Positioning method and device, computer equipment and storage medium

Abstract

The invention relates to a positioning method and device, computer equipment and a storage medium. Surface contour information of an object can be obtained; determining a two-dimensional projection image and a three-dimensional contour image according to the surface contour information; and positioning the object based on the two-dimensional projection image and the three-dimensional contour image. In the radiation delivery process, the two-dimensional projection image and the three-dimensional contour image can be obtained based on the surface contour information, the object is positioned according to the two-dimensional projection image and the three-dimensional contour image, extra scanning for positioning does not need to be performed on the object, extra radiation dose of the object in the radiation delivery process is avoided, and the radiation delivery efficiency is improved. The efficiency of radiation delivery to the subject can also be improved.

Description

Technical Field

[0001] The present application relates to the field of radiation delivery, and in particular, to a positioning method, device, computer device, and storage medium. Background Art

[0002] Object positioning is a step of placing or positioning an object at a specific position and orientation, and is a very important part for radiation delivery (such as radiotherapy, radiation processing, radiation flaw detection, radiation testing, etc.), which is related to the effect and efficiency of radiation delivery.

[0003] As an example, currently, before radiotherapy, the tumor position of a patient is determined through computed tomography images, and then a treatment plan is formulated based on the tumor position. During radiotherapy, the patient is positioned through various images such as X-ray images and cone beam computed tomography (CBCT) images. The physician continuously adjusts the patient's position and posture according to the X-ray image or CBCT image to place the tumor center of the patient at the treatment center of the radiotherapy device, and the patient is treated according to the treatment plan in this position and posture. However, this process involves additional radiation dose for the patient's treatment and is time-consuming. Similar problems also exist in other forms of radiation delivery. For example, lead dots / cross laser lights are used to draw lines. This method is a traditional way of positioning a patient, which requires attaching lead dots and drawing cross lines on the patient's body surface to determine the relative position between the patient's body posture and the treatment area. It highly depends on the cooperation and manual operation of the patient and the technician in the process, with limited accuracy, and the marks on the patient's body are prone to fading and blurring.

[0004] Alternatively, the marker optical tracking positioning method, which feedbacks whether the patient's body posture is in place by optically tracking specific markers fixed on the patient's body. This method also often requires marking on the patient's body, and there are also problems with body surface marking and limited supervised area, and it cannot comprehensively feedback whether the patient's body posture is in place. Summary of the Invention

[0005] Based on this, it is necessary to provide a positioning method, device, computer device, computer-readable storage medium, and computer program product that can reduce the additional radiation dose for the above technical problems.

[0006] In a first aspect, the present application provides a positioning method, including:

[0007] Obtaining surface contour information of an object;

[0008] Determining a two-dimensional projection image and a three-dimensional contour image of the object according to the surface contour information;

[0009] Based on the two-dimensional projection image and the three-dimensional contour image, the object is positioned.

[0010] In one embodiment, the positioning of the object based on the two-dimensional projection image and the three-dimensional contour image includes:

[0011] Performing a first positioning of the object based on the two-dimensional projection image; and

[0012] After at least partially completing the first positioning, performing a second positioning of the object based on the three-dimensional contour image.

[0013] In one embodiment, the performing a second positioning of the object based on the three-dimensional contour image includes:

[0014] After at least partially completing the first positioning, obtaining real-time surface contour information of the object;

[0015] Determining a positioning registration deviation according to the real-time surface contour information and the three-dimensional contour image;

[0016] Based on the positioning registration deviation, performing a second positioning of the object.

[0017] In one embodiment, the determining the two-dimensional projection image and the three-dimensional contour image of the object according to the surface contour information includes:

[0018] Based on a first image of the object, determining a radiation delivery plan for the object;

[0019] Determining a simulation execution result of the radiation delivery plan;

[0020] If the simulation execution result meets a preset condition, determining the two-dimensional projection image and the three-dimensional contour image according to the surface contour information.

[0021] In one embodiment, the obtaining surface contour information of the object includes:

[0022] Based on a first image obtained by scanning the object with a three-dimensional scanning device and / or a second image obtained by photographing the object with an optical device, determining the surface contour information.

[0023] In one embodiment, the positioning of the object based on the two-dimensional projection image and the three-dimensional contour image includes:

[0024] Send the two-dimensional projection image and the three-dimensional contour image to a display device to display the two-dimensional projection image and the three-dimensional contour image to a user through the display device, so that the user can position the object; the display device includes a two-dimensional imaging device and a three-dimensional imaging device, the two-dimensional imaging device is used to display the two-dimensional projection image, and the three-dimensional imaging device is used to display the three-dimensional contour image.

