claims 1-3 comprises: an acquisition module configured to acquire the current position of the treatment head and the treatment bed and the preset motion state, wherein the preset motion state comprises a first motion state in which the treatment bed is stationary when the treatment head moves in a single dimension or a second motion state in which the treatment head is stationary when the treatment bed moves in a single dimension; a first calculation module configured to determine position data of a collision position according to the current position of the treatment head and the treatment bed and the preset motion state, the collision position being a position of the treatment head and the treatment bed when a collision occurs in the future after the treatment head and the treatment bed move in the current position and the preset motion state; a second calculating module, configured to set a limit position according to the position data, the limit position being a position where the treatment head and the treatment bed stop moving in a current position and a preset motion state, the limit position being between the current position and the collision position; a control module, configured to control the treatment bed or the treatment head to stop moving when the treatment bed or the treatment head reaches the limit position.

5. An electronic device, comprising: comprise: a memory; and a processor, computer readable instructions being stored on the memory, the computer readable instructions being executed by the processor to implement the anti-collision control method of the radiotherapy system according to any one of claims 1 to 3.

6. The electronic device of claim 5, wherein, further comprising a display, the display comprising a first graphical interface displaying a start-stop button of at least one motion dimension of the treatment head or the treatment bed, the display comprising a second graphical interface displaying the limit position of at least one motion dimension of the current position of the treatment head or the treatment bed in real time.

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