Tumor radiotherapy control system

Abstract

The invention relates to the technical field of radiotherapy instruments, in particular to a tumor radiotherapy control system which comprises a CPU module, an action module, a centering module and a radioactive source module, the action module is used for receiving a first alignment signal and a second alignment signal output by the CPU module so as to drive the centering module to move to the position right opposite to the target center, and the action module is used for receiving the first alignment signal and the second alignment signal. The reset module is also used for receiving a reset signal to drive the centering module to return to a preset initial position; the centering module comprises a light ray centering unit and an image acquisition unit, the light ray centering unit is used for emitting centering light rays to project a centering mark at the position of the target area, and the image acquisition unit is used for acquiring a centering state image signal in the target area and outputting the centering state image signal to the CPU module; the radioactive source module comprises a motion unit and a radioactive source and is used for receiving the current position information so as to control the motion unit to drive the radioactive source to move to the current position information. And aiming with a radiotherapy target area is realized through the centering module, so that the function of automatic alignment of a radiation instrument is realized.

Description

Technical Field

[0001] This application relates to the field of radiotherapy technology, and particularly to a tumor radiotherapy control system. Background Art

[0002] With the continuous progress of society, the treatment methods for cancer have become increasingly diverse. As a cancer treatment method that has been used in human society for nearly half a century, people have gradually become more and more refined in the use of related instruments.

[0003] The existing Chinese invention patent with the publication number CN118416405A discloses a tumor radiotherapy auxiliary positioning device, including: a first base, a support plate is provided at the top of the base, two sides of the top wall of the support plate are symmetrically and fixedly installed with baffles, arc-shaped holes are uniformly opened at the top of the base, arc-shaped support columns adapted to the arc-shaped holes are slidably installed in the arc-shaped holes, the top of the arc-shaped support column is fixedly connected to the bottom wall of the support plate, and a movable groove is also opened at the center of the top of the base, and a flipping component is arranged in the movable groove. By controlling the rotation direction of the motor, the rotation direction of the transmission gear can be controlled, and then the flipping direction of the support plate can be controlled, which is convenient to align the tumor part of the patient with the radiation head. At the same time, the stability of the support plate can be improved, and it is convenient to stably support the patient during the flipping process of the support plate, avoiding the displacement of the patient during the flipping process of the support plate, and ensuring the treatment effect.

[0004] However, before performing radiotherapy, it is still necessary for the operator to manually operate to align the radiation head with the affected area, and the degree of automation is not high. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a tumor radiotherapy control method and system that can achieve an automatic alignment function.

[0006] In a first aspect, this application provides a tumor radiotherapy control system, which includes a CPU module, an action module, a centering module, and a radiation source module, where: The action module is used to receive the first alignment signal and the second alignment signal output by the CPU module to drive the centering module to move to a position directly opposite to the target center, and is also used to receive a reset signal to drive the centering module back to a preset initial position; The centering module includes a light centering unit and an image acquisition unit. The light centering unit is used to emit centering light to project a centering mark at the target area position, and the image acquisition unit is used to obtain the centering state image signal in the target area and output it to the CPU module; The radiation source module includes a motion unit and a radiation source. The radiation source module is used to receive the current position information to control the motion unit to drive the radiation source to move to the current position information.

[0007] In one embodiment, the centering module further includes a horizontally arranged mounting frame, the mounting frame is connected to the motion module, the light centering unit and the image acquisition unit are located on the bottom surface of the mounting frame, the optical axis of the emitted light of the light centering unit is perpendicular to the bottom surface of the mounting frame, and when the motion module drives the centering module to move to a preset initial position, the position where the optical axis of the emitted light of the light centering unit is located is the coordinate zero point.

[0008] In one embodiment, the radiation source module includes an optical aiming unit, and the optical aiming unit is used for outputting an aiming optical signal; The centering module further includes an auxiliary aiming unit, and the auxiliary aiming unit is used for receiving the aiming optical signal and outputting an in-place signal after receiving the aiming optical signal.