[0025] In a second aspect, the present application further provides a positioning method, the method includes:

[0026] Perform a first positioning on the object based on the two-dimensional projection image of the object; and

[0027] After at least partially completing the first positioning, perform a second positioning on the object based on the three-dimensional contour image of the object.

[0028] In a third aspect, the present application further provides a positioning device, including:

[0029] An acquisition module, configured to acquire surface contour information of an object;

[0030] A determination module, configured to determine a two-dimensional projection image and a three-dimensional contour image of the object according to the surface contour information;

[0031] A first positioning module, configured to position the object based on the two-dimensional projection image and the three-dimensional contour image.

[0032] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] Acquire surface contour information of an object;

[0034] Determine a two-dimensional projection image and a three-dimensional contour image of the object according to the surface contour information;

[0035] Position the object based on the two-dimensional projection image and the three-dimensional contour image.

[0036] In a fifth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0037] Acquire surface contour information of an object;

[0038] Determine a two-dimensional projection image and a three-dimensional contour image of the object according to the surface contour information;

[0039] Based on the two-dimensional projection image and the three-dimensional contour image, the object is positioned.

[0040] In a sixth aspect, the present application also provides a computer program product, including a computer program, which when executed by a processor implements the following steps:

[0041] Obtain the surface contour information of the object;

[0042] Determine a two-dimensional projection image and a three-dimensional contour image according to the surface contour information;

[0043] Based on the two-dimensional projection image and the three-dimensional contour image, the object is positioned.

[0044] The above positioning method, device, computer device and storage medium can obtain the surface contour information of the object; determine a two-dimensional projection image and a three-dimensional contour image according to the surface contour information; and position the object based on the two-dimensional projection image and the three-dimensional contour image. In the embodiments of the present application, in radiation delivery, a two-dimensional projection image and a three-dimensional contour image can be obtained based on the surface contour information, and the object can be positioned according to the two-dimensional projection image and the three-dimensional contour image, without performing an additional scan for positioning on the object, avoiding additional radiation dose on the object during the radiation delivery process, and also improving the radiation delivery efficiency for the object. Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0046] Figure 1 It is an application environment diagram of the positioning method in an embodiment;

[0047] Figure 2 It is a flowchart of the positioning method in an embodiment;

[0048] Figure 3 It is a flowchart of the positioning method in another embodiment;

[0049] Figure 4 It is a flowchart of the second positioning of the object in an embodiment;

[0050] Figure 5 It is a flowchart of the method for determining a two-dimensional projection image and a three-dimensional contour image in an embodiment;

[0051] Figure 6Schematic flowchart of the positioning method in another embodiment;

[0052] Figure 7 Structural block diagram of the positioning device in one embodiment;

[0053] Figure 8 Internal structure diagram of a computer device in one embodiment. Detailed implementation manners

[0054] 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.

[0055] The term "positioning" herein refers to placing, setting, positioning, orienting, adjusting, etc. of the body position, pose, etc. In addition, the term "body position" herein covers position, orientation, shape, etc.

[0056] The positioning method provided by the embodiments of the present application can be applied to an application environment as shown in Figure 1 The application environment includes a computer device, which can be a server, and its internal structure diagram can be as shown in Figure 1 The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. 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, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data associated with positioning. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a positioning method is implemented. The server can be implemented by an independent server or a server cluster composed of multiple servers.

[0057] In an exemplary embodiment, as shown in Figure 2 a positioning method is provided. Taking the method applied to the computer device in Figure 1 as an example, it includes the following S201 to S203. Among them:

[0058] S201, obtaining surface contour information of an object.

[0059] In this embodiment, an initial three-dimensional image of an object can be obtained based on a three-dimensional medical scanning device (such as a Computed Tomography (CT) device, a Magnetic Resonance Imaging (MRI) device, etc.), and the initial three-dimensional image can be analyzed to obtain the surface contour information of the object. The surface contour information of the object pre-stored can also be directly read from a memory. In a possible implementation manner, during the process of scanning the object, the surface contour information of the object can also be directly obtained by using an optical device (such as a camera). For example, during the process of scanning the object by the three-dimensional medical scanning device, an optical surface monitoring system is used to obtain the surface contour information of the object.

[0060] As a non-limiting example, the surface contour information may include the surface image or body surface image of the object, the spatial position coordinate information of specific points on the surface or body surface, the surface contour shape or body surface contour shape, and so on. However, it is not limited thereto, and the surface contour information may also include other types of information associated with the surface contour.

