A tumor radiotherapy control system

Abstract

This application relates to the technical field of radiotherapy devices, and particularly to a tumor radiotherapy control system, which includes a CPU module, an action module, a centering module, and a radiation source module. Among them: 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, and the image acquisition unit is used to obtain the centering status 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. The centering module is used to achieve aiming at the radiotherapy target area, realizing the function of automatic alignment of the radiotherapy instrument.

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 rich. As a cancer treatment method that has been used in human society for nearly half a century, people have gradually become more and more meticulous 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 arranged 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 moving slot is also opened at the center of the top of the base, and a flipping component is arranged in the moving slot. 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, it is necessary to provide a tumor radiotherapy control method and system that can realize the automatic alignment function for the above technical problems.

[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:

[0007] 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 to the target center, and is also used to receive a reset signal to drive the centering module back to the preset initial position;

[0008] 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;

[0009] 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 position of the current position information.

[0010] In one embodiment, the centering module further includes a horizontally arranged mounting bracket. The mounting bracket is connected to the action module. The light centering unit and the image acquisition unit are located on the bottom surface of the mounting bracket. The optical axis of the emitted light of the light centering unit is perpendicular to the bottom surface of the mounting bracket. When the action 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.

[0011] In one embodiment, the radiation source module includes an optical aiming unit for outputting an aiming light signal;

[0012] The centering module further includes an auxiliary aiming unit for receiving the aiming light signal and outputting an in-place signal after receiving the aiming light signal.

[0013] 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. L1 is equal to L2.

[0014] In one embodiment, the CPU module is used to execute the following tumor radiotherapy control method:

[0015] Obtain the preset target area position, and output a first alignment signal to control the action module to drive the centering module to move into the first centering area corresponding to the target area position;

[0016] Output a sampling signal to control the centering module to obtain the centering state image signal in the target area;

[0017] 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 alignment signal, so that the action module drives the centering module to move to the position where the centering mark is aligned with the collimation center;

[0018] 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 of the current position information;

[0019] Wait for and obtain the in-place signal indicating that the radiation source module has reached the position of the current position information, and output 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.

[0020] 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:

[0021] Output a sampling signal to the centering module to enable the light centering unit to turn on and project a centering light spot in the target area, and enable the image acquisition unit to obtain the centering state image signal in the target area when the light centering unit is turned on. The centering state image signal is an image in which the centering light spot falls in the target area.

[0022] In one embodiment, 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, and generating a second alignment signal to enable the action module to drive the centering module to move to a position where the centering mark is aligned with the collimation include:

[0023] Identify the centering mark in the centering state image signal. The centering mark is the light spot projected by the light centering unit in the target area;

[0024] Identify the collimation feature in the centering state image signal. The collimation feature is the center point of the target mark pre-drawn in the target area;

[0025] 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;

[0026] 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;

[0027] 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;

[0028] 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;

[0029] 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;

[0030] Generate a second alignment signal according to the actual compensation displacement and output it to the action module.

[0031] 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 enable the radiation source module to move to the current position information include:

[0032] Obtain the current position information of the motion module, and calculate a target area centered at the position point corresponding to the current position information with a preset radius;

[0033] 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;

[0034] After the radiation source module enters the target area, output a control instruction to control the optical aiming unit to output an aiming optical signal.

[0035] 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 current position information include:

[0036] 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;

[0037] The specific steps of waiting to obtain a in-place signal indicating that the radiation source module reaches the current position information and outputting 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 include:

[0038] Wait to obtain the aiming optical 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 optical signal.

[0039] In one embodiment, the specific steps of waiting to obtain a in-place signal indicating that the radiation source module reaches the current position information and outputting 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 include:

[0040] Judge the validity of the aiming optical signal;

[0041] If so, output the in-place signal and the reset signal.

[0042] The above tumor radiotherapy control method and system first achieve aiming at the radiotherapy target area through the centering module, and then control the radiation source module to align with the centering module. And because machine vision and optical alignment methods are used in the alignment process, the function of automatic alignment of the radiotherapy instrument can be realized on the basis of ensuring the alignment accuracy. Description of the Drawings

[0043] Figure 1 It is a structural block diagram of a tumor radiotherapy control system in one embodiment;

[0044] Figure 2Schematic structural diagram of a tumor radiotherapy control system in an embodiment;

[0045] Figure 3 Schematic flowchart of a tumor radiotherapy control method in an embodiment;

[0046] Figure 4 Schematic flowchart of the specific process of step S300 in an embodiment;

[0047] Figure 5 Schematic diagram of the centering state image in an embodiment;

[0048] Figure 6 Schematic diagram of the second centering state image in an embodiment;

[0049] Figure 7 Characteristic waveform diagram of the aiming signal in an embodiment;

[0050] Figure 8 Internal structure diagram of a computer device in an embodiment.