[0009] In one embodiment, the optical axis of the aiming signal output by the optical aiming unit is parallel to the ray emission direction of the radiation source, the optical axis of the aiming signal output by the optical aiming unit is parallel to the optical axis of the emitted light of the light centering unit, the optical axis of the incident light of the auxiliary aiming unit is vertically arranged, the distance between the optical axis of the incident light of the auxiliary aiming unit and the optical axis of the emitted light of the light centering unit is L1, the distance between the optical axis of the aiming signal output by the optical aiming unit and the ray of the radiation source is L2, and L1 is equal to L2.

[0010] In one embodiment, the CPU module is used to execute the following tumor radiotherapy control method: Obtain the preset target area position, and output a first centering signal to control the motion module to drive the centering module to move to the first centering area corresponding to the target area position; Output a sampling signal to control the centering module to obtain the centering state image signal in the target area; Identify the centering mark and the collimation feature in the centering state image signal, and calculate the relative position between the centering mark and the collimation center to generate a second centering signal, so that the motion module drives the centering module to move to a position where the centering mark is aligned with the collimation center; Obtain the current position information of the motion module, and output the current position information to the radiation source module, so that the radiation source module moves to the current position information; Wait for and obtain the in-place signal indicating that the radiation source module has reached the current position information, and output a reset signal to the motion module after receiving the in-place signal to control the motion module to return to the preset initial position.

[0011] In one embodiment, the specific steps of outputting a sampling signal to control the centering module to obtain the centering state image signal in the target area include: Output the sampled signal to the centering module, so as to turn on the light centering unit and project a centering light spot within the target area, and enable the image acquisition unit to obtain the centering status signal within the target area when the light centering unit is turned on. The centering status image signal is an image of the centering light spot falling within the target area.

[0012] In one embodiment, the specific steps of identifying the centering mark and the aiming point feature in the centering status image signal, calculating the relative position between the centering mark and the aiming point, and generating a second centering signal to cause the action module to drive the centering module to move to a position where the centering mark is aligned with the aiming point include: Identify the centering mark in the centering status image signal. The centering mark is the light spot projected by the light centering unit within the target area; Identify the aiming point feature in the centering status image signal. The aiming point feature is the center point of the target mark pre-drawn within the target area; According to the coordinates between the centering mark and the aiming point feature in the centering status image, calculate the first vector pointing from the centering mark to the aiming point feature; Output an instruction to control the action module to move a preset unit length in the positive direction of the first vector, and output the sampling signal again after the movement is completed to control the centering module to obtain the second centering status image signal within the target area; Identify the second centering mark and the second aiming point feature in the second centering status image to obtain the second vector pointing from the second centering mark to the second aiming point feature; Calculate the proportional parameter K between the modulus of the vector difference between the first vector and the second vector and the preset unit length; Calculate the product of the proportional parameter K and the modulus of the second vector to obtain the actual compensation displacement indicating that the centering unit still needs to move; Generate a second centering signal according to the actual compensation displacement and output it to the action module.

[0013] In one embodiment, the specific steps of obtaining the current position information of the action module and outputting the current position information to the radiation source module to cause the radiation source module to move to the current position information include: Obtain the current position information of the action module, and calculate a target area centered on the position point corresponding to the current position information with a preset radius; Output a control instruction to control the radiation source module to move into the target area, and read the current position of the radiation source module in real time and determine whether the radiation source module enters the target area; After the radiation source module enters the target area, output a control instruction to control the optical aiming unit to output an aiming light signal.

[0014] In one embodiment, the specific steps of obtaining the current position information of the motion module and outputting the current position information to the radiation source module so that the radiation source module moves to the position corresponding to the current position information include: Output a control signal for controlling the opening of the auxiliary aiming unit, and continuously output a control signal for controlling the radiation source module to move to the position corresponding to the current position information; The specific steps of waiting to obtain a signal indicating that the radiation source module has reached the position corresponding to the current position information and outputting a reset signal to the motion module to control the motion module to return to the preset initial position include: Wait to obtain the aiming light signal output by the optical aiming unit, and stop outputting the control signal for controlling the radiation source module to move to the position corresponding to the current position information after obtaining the aiming light signal.