[0061] S202. Determine a two-dimensional projection image and a three-dimensional contour image of the object according to the surface contour information.

[0062] Among them, the three-dimensional contour image can be a semi-transparent volume image or contour image, which can be used to clearly observe the internal structure, tissues, etc. of the object. However, it is not limited thereto, and the three-dimensional contour image can also be the surface image of an opaque object.

[0063] In this embodiment, the surface contour information can be projected onto the plane of the platform (such as a hospital bed) for carrying the object or other specific planes to obtain a two-dimensional projection image, and an image reconstruction algorithm is used to reconstruct the surface contour information to obtain a three-dimensional contour image.

[0064] However, it is not limited thereto, and the two-dimensional projection image and the three-dimensional contour image can also be obtained by other means. For example, the two-dimensional projection image can be obtained by intercepting the three-dimensional contour image on a specific two-dimensional plane. For example, the three-dimensional contour image can be obtained by extracting or supplementing the surface contour information.

[0065] S203. Perform positioning of the object based on the two-dimensional projection image and the three-dimensional contour image.

[0066] In this embodiment, as a non-limiting example, a computer device sends a two-dimensional projection image and a three-dimensional contour image to a display device for the display device to display the two-dimensional projection image and the three-dimensional contour image. An operator performs a first positioning (e.g., rough positioning) of the object according to the two-dimensional projection image to determine the relative position of the object with respect to the radiation delivery bed. Further, the operator can perform a second positioning (e.g., fine positioning) of the object according to the three-dimensional contour image. As another example, the two-dimensional projection image and the three-dimensional contour image can be provided to a patient as the object via the display device, and the patient can adjust their body position according to the images by themselves.

[0067] Among them, the display device includes a two-dimensional imaging device and a three-dimensional imaging device. The two-dimensional imaging device is used to display the two-dimensional projection image, and the three-dimensional imaging device is used to display the three-dimensional contour image. As an example, the two-dimensional imaging device and the three-dimensional imaging device can be respectively arranged in independent devices; or, the two-dimensional imaging device and the three-dimensional imaging device can be integrated in the same device.

[0068] Optionally, the two-dimensional imaging device can be an ordinary projector, a laser projector, etc., and the three-dimensional imaging device can be an Augmented Reality (AR) device, a holographic imaging device, etc.

[0069] In another embodiment, as another non-limiting example, the computer device can automatically perform object positioning based on the two-dimensional projection image and the three-dimensional contour image. For example, automatic positioning can be achieved by automatically adjusting the position, angle, etc. of the platform for supporting the object.

[0070] In the above positioning method, the surface contour information of the object can be obtained; the two-dimensional projection image and the three-dimensional contour image are determined according to the surface contour information; and the object is positioned based on the two-dimensional projection image and the three-dimensional contour image. In the embodiments of the present application during radiation delivery, the two-dimensional projection image and the three-dimensional contour image can be obtained based on the surface contour information, and the object is positioned according to the two-dimensional projection image and the three-dimensional contour image, without the need for additional scans for positioning the object, avoiding additional radiation dose to the object during the radiation delivery process, and also improving the radiation delivery efficiency for the object.

[0071] Figure 3 For the flow schematic diagram of the positioning method in another embodiment, as Figure 3 shown, the embodiments of the present application relate to a possible implementation manner of how to position an object based on a two-dimensional projection image and a three-dimensional contour image. Here, the two-dimensional projection image and the three-dimensional contour image can be obtained based on the Figure 2 method of the embodiments involved, or can be obtained through other methods. For example, directly read the two-dimensional projection image and the three-dimensional contour image stored in the storage device. Figure 3The method shown in the figure includes the following steps:

[0072] S301, perform a first positioning of the object based on the two-dimensional projection image.

[0073] Among them, the first positioning can be a rough positioning.

[0074] In this embodiment, the computer device controls the position of the platform for supporting the object by using the two-dimensional projection image to achieve the first positioning of the object, so that the relative position between the object and the radiotherapy delivery bed is consistent with the relative position between the object and the radiotherapy delivery bed in the radiotherapy delivery plan.

[0075] In another embodiment, as another non-limiting example, the computer device sends the two-dimensional projection image to the display device for the patient / operator to perform the first positioning of the object according to the two-dimensional projection image.

[0076] S302, after at least partially completing the first positioning, perform a second positioning of the object based on the three-dimensional contour image.

[0077] Among them, the second positioning can be a fine positioning.

[0078] In this embodiment, after at least partially completing the first positioning, the three-dimensional contour image is displayed on the display device, and the operator / patient can perform the second positioning according to the three-dimensional contour image.