[0051] Reference numerals: 1, CPU module; 2, action module; 3, centering module; 31, light centering unit; 32, image acquisition unit; 33, auxiliary aiming unit; 34, mounting bracket; 4, radiation source module; 41, movement unit; 42, radiation source; 43, optical aiming unit; 5, operation console. Detailed implementation manners

[0052] In order to make the objectives, technical solutions and advantages of the present application clearer, 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.

[0053] In one embodiment, as Figure 1 shown, a tumor radiotherapy control system is provided. The device includes a CPU module, an action module, a centering module, and a radiation source module, wherein:

[0054] The CPU module is used to obtain the information output by the action module, the centering module, and the radiation source module, and is used for various data and logical operations and outputting control instructions and other functions;

[0055] 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;

[0056] 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;

[0057] 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.

[0058] Among them, the action module is an action mechanism for realizing two-dimensional motion in a predetermined plane according to specific control instructions. Specifically, in this embodiment, the action module is an action mechanism composed of at least two pairs of ball screw nut mechanisms, and the two sets of ball screws are respectively parallel to two adjacent sides of the rectangular operation table 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.

[0059] Furthermore, the centering module includes a horizontally arranged mounting frame. The mounting frame is connected to the action module. The light centering unit and the image acquisition unit are located on the bottom surface of the mounting frame. 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 frame. When the action 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.

[0060] 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 action module drives the centering module to move to the starting position. Since the mounting frame 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 frame, 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.

[0061] During radiotherapy, the patient lies flat on a horizontally set operating table. In the preliminary work of radiotherapy, medical staff will draw marking lines for guiding radiotherapy on the body surface skin corresponding to the location of the tumor. When using this system, medical staff can draw the marking lines as cross-shaped marks. The area where the cross marks are located is the target area. The intersection point of the cross-shaped marks 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 marks are located. The CPU module calculates and outputs the first alignment signal. After the action module receives the first alignment signal output by the CPU module, it 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. 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 it is the approximate position of the target area corresponding to the first alignment 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. And 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 alignment signal to control the action module to drive the light centering unit to move until the target center and the centering mark coincide. Thus, the centering of the centering module and the target point is completed.

[0062] 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; in terms of structure, 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 emitted light of the light centering unit, the optical axis of the incident light of the auxiliary aiming unit is set vertically, 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. 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 emitted 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.

[0063] By restricting the positions of the units in the optical aiming unit and the centering module, the relative positions of the light aiming unit and the rays 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 optical axis of the rays of the radiation source coincides with 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 complete the alignment with the bull's-eye, but also serve as the in-place trigger device of 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 action module to drive the centering module to reset, so that the radiation source module can perform subsequent radiotherapy tasks.

[0064] Based on the same inventive concept, an embodiment of the present application further provides a tumor radiotherapy control method applied to the tumor radiotherapy control system involved above. The implementation solution provided by this method to solve the problem is similar to the implementation solution recorded in the above system. Therefore, the specific limitations in one or more embodiments of the tumor radiotherapy control method provided below can refer to the limitations on the tumor radiotherapy control system in the above text, and will not be repeated here.

[0065] 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:

[0066] Step S100: Obtain the preset target area position, and output a first alignment signal to control the action module to drive the centering module to move to the first centering area corresponding to the target area position.

[0067] 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 alignment signal is a control signal for controlling the action module to drive the centering module to move to the first centering area corresponding to the target area position, and this signal is calculated by the CPU module according to the coordinate points or target area range manually input by medical staff.

[0068] Step S200: Output a sampling signal to control the centering module to obtain the centering state image signal in the target area.

[0069] 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 in the target area, and enabling the image acquisition unit to obtain the centering state image 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.

[0070] Step S300: Identify the centering mark and the centroid feature in the centering state image signal, and calculate the relative position between the centering mark and the centroid to generate a second alignment signal, so that the motion module drives the centering module to move to a position where the centering mark is aligned with the centroid.

[0071] Among them, the centroid feature is the center point of the mark drawn on the patient's body surface in the previous link of radiotherapy, and the centering mark is the light spot projected on the patient's body surface by the light centering unit. As Figure 4 shown, the specific steps of step S300 are as follows:

[0072] 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 in the target area.

[0073] Step S320: Identify the centroid feature in the centering state image signal. Among them, the centroid feature is the center point of the target mark pre-drawn in the target area.

[0074] When performing centroid feature recognition, the target mark drawn in the target area can be recognized first. Since this mark is drawn on the patient's body surface by medical staff, there is similarity between different marks, which is easy to perform feature recognition. Subsequently, the center point is obtained. Since the mark is specified as a cross mark in the foregoing content, the centroid feature is the intersection point of the cross mark.