[0015] In one embodiment, the specific steps of waiting to obtain a signal indicating that the radiation source module has reached the position corresponding to the current position information and outputting a reset signal to the motion module to control the motion module to return to the preset initial position include: Judge the validity of the aiming light signal; If it is, output the in-place signal and the reset signal.

[0016] In the above tumor radiotherapy control method and system, first, the aiming at the radiotherapy target area is realized through the centering module, and then the radiation source module is controlled to be aligned with the centering module. Moreover, since machine vision and optical alignment methods are adopted during the alignment process, the function of automatic alignment of the radiotherapy instrument can be realized on the basis of ensuring the alignment accuracy. Brief Description of the Drawings

[0017] Figure 1 It is a structural block diagram of a tumor radiotherapy control system in one embodiment; Figure 2 It is a structural schematic diagram of a tumor radiotherapy control system in one embodiment; Figure 3 It is a flowchart of a tumor radiotherapy control method in one embodiment; Figure 4 It is a specific flowchart of step S300 in one embodiment; Figure 5 It is a schematic diagram of a centering state image in one embodiment; Figure 6 It is a schematic diagram of a second centering state image in one embodiment; Figure 7 It is a characteristic waveform diagram of an aiming signal in one embodiment; Figure 8 It is an internal structural diagram of a computer device in one embodiment.

[0018] Reference numerals: 1, CPU module; 2, motion module; 3, centering module; 31, light centering unit; 32, image acquisition unit; 33, auxiliary aiming unit; 34, mounting bracket; 4, radiation source module; 41, motion unit; 42, radiation source; 43, optical aiming unit; 5, operating console. Detailed implementation manners

[0019] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0020] In one embodiment, as Figure 1 shown, a tumor radiotherapy control system is provided. The device includes a CPU module, a motion module, a centering module, and a radiation source module, wherein: The CPU module is configured to obtain information output by the motion module, the centering module, and the radiation source module, and is used for various data and logic operations, as well as outputting control instructions and other functions; The motion module is configured to receive a first alignment signal and a second alignment signal output by the CPU module to drive the centering module to move to a position directly opposite to the target center, and is also configured to receive a reset signal to drive the centering module back to a preset initial position; The centering module includes a light centering unit and an image acquisition unit. The light centering unit is configured to emit centering light to project a centering mark at the target area position, and the image acquisition unit is configured to obtain an in-target centering state image signal and output it to the CPU module; The radiation source module includes a motion unit and a radiation source. The radiation source module is configured to receive current position information to control the motion unit to drive the radiation source to move to the current position information.

[0021] Among them, the motion module is a motion mechanism for realizing two-dimensional motion in a predetermined plane according to specific control instructions. Specifically, in this embodiment, the motion module is a motion mechanism composed of at least two pairs of ball screw nut mechanisms, and the two groups of ball screws are respectively parallel to two adjacent sides of a rectangular operating console for the patient to lie on, so as to drive the centering module to perform two-dimensional motion in the horizontal plane above the patient.

[0022] Further, the centering module includes a horizontally arranged mounting bracket, which is connected to the motion module. The light centering unit and the image acquisition unit are located on the bottom surface of the mounting bracket. In this embodiment, the light centering unit is a low-power laser generator, and the image acquisition unit is a small camera. The optical axis of the emitted light of the light centering unit is perpendicular to the bottom surface of the mounting bracket. When the motion module drives the centering module to move to the preset initial position, the position where the optical axis of the emitted light of the light centering unit is located is the coordinate zero point.

[0023] To facilitate more precise position control, a coordinate starting point needs to be set for the centering module. This starting point is the projection of the optical axis of the emitted light of the light centering unit on the horizontal plane when the motion module drives the centering module to move to the starting position. Since the mounting bracket is horizontally arranged and the optical axis of the emitted light of the light centering unit is perpendicular to the bottom surface of the mounting bracket, the optical axis of the emitted light of the light centering unit is a vertical ray, and its projection on the horizontal plane can be regarded as a point, which is suitable as the coordinate zero point when establishing a plane rectangular coordinate system.