[0079] In another embodiment, as another non-limiting example, the computer device automatically adjusts the position of the platform for supporting the object by using the three-dimensional contour image to achieve the second positioning of the object.

[0080] In the embodiment of the present application, the first positioning of the object is performed based on the two-dimensional projection image, and after at least partially completing the first positioning, the second positioning of the object is performed based on the three-dimensional contour image. The relative position of the object with respect to the radiotherapy delivery bed is determined through the first positioning, thereby reducing the adjustment time of the second positioning, and thus improving the efficiency of positioning.

[0081] Figure 4 For a schematic flowchart of performing the second positioning of the object in an embodiment, as Figure 4 shown, the embodiment of the present application relates to a possible implementation manner of how to perform the second positioning of the object based on the three-dimensional contour image, including the following steps:

[0082] S401, after at least partially completing the first positioning, obtain the real-time surface contour information of the object.

[0083] In this embodiment, a first positioning of the object is performed using a two-dimensional projection image, so that the relative position of the object and the radiation delivery bed is consistent with the relative position of the object and the radiation delivery bed in the radiation delivery plan. After at least partially completing the first positioning of the object based on the two-dimensional projection image, real-time surface profile information of the object is obtained through an optical device (such as a camera, an infrared detector, etc.), and the real-time surface profile information of the object is sent to a computer device.

[0084] S402. Determine the positioning registration deviation according to the real-time surface profile information and the three-dimensional profile image.

[0085] In this embodiment, a real-time three-dimensional image is obtained using the real-time surface profile information, and a difference calculation is performed on the real-time three-dimensional image and the three-dimensional profile image to obtain the positioning registration deviation.

[0086] S403. Perform a second positioning of the object based on the positioning registration deviation.

[0087] In this embodiment, the object is adjusted according to the positioning registration deviation. During the adjustment process, the optical device (such as a camera, an infrared detector, etc.) continuously obtains the real-time surface profile information of the object, and sends the real-time surface profile information to the computing device to obtain a new positioning registration deviation until the new positioning registration deviation is less than the preset positioning registration deviation, and the body position of the object is placed, obtaining the second positioning.

[0088] In the embodiment of the present application, after at least partially completing the first positioning, the real-time surface profile information of the object is obtained, the positioning registration deviation is determined according to the real-time surface profile information and the three-dimensional profile image, and the second positioning of the object is performed based on the positioning registration deviation. The embodiment of the present application uses a two-dimensional projection image to determine the preliminary positioning situation of the object, improves the accuracy of the relative position of the object and the radiation delivery bed, and further adjusts the body position of the object based on the three-dimensional profile image, improving the accuracy of the positioning while reducing the adjustment time of the positioning.

[0089] Figure 5 is a schematic flowchart of a method for determining a two-dimensional projection image and a three-dimensional profile image in an embodiment. As Figure 5 shown, the embodiment of the present application relates to a possible implementation manner of how to determine a two-dimensional projection image and a three-dimensional profile image according to the surface profile information, including the following steps:

[0090] S501. Determine the radiation delivery plan of the object based on the first image of the object.

[0091] Among them, the first image may be one or more of a computed tomography image, a magnetic resonance image, a positron emission tomography (PET) image, etc.

[0092] In this embodiment, taking the radiation delivery plan as an example of the radiotherapy plan, the target area of the object and the normal organs to be protected can be outlined through the first image to determine the radiation delivery plan of the object. For example, determine the radiation dose and the number of irradiations at the tumor site, concentrate the radiation dose on the tumor location to the greatest extent, protect the important organs, and minimize the unnecessary irradiation of the surrounding normal tissues; determine the relative position of the object and the radiation delivery bed, etc. When the radiation delivery plan belongs to other types of plans, it can also be determined by referring to the above methods.

[0093] S502. Determine the simulation execution result of the radiation delivery plan.

[0094] In this embodiment, before the execution of the radiation delivery plan, that is, before the object undergoes radiotherapy, in order to reduce errors and ensure that the irradiated area does not deviate from the target area (or partially deviates from the target area), whether there is a collision between the object and the radiation delivery device, whether there is a collision between the radiation delivery devices, and whether the execution order in the radiation delivery plan is reasonable, etc., it is necessary to determine the simulation execution result of the radiation delivery plan and verify the irradiation position, dose, and radiation delivery technique. Based on the simulation execution result, the feasibility and / or quality of the radiation delivery plan can be determined. As a non-limiting example, the quality can be characterized by scoring (such as 1 to 10 points, 1 to 100 points, etc.) or rating (such as divided into two levels of high and low, three levels of high, medium, and low, etc.). If the simulation execution result shows that the radiation delivery plan is infeasible or the quality is lower than the preset threshold, the reasons need to be analyzed, and it may be necessary to make adaptive adjustments to the radiation delivery plan or even redesign the radiation delivery plan.