[0075] Step S330: Calculate the first vector pointing from the centering mark to the centroid feature according to the coordinates between the centering mark and the centroid feature in the centering state image.

[0076] In one embodiment, the centering state image after feature recognition is as Figure 5 shown. After calculating the first vector, the position of the centroid feature relative to the centering mark can be obtained, and the moving direction for the centering mark to approach the centroid feature can also be obtained.

[0077] Step S340: Output an instruction to control the motion 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.

[0078] 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, this proportional relationship is affected by factors such as the patient's body type. Therefore, 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:

[0079] Step S350: Identify the second centering mark and the second quasi-centering feature in the second centering state image to obtain a second vector pointing from the second centering mark to the second quasi-centering feature.

[0080] In one embodiment, the second centering state image is as Figure 6 shown.

[0081] Step S360: Calculate the ratio parameter K between the magnitude of the vector difference between the first vector and the second vector and the preset unit length;

[0082] Step S370: Calculate the product of the ratio parameter K and the magnitude of the second vector to obtain the actual compensation displacement indicating that the centering unit still needs to move;

[0083] Step S380: Generate a second alignment signal according to the actual compensation displacement and output it to the action module.

[0084] 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 current position information.

[0085] Among them, the radiation source module includes an optical aiming unit for outputting an aiming optical signal. The specific steps of step S400 include:

[0086] 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;

[0087] Step S420: Output a control instruction to control the radiation source module to move into the target area, read the current position of the radiation source module in real time, and determine whether the radiation source module enters the target area;

[0088] 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 optical signal.

[0089] In this embodiment, the centering module further includes an auxiliary aiming unit for receiving the aiming optical signal and outputting an in-place signal after receiving the aiming optical signal, where the in-place signal is a signal indicating that the auxiliary aiming unit has received the aiming optical 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:

[0090] Step S440: The specific steps of obtaining the current position information of the action module and outputting the current position information to the radiation source module so that the radiation source module moves to the current position information include:

[0091] 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.

[0092] Step S500: Wait for and obtain a 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.

[0093] In this embodiment, the specific steps of step S500 include:

[0094] 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.

[0095] 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 the Figure 7 waveform characteristics shown. Among them, 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:

[0096] Step S520: Judge the validity of the aiming light signal;

[0097] Step S530: If so, output the in-place signal and the reset signal.

[0098] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, 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 alternately with at least a part of other steps or steps in other steps.

[0099] Each module in the above tumor radiotherapy control system can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above modules can be embedded in the processor of a computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0100] In one embodiment, a computer device is provided. The computer device can be a terminal, and its internal structural 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, and 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 implements 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, touchpad, or mouse, etc.

[0101] Those skilled in the art can understand that Figure 8 the structure shown in

[0102] 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 memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, 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., and are not limited thereto. 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 logic devices, data processing logics based on quantum computing, etc., and are not limited thereto.

[0103] 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 recorded in this specification.

[0104] 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 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 configured to receive a first centering signal and a second centering 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 a centering state image signal within the target area and output it to the CPU module; The centering module further includes a horizontally arranged mounting bracket, the mounting bracket is connected to the action module, the light centering unit and the image acquisition unit are located on the bottom surface of the mounting bracket, the optical axis of the emitted light of the light centering unit is perpendicular to the bottom surface of the mounting bracket. When the action 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; the radiation source module includes an optical aiming unit, and the optical aiming unit is configured to output an aiming light signal; the centering module further includes an auxiliary aiming unit, and the auxiliary aiming unit is configured to receive the aiming light signal and output a in-place signal after receiving the aiming light signal; The CPU module is configured to execute the following tumor radiotherapy control method: Obtain a 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 a centering state image signal within 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. The radiation source module includes a motion unit and a radiation source, and the radiation source module is configured to receive the current position information to control the motion unit to drive the radiation source to move to the current position information; Wait and obtain an 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.

2. The tumor radiotherapy control system according to claim 1, 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.

3. The tumor radiotherapy control system according to claim 2, 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 image signal in the target area when the light centering unit is turned on. The centering state image signal is an image in which the light spot for centering falls within the target area.

4. The tumor radiotherapy control system according to claim 3, 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 alignment signal to cause the action module to 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 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 alignment signal according to the actual compensation displacement and output it to the action module.

5. The tumor radiotherapy control system according to claim 4, 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 causing the radiation source module to 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 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.

6. The tumor radiotherapy control system according to claim 5, 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 causing the radiation source module to 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 arrives at 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.

7. A tumor radiotherapy control system according to claim 6, characterized in that, The specific steps of waiting for and obtaining the in-place signal indicating that the radiation source module arrives at 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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