[0024] During radiotherapy, the patient lies flat on a horizontally arranged operating table. In the preliminary work of radiotherapy, medical staff will draw a marking line for guiding radiotherapy on the surface skin corresponding to the location of the tumor. When using this system, medical staff can draw the marking line as a cross-shaped mark. The area where the cross mark is located is the target area, and the intersection point of the cross-shaped mark corresponds to the central position of the tumor, that is, the target center during radiotherapy. After radiotherapy starts and the patient's body is fixed, medical staff manually input the approximate position coordinates where the cross-shaped mark is located. The CPU module calculates and outputs the first centering signal. After receiving the first centering signal output by the CPU module, the motion module drives the centering module to move to the position or area corresponding to the approximate position coordinates. Subsequently, the CPU module emits a laser to the light centering unit, and the emitted laser projects a light spot on the patient's body surface. This light spot is the centering mark. Then, the image acquisition unit takes and transmits the image signal of the centering state of the centering mark projected on the patient's body surface. Since the approximate position of the target area corresponding to the first centering signal output by the CPU module before, there may still be a certain deviation between the centering mark and the target center at this time. The centering state image is the image of the relative position between the target center and the centering mark. Subsequently, the CPU module identifies the target center and the centering mark and calculates their relative positions in the image, thereby further calculating the actual position of the more accurate target center, and then outputs the second centering signal to control the motion module to drive the light centering unit to move until the target center and the centering mark coincide, thus completing the alignment of the centering module and the target point.

[0025] In this embodiment, the radiation source module includes an optical aiming unit for outputting an aiming optical signal; the centering module further includes an auxiliary aiming unit for receiving the aiming optical signal and outputting a in-place signal after receiving the aiming optical signal. Specifically, the optical aiming unit is also a low-power laser emitter, and the auxiliary aiming unit is a laser receiver; structurally, as Figure 2 shown, the following settings are made for the optical aiming unit and each unit of the centering module: the optical axis of the aiming signal output by the optical aiming unit is parallel to the ray emission direction of the radiation source, the optical axis of the aiming signal output by the optical aiming unit is parallel to the optical axis of the outgoing light of the light centering unit, the optical axis of the incident light of the auxiliary aiming unit is vertically arranged, the distance between the optical axis of the incident light of the auxiliary aiming unit and the optical axis of the outgoing light of the light centering unit is L1, and the distance between the optical axis of the aiming signal output by the optical aiming unit and the ray of the radiation source is L2, and L1 is equal to L2. In addition, when designing the structure, it is necessary to make the line segment with a distance of L1 between the optical axis of the incident light of the auxiliary aiming unit and the optical axis of the outgoing light of the light centering unit parallel to any line segment with a distance of L2 between the optical axis of the aiming signal output by the optical aiming unit and the ray of the radiation source.

[0026] By restricting the positions of the optical aiming unit and each unit in the centering module, the relative positions of the light aiming unit and the ray of the radiation source, and the outgoing light of the auxiliary aiming unit and the light centering unit are ensured to be consistent. Thus, when the auxiliary aiming unit receives the low-power laser directly emitted by the light aiming unit, the ray of the radiation source coincides with the optical axis of the outgoing light of the light centering unit, that is, the radiation source is aligned with the target point on the patient's body surface, thereby completing the aiming. At the same time, the auxiliary aiming unit can not only help the radiation source module to align with the target center, but also serve as a in-place trigger device for the radiation source module. After the radiation source completes the aiming, it feeds back to the CPU module, so that the CPU module outputs a reset instruction to control the motion module to drive the centering module to reset, so that the radiation source module can perform subsequent radiation therapy tasks.

[0027] Based on the same inventive concept, the embodiment of the present application also provides a tumor radiotherapy control method applied to the tumor radiotherapy control system involved above. The implementation solutions for solving problems provided by this method are similar to those recorded in the above system. Therefore, the specific limitations in one or more of the following embodiments of the tumor radiotherapy control method can refer to the limitations on the tumor radiotherapy control system in the above text, and will not be repeated here.

[0028] In one embodiment, as Figure 3 shown, a tumor radiotherapy control method is provided. Taking the CPU module in Figure 1 as an example, it includes the following steps: Step S100: Obtain the preset target area position, and output a first centering signal to control the action module to drive the centering module to move into the first centering area corresponding to the target area position.