[0095] S503. If the simulation execution result meets the preset conditions, determine the two-dimensional projection image and the three-dimensional contour image according to the surface contour information.

[0096] In this embodiment, when the simulation execution result meets the preset conditions, that is, when the simulation execution result shows that the radiation delivery plan is feasible, the above-mentioned two-dimensional projection image and three-dimensional contour image are determined according to the surface contour information to position the object according to the two-dimensional projection image and the three-dimensional contour image.

[0097] In the embodiment of the present application, based on the first image of the object, the radiation delivery plan of the object is determined, the simulation execution result of the radiation delivery plan is determined. If the simulation execution result meets the preset conditions, the two-dimensional projection image and the three-dimensional contour image are determined according to the surface contour information. In the embodiment of the present application, the feasibility of the radiation delivery plan is verified by using the simulation execution result before the execution of the radiation delivery plan, which improves the stability of the execution of the radiation delivery plan, the rationality of the positioning, and reduces the idle time of the technician.

[0098] In one embodiment, obtaining surface contour information of an object includes: determining the surface contour information based on a first image obtained by scanning the object with a three-dimensional scanning device and / or a second image obtained by photographing the object with an optical device. That is, there are three ways to obtain the surface contour information of the object:

[0099] The first way: Based on the first image obtained by scanning the object with a three-dimensional scanning device, determine the surface contour information according to the first image.

[0100] In this embodiment, a three-dimensional medical scanning device is used to obtain the first image of the object, and an image detection algorithm is used to obtain the surface contour information of the object based on the centroid points such as the positioning point and the radiation delivery point. For example, the first image is an initial three-dimensional image. The proportion of the human body foreground of each pixel in the initial three-dimensional image is predicted by using a convolutional neural network, and then the surface contour information of the object is obtained through image binarization; or the surface contour information of the object is extracted by using an edge detection operator (such as the Canny operator).

[0101] The second way: Based on the second image obtained by photographing the object with an optical device, determine the surface contour information according to the second image.

[0102] In this embodiment, during the process of using a three-dimensional medical scanning device to obtain the first image of the object, a second image obtained by photographing the object with an optical device is used, and the body surface contour information of the object is obtained by using a corresponding algorithm.

[0103] The third way is to determine the body surface contour information of the object by combining the first image and the second image simultaneously.

[0104] In this embodiment, the first body surface contour information can be determined based on the first image, the second body surface contour information can be obtained based on the second image, and the body surface contour information of the object can be obtained according to the first body surface contour information and the second body surface contour information.

[0105] In the embodiments of the present application, the optical device has no ionizing radiation, and the first image is a necessary image for formulating a radiation delivery plan. Therefore, the second surface image is obtained through the optical device, or the surface contour information is obtained through the first image, so as to assist in positioning the object based on the surface contour information, avoiding additional radiation dose to the object.

[0106] In one embodiment, positioning the object based on a two-dimensional projection image and a three-dimensional contour image includes: displaying the two-dimensional projection image and the three-dimensional contour image to the user through a display device, where the display device includes a two-dimensional imaging device and a three-dimensional imaging device, the two-dimensional imaging device is used to display the two-dimensional projection image, and the three-dimensional imaging device is used to display the three-dimensional contour image; and the user positions the object.

[0107] In this embodiment, the two-dimensional projection image and the three-dimensional contour image can be sent to a display device. The user performs a first positioning of the object according to the two-dimensional projection image. After at least completing the first positioning, the three-dimensional contour image is used to perform a second positioning of the object. At the same time, an optical device is used to obtain real-time surface contour information of the object and send the real-time surface contour information to a computer device. The computer device determines the positioning registration deviation according to the three-dimensional contour image and the real-time surface contour information, sends the positioning registration deviation to the display device, and the display device displays the positioning registration deviation. The user adjusts the body position of the object according to the positioning registration deviation. During the adjustment process, the optical device continuously obtains the real-time surface contour information of the object and sends the obtained real-time surface contour information to the computer device. The positioning registration deviation is calculated according to the real-time surface contour information and the three-dimensional contour image until the positioning registration deviation is less than a preset positioning registration deviation, and a prompt message is sent to the display device. The prompt message is used to indicate that the body position of the object has been positioned.