[0029] Among them, the target area position is the area or position where the marks drawn by medical staff on the patient's body surface in the previous link of radiotherapy are located. The first centering signal is a control signal for controlling the action module to drive the centering module to move into the first centering area corresponding to the target area position. This signal is calculated by the CPU module based on the coordinate points or target area range manually input by medical staff.

[0030] Step S200: Output a sampling signal to control the centering module to obtain the centering state image signal within the target area.

[0031] Among them, the centering module includes a light centering unit and an image acquisition unit. The specific steps of step S200 include: outputting a sampling signal to the centering module to enable the light centering unit to turn on and project a light spot for centering within the target area, and enabling the image acquisition unit to obtain the centering state signal within the target area when the light centering unit is turned on. The centering state image signal is the image where the light spot for centering falls within the target area.

[0032] Step S300: Identify the centering mark and the crosshair feature in the centering state image signal, and calculate the relative position between the centering mark and the crosshair to generate a second centering signal, so that the action module drives the centering module to move to a position where the centering mark is aligned with the crosshair.

[0033] Among them, the crosshair feature is the center point of the mark drawn by medical staff on the patient's body surface in the previous link of radiotherapy, and the centering mark is the light spot projected by the light centering unit on the patient's body surface. As Figure 4 shown, the specific steps of step S300 are as follows: Step S310: Identify the centering mark in the centering state image signal. Among them, the centering mark is the light spot projected by the light centering unit within the target area.

[0034] Step S320: Identify the crosshair feature in the centering state image signal. Among them, the crosshair feature is the center point of the target mark pre-drawn within the target area.

[0035] When performing crosshair feature recognition, the target mark drawn within the target area can be first subjected to feature recognition. Since this mark is drawn by medical staff on the patient's body surface, there is similarity between different marks, which is easy for feature recognition. Subsequently, its center point is obtained. Since the mark is specified as a cross mark in the foregoing content, the crosshair feature is the intersection point of the cross mark.

[0036] Step S330: Calculate a first vector pointing from the centering mark to the centering feature according to the coordinates between the centering mark and the centering feature in the centering state image.

[0037] In one embodiment, after obtaining the centering state image in which the feature recognition is completed as Figure 5 shown, after calculating the first vector, the position of the centering feature relative to the centering mark can be obtained, and the moving direction for moving the centering mark closer to the centering feature can also be obtained.

[0038] Step S340: Output an instruction for the control action module to move a preset unit length along the positive direction of the first vector, and output a sampling signal again after the movement is completed to control the centering module to obtain a second centering state image signal within the target area.

[0039] Through the above steps, the proportional relationship between the length in the image collected by the image acquisition module and the actual length can be obtained. Since the distance from the image acquisition module to the patient's body surface is not a fixed distance and this proportional relationship is affected by factors such as the patient's body type, it is necessary to perform secondary image acquisition and calculation through step S340 to obtain a more accurate proportional relationship, and then achieve more precise aiming control. The specific measurement steps are as follows: Step S350: Identify the second centering mark and the second centering feature in the second centering state image to obtain a second vector pointing from the second centering mark to the second centering feature.

[0040] In one embodiment, the second centering state image is as Figure 6 shown.

[0041] Step S360: Calculate the proportional parameter K between the modulus of the vector difference between the first vector and the second vector and the preset unit length; Step S370: Calculate the product of the proportional parameter K and the modulus of the second vector to obtain the actual compensation displacement indicating how much the centering unit still needs to move; Step S380: Generate a second centering signal according to the actual compensation displacement and output it to the action module.

[0042] Step S400: Obtain the current position information of the action module and output the current position information to the radiation source module so that the radiation source module moves to the position corresponding to the current position information.

[0043] Among them, the radiation source module includes an optical aiming unit for outputting an aiming optical signal. The specific steps of step S400 include: Step S410: Obtain the current position information of the action module and calculate a target area centered on the position point corresponding to the current position information with a preset radius; Step S420: Output a control instruction to move the radiation source module into the target area, read the current position of the radiation source module in real time, and determine whether the radiation source module has entered the target area; Step S430: After the radiation source module enters the target area, output a control instruction to control the optical aiming unit to output an aiming light signal.

[0044] In this embodiment, the centering module further includes an auxiliary aiming unit, which is configured to receive the aiming light signal and output an in-place signal after receiving the aiming light signal. Here, the in-place signal is a signal indicating that the auxiliary aiming unit has received the aiming light signal output by the optical aiming unit, that is, the radiation source module has been aligned with the bull's-eye. Based on this, the steps of step S400 further include: Step S440: Obtain the current position information of the motion module and output the current position information to the radiation source module, and the specific steps for the radiation source module to move to the position corresponding to the current position information include: Step S450: Output a control signal for controlling the activation of the auxiliary aiming unit, and continuously output a control signal for controlling the radiation source module to move to the position corresponding to the current position information.

[0045] Step S500: Wait for and obtain an in-place signal indicating that the radiation source module has reached the position corresponding to the current position information, and after receiving the in-place signal, output a reset signal to the motion module to control the motion module to return to the preset initial position.

[0046] In this embodiment, the specific steps of step S500 include: Step S510: Wait for and obtain the aiming light signal output by the optical aiming unit, and stop outputting the control signal for controlling the radiation source module to move to the position corresponding to the current position information after obtaining the aiming light signal.

[0047] To improve the accuracy of in-place judgment, the aiming signal of the optical aiming unit can have specific waveform characteristics. In this example, the aiming signal should satisfy as Figure 7 shown waveform characteristics, where the high level is to drive the optical aiming unit to emit laser through the circuit, and the low level is to control the optical aiming unit to stop emitting laser through the circuit. The waveform shown forms a cycle of the aiming signal. In this embodiment, the frequency of the aiming signal is 75 Hz. Based on this, step S500 further includes the following steps: Step S520: Judge the validity of the aiming light signal; Step S530: If so, output an in-place signal and a reset signal.

[0048] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown sequentially in the direction of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0049] Each module in the above tumor radiotherapy control system can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0050] In one embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 8 shown. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner. The wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it realizes a tumor radiotherapy control method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0051] Those skilled in the art can understand that Figure 8 the structure shown in

[0052] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., without limitation.

[0053] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0054] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A tumor radiotherapy control system, characterized in that, It includes a CPU module, an action module, a centering module, and a radiation source module, where: The action module is used to receive the first centering signal and the second centering signal output by the CPU module to drive the centering module to move to a position directly opposite the target center, and is also used to receive a reset signal to drive the centering module back to a preset initial position; The centering module includes a light centering unit and an image acquisition unit. The light centering unit is used to emit centering light to project a centering mark at the target area position. The image acquisition unit is used to obtain the centering state image signal in the target area and output it to the CPU module; The radiation source module includes a motion unit and a radiation source. The radiation source module is used to receive the current position information to control the motion unit to drive the radiation source to move to the current position information; 2. The tumor radiotherapy control system according to claim 1, wherein: The centering module further includes a horizontally arranged mounting rack. The mounting rack is connected to the action module. The light centering unit and the image acquisition unit are located on the bottom surface of the mounting rack. The optical axis of the emitted light of the light centering unit is perpendicular to the bottom surface of the mounting rack. When the motion module drives the centering module to move to the preset initial position, the position where the optical axis of the emitted light of the light centering unit is located is the coordinate zero point; 3. The tumor radiotherapy control system according to claim 2, characterized in that: The radiation source module includes an optical aiming unit for outputting an aiming light signal; The centering module further includes an auxiliary aiming unit for receiving the aiming light signal and outputting a in-place signal after receiving the aiming light signal; 4. The tumor radiotherapy control system according to claim 3, wherein: The optical axis of the aiming signal output by the optical aiming unit is parallel to the ray emission direction of the radiation source. The optical axis of the aiming signal output by the optical aiming unit is parallel to the optical axis of the emitted light of the light centering unit. The optical axis of the incident light of the auxiliary aiming unit is vertically arranged. The distance between the optical axis of the incident light of the auxiliary aiming unit and the optical axis of the emitted light of the light centering unit is L1, and the distance between the optical axis of the aiming signal output by the optical aiming unit and the ray of the radiation source is L2, and L1 is equal to L2; 5. A tumor radiotherapy control system according to claim 4, characterized in that, The CPU module is used to execute the following tumor radiotherapy control method: Obtain the preset target area position, and output a first centering signal to control the action module to drive the centering module to move to the first centering area corresponding to the target area position; Output a sampling signal to control the centering module to obtain the centering state image signal in the target area; Identify the centering mark and the collimation feature in the centering state image signal, and calculate the relative position between the centering mark and the collimation center to generate a second centering signal, so that the action module drives the centering module to move to a position where the centering mark is aligned with the collimation center; Obtain the current position information of the action module, and output the current position information to the radiation source module, so that the radiation source module moves to the current position information; Wait and obtain the in-place signal indicating that the radiation source module has reached the current position information, and after receiving the in-place signal, output a reset signal to the action module to control the action module to return to the preset initial position; 6. The tumor radiotherapy control system according to claim 5, wherein: The specific steps of outputting a sampling signal to control the centering module to obtain the centering state image signal in the target area are as follows: Output a sampling signal to the centering module, so that the light centering unit is turned on and projects a light spot for centering in the target area, and the image acquisition unit obtains the centering state signal in the target area when the light centering unit is turned on. The centering state image signal is an image of the light spot for centering falling in the target area.