[0108] In the embodiment of the present application, the two-dimensional projection image and the three-dimensional contour image are displayed to the user through a display device, and the user positions the object. Based on the display of the two-dimensional projection image and the three-dimensional contour image by the display device in the embodiment of the present application, the user is assisted in positioning the object, facilitating the user to timely view the body position of the object and improving the positioning efficiency.

[0109] Figure 6 It is a schematic flow chart of a positioning method in an embodiment. As Figure 6 shown, it includes the following steps: scanning the object to obtain a CT image, and at the same time using an optical device to obtain surface contour information during the CT scanning session. The radiotherapy delivery planning system formulates a radiotherapy delivery plan according to the CT image, obtains the CT image in the radiotherapy delivery plan, determines the surface contour information of the object according to the CT image, and the radiotherapy delivery planning system virtually executes to determine the execution quality of the radiotherapy delivery plan: whether there is a collision and whether the execution order of the radiotherapy delivery technique is reasonable. When the radiotherapy delivery plan is executable, a two-dimensional projection image of the object at the corresponding position of the hospital bed in the radiotherapy delivery plan is obtained according to the surface contour information, and thus the first positioning of the object is performed according to the two-dimensional projection image of the object. A semi-transparent three-dimensional contour image of the object can be obtained according to the surface contour information while performing the first positioning based on the two-dimensional projection image. After at least partially completing the first positioning, the second positioning of the object is performed based on the three-dimensional contour image.

[0110] In the embodiments of the present application, a two-dimensional projection image can be determined first and the first positioning can be performed. While performing the first positioning, a three-dimensional contour image can be determined according to the surface contour information. After at least part of the first positioning is completed and the three-dimensional contour image is determined, the second positioning can be performed based on the three-dimensional contour image. Thus, it is not necessary to wait until the two-dimensional projection image and the three-dimensional contour image are determined before performing the first positioning and the second positioning, which can optimize the workflow and save the positioning time.

[0111] In the embodiments of the present application during radiation delivery, a two-dimensional projection image and a three-dimensional contour image can be obtained based on the surface contour information, and the object can be positioned according to the two-dimensional projection image and the three-dimensional contour image, without the need for additional scans for positioning the object, avoiding additional radiation dose to the object during radiation delivery, and also improving the radiation delivery efficiency for the object.

[0112] In one embodiment, a positioning method is further provided. The method includes performing a first positioning on the object based on the two-dimensional projection image of the object; and performing a second positioning on the object based on the three-dimensional contour image of the object after at least part of the first positioning is completed.

[0113] For the specific implementation manner, reference can be made to the above Figure 3 and Figure 4 illustrated embodiments.

[0114] It should be understood that although the steps in the flowcharts involved in the above embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limitation, 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.

[0115] Based on the same inventive concept, embodiments of the present application further provide a positioning device for implementing the positioning method involved above. The solution provided by the device for solving the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the positioning device provided below can refer to the limitations on the positioning method in the above text, and will not be repeated here.

[0116] In an exemplary embodiment, as Figure 7 shown, a positioning device is provided, including: an acquisition module 11, a determination module 12, and a first positioning module 13, where:

[0117] An acquisition module 11, configured to acquire surface contour information of an object;

[0118] A determination module 12, configured to determine a two-dimensional projection image and a three-dimensional contour image of the object according to the surface contour information;

[0119] A first positioning module 13, configured to position the object based on the two-dimensional projection image and the three-dimensional contour image.

[0120] In one embodiment, the first positioning module includes:

[0121] A first positioning unit, configured to perform a first positioning on the object based on the two-dimensional projection image; and

[0122] A second positioning unit, configured to perform a second positioning on the object based on the three-dimensional contour image after at least partially completing the first positioning.

[0123] In one embodiment, the second positioning unit is further configured to acquire real-time surface contour information of the object after at least partially completing the first positioning; determine a positioning registration deviation according to the real-time surface contour information and the three-dimensional contour image; and perform a second positioning on the object based on the positioning registration deviation.

[0124] In one embodiment, the determination module includes:

[0125] A first determination unit, configured to determine a radiation delivery plan of the object based on a first image of the object;

[0126] A second determination unit, configured to determine a simulation execution result of the radiation delivery plan;

[0127] A third determination unit, configured to determine the two-dimensional projection image and the three-dimensional contour image according to the surface contour information if the simulation execution result meets a preset condition.

[0128] In one embodiment, the acquisition module is specifically configured to determine the surface contour information based on a first image obtained by scanning the object through a three-dimensional scanning device and / or a second image obtained by photographing the object through an optical device.

[0129] In one embodiment, the first positioning module further includes:

[0130] A display unit, configured to send the two-dimensional projection image and the three-dimensional contour image to a display device, so as to display the two-dimensional projection image and the three-dimensional contour image to a user through the display device, so that the user positions the object; the display device includes a two-dimensional imaging device and a three-dimensional imaging device, the two-dimensional imaging device is configured to display the two-dimensional projection image, and the three-dimensional imaging device is configured to display the three-dimensional contour image.

[0131] In one embodiment, a positioning device is provided, including:

[0132] A second positioning module for performing a first positioning on an object based on a two-dimensional projection image of the object; and

[0133] A third positioning module for performing a second positioning on the object based on a three-dimensional contour image of the object after at least partially completing the first positioning.

[0134] Each module in the above positioning device can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in or independent of a processor in a computer device in the form of hardware, or stored in a memory in the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0135] In an exemplary embodiment, a computer device is provided. In an exemplary 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, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. 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 input / output interface of the computer device is used for exchanging information between the processor and external devices. The communication interface of the computer device is used for communicating 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. The computer program, when executed by the processor, implements a positioning method. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen 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 shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0136] Those skilled in the art can understand, Figure 8The structure shown is only a block diagram of some of the structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. Specifically, the computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0137] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0138] Obtain the surface contour information of the object;

[0139] Determine the two-dimensional projection image and the three-dimensional contour image of the object according to the surface contour information;

[0140] Based on the two-dimensional projection image and the three-dimensional contour image, position the object.

[0141] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0142] Perform a first positioning of the object based on the two-dimensional projection image; and

[0143] After at least partially completing the first positioning, perform a second positioning of the object based on the three-dimensional contour image.

[0144] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0145] After at least partially completing the first positioning, obtain the real-time surface contour information of the object;

[0146] Determine the positioning registration deviation according to the real-time surface contour information and the three-dimensional contour image;

[0147] Based on the positioning registration deviation, perform a second positioning of the object.

[0148] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0149] Based on the first image of the object, determine the radiation delivery plan of the object;

[0150] Determine the simulation execution result of the radiation delivery plan;

[0151] If the simulation execution result meets the preset conditions, determine the two-dimensional projection image and the three-dimensional contour image according to the surface contour information.

[0152] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0153] Determine surface contour information based on a first image obtained by scanning an object using a three-dimensional scanning device and / or a second image obtained by photographing the object using an optical device.

[0154] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0155] Send a two-dimensional projection image and a three-dimensional contour image to a display device to display the two-dimensional projection image and the three-dimensional contour image to the user through the display device, so that the user can position the object; the display device includes a two-dimensional imaging device and a three-dimensional imaging device, the two-dimensional imaging device is used to display the two-dimensional projection image, and the three-dimensional imaging device is used to display the three-dimensional contour image.

[0156] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0157] Perform a first positioning of the object based on the two-dimensional projection image of the object; and

[0158] After at least partially completing the first positioning, perform a second positioning of the object based on the three-dimensional contour image of the object.

[0159] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0160] Obtain the surface contour information of the object;

[0161] Determine the two-dimensional projection image and the three-dimensional contour image of the object according to the surface contour information;

[0162] Perform positioning of the object based on the two-dimensional projection image and the three-dimensional contour image.

[0163] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0164] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0165] Perform a first positioning of the object based on the two-dimensional projection image; and

[0166] After at least partially completing the first positioning, perform a second positioning of the object based on the three-dimensional contour image.

[0167] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0168] After at least partially completing the first positioning, obtain the real-time surface contour information of the object;

[0169] Determine the positioning registration deviation based on the real-time surface profile information and the three-dimensional profile image;

[0170] Based on the positioning registration deviation, perform a second positioning on the object.

[0171] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0172] Based on the first image of the object, determine the radiation delivery plan for the object;

[0173] Determine the simulation execution result of the radiation delivery plan;

[0174] If the simulation execution result meets the preset conditions, determine the two-dimensional projection image and the three-dimensional profile image according to the surface profile information.

[0175] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0176] Based on the first image obtained by scanning the object with a three-dimensional scanning device and / or the second image obtained by photographing the object with an optical device, determine the surface profile information.

[0177] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0178] Send the two-dimensional projection image and the three-dimensional profile image to a display device to display the two-dimensional projection image and the three-dimensional profile image to the user through the display device for the user to position the object; the display device includes a two-dimensional imaging device and a three-dimensional imaging device, the two-dimensional imaging device is used to display the two-dimensional projection image, and the three-dimensional imaging device is used to display the three-dimensional profile image.