7. The tumor radiotherapy control system according to claim 6, characterized in that: The specific steps of identifying the centering mark and the collimation feature in the centering state image signal, calculating the relative position between the centering mark and the collimation center, and generating a second centering signal to make the action module drive the centering module to move to a position where the centering mark is aligned with the collimation center are as follows: Identify the centering mark in the centering state image signal, and the centering mark is the light spot projected by the light centering unit in the target area; Identify the collimation feature in the centering state image signal, and the collimation feature is the center point of the target mark pre-drawn in the target area; Calculate a first vector pointing from the centering mark to the collimation feature according to the coordinates between the centering mark and the collimation feature in the centering state image; Output an instruction to control the action module to move a preset unit length in the positive direction of the first vector, and output a sampling signal again after the movement is completed to control the centering module to obtain the second centering state image signal in the target area; Identify the second centering mark and the second collimation feature in the second centering state image to obtain a second vector pointing from the second centering mark to the second collimation feature; Calculate the ratio parameter K between the modulus of the vector difference between the first vector and the second vector and the preset unit length; Calculate the product of the ratio parameter K and the modulus of the second vector to obtain the actual compensation displacement indicating that the centering unit still needs to move; Generate a second centering signal according to the actual compensation displacement and output it to the action module.

8. The tumor radiotherapy control system according to claim 7, characterized in that: The specific steps of obtaining the current position information of the action module, outputting the current position information to the radiation source module, and making the radiation source module move to the current position information are as follows: Obtain the current position information of the action module, and calculate a target area centered on the position point corresponding to the current position information and with a preset radius; Output a control instruction to control the radiation source module to move into the target area, and read the current position of the radiation source module in real time and judge whether the radiation source module enters the target area; After the radiation source module enters the target area, output a control instruction to control the optical aiming unit to output an aiming light signal.

9. The tumor radiotherapy control system according to claim 8, characterized in that: The specific steps of obtaining the current position information of the action module, outputting the current position information to the radiation source module, and making the radiation source module move to the current position information are as follows: Output a control signal for controlling the auxiliary aiming unit to turn on, and continuously output a control signal for controlling the radiation source module to move to the position corresponding to the current position information; The specific steps of waiting for and obtaining the in-place signal indicating that the radiation source module reaches the current position information, and outputting a reset signal to the action module after receiving the in-place signal to control the action module to return to the preset initial position include: Wait for and obtain the aiming light signal output by the optical aiming unit, and stop outputting the control signal for controlling the radiation source module to move to the position corresponding to the current position information after obtaining the aiming light signal.

10. A tumor radiotherapy control system according to claim 9, characterized in that, The specific steps of waiting for and obtaining the in-place signal indicating that the radiation source module reaches the current position information, and outputting a reset signal to the action module after receiving the in-place signal to control the action module to return to the preset initial position include: Judge the validity of the aiming light signal; If so, output the in-place signal and the reset signal.

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