[0179] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0180] Perform a first positioning on the object based on the two-dimensional projection image of the object; and

[0181] After at least partially completing the first positioning, perform a second positioning on the object based on the three-dimensional profile image of the object.

[0182] In one embodiment, a computer program product is provided, including a computer program, which when executed by a processor, implements the following steps:

[0183] Obtain the surface profile information of the object;

[0184] Determine the two-dimensional projection image and the three-dimensional profile image of the object according to the surface profile information;

[0185] Based on the two-dimensional projection image and the three-dimensional profile image, position the object.

[0186] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0187] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0188] Performing a first positioning of the object based on a two-dimensional projection image; and

[0189] After at least partially completing the first positioning, performing a second positioning of the object based on a three-dimensional contour image.

[0190] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0191] After at least partially completing the first positioning, acquiring real-time surface contour information of the object;

[0192] Determining a positioning registration deviation according to the real-time surface contour information and the three-dimensional contour image;

[0193] Performing a second positioning of the object based on the positioning registration deviation.

[0194] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0195] Determining a radiation delivery plan for the object based on a first image of the object;

[0196] Determining a simulation execution result of the radiation delivery plan;

[0197] If the simulation execution result meets a preset condition, determining the two-dimensional projection image and the three-dimensional contour image according to the surface contour information.

[0198] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0199] Determining surface contour information based on a first image obtained by scanning the object with a three-dimensional scanning device and / or a second image obtained by photographing the object with an optical device.

[0200] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0201] Sending the two-dimensional projection image and the three-dimensional contour image to a display device to display the two-dimensional projection image and the three-dimensional contour image to a user through the display device for the user to perform positioning on the object; the display device includes a two-dimensional imaging device and a three-dimensional imaging device, the two-dimensional imaging device is used to display the two-dimensional projection image, and the three-dimensional imaging device is used to display the three-dimensional contour image.

[0202] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0203] Performing a first positioning of the object based on the two-dimensional projection image of the object; and

[0204] After at least partially completing the first positioning, performing a second positioning of the object based on the three-dimensional contour image of the object.

[0205] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0206] 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., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0207] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of 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.

[0208] The above-described 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 positioning method, characterized in that, The method includes: Obtaining surface contour information of an object; Determining a two-dimensional projection image and a three-dimensional contour image of the object according to the surface contour information; Performing object positioning based on the two-dimensional projection image and the three-dimensional contour image.

2. The positioning method according to claim 1, characterized in that The performing object positioning based on the two-dimensional projection image and the three-dimensional contour image includes: Performing a first positioning on the object based on the two-dimensional projection image; and After at least partially completing the first positioning, performing a second positioning on the object based on the three-dimensional contour image.

3. The positioning method according to claim 2, wherein The performing a second positioning on the object based on the three-dimensional contour image includes: After at least partially completing the first positioning, obtaining real-time surface contour information of the object; Determining a positioning registration deviation according to the real-time surface contour information and the three-dimensional contour image; Performing a second positioning on the object based on the positioning registration deviation.

4. The method according to claim 1, characterized in that, The determining a two-dimensional projection image and a three-dimensional contour image of the object according to the surface contour information includes: Based on a first image of the object, determining a radiation delivery plan for the object; Determining a simulation execution result of the radiation delivery plan; If the simulation execution result meets a preset condition, determining the two-dimensional projection image and the three-dimensional contour image according to the surface contour information.

5. The method according to claim 1, wherein The obtaining surface contour information of the object includes: Based on a first image obtained by scanning the object with a three-dimensional scanning device and / or a second image obtained by photographing the object with an optical device, determining the surface contour information.

6. The method according to claim 1, wherein The performing object positioning based on the two-dimensional projection image and the three-dimensional contour image includes: Sending the two-dimensional projection image and the three-dimensional contour image to a display device to display the two-dimensional projection image and the three-dimensional contour image to a user through the display device, so that the user performs positioning on the object.

7. A positioning method, characterized in that, The method includes: Performing a first positioning on the object based on a two-dimensional projection image of the object; and After at least partially completing the first positioning, performing a second positioning on the object based on the three-dimensional contour image of the object.

8. A positioning device, characterized in that, The device includes: An obtaining module, configured to obtain surface contour information of an object; A determining module, configured to determine a two-dimensional projection image and a three-dimensional contour image of the object according to the surface contour information; A first positioning module, configured to perform positioning on the object based on the two-dimensional projection image and the three-dimensional contour image.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the positioning method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the positioning method according to any one of claims 1 to 7 are implemented.

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