Collision detection auxiliary system and method for radiotherapy positioning

Abstract

The invention provides a collision detection auxiliary system and method for radiotherapy positioning. The collision detection auxiliary system comprises a height calibration bracket, a slide rail cross beam and a collision detection laser lamp; wherein the height calibration bracket measures the height of a patient in the chest-back direction as position data of a reference center point; the sliding rail cross beam is arranged above a CT bed on which a patient lies and provides a sliding rail for the collision detection laser lamp, and scale marks for marking eccentric positions are formed on the sliding rail cross beam; the collision detection laser lamp is mounted on a sliding rail of the sliding rail cross beam, can slide on the sliding rail of the sliding rail cross beam to adjust the position, and can irradiate a patient; the collision detection laser lamp projects light to the body surface of the patient, the safe eccentric range is calibrated, and the collision risk is visually prompted.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, especially the patient positioning technology of radiotherapy devices. Specifically, it is a collision detection assistance system and method for preventing equipment collision during the treatment process. Background Art

[0002] Radiotherapy is a medical technology that precisely kills tumor cells through high-energy rays. The core is to ensure that the patient's target area is highly consistent with the treatment (irradiation) center point (Iso point) of the treatment device, as Figure 1 shown. However, due to the structural limitations of the patient's body shape, treatment couch, and accelerator, some problems may occur during the treatment process.

[0003] First, during the treatment stage, the accelerator needs to rotate around the patient for multi-angle irradiation. If the position of the patient's reference center point (Ref point) is inappropriate, it may cause the equipment to collide with the treatment couch or the patient's body.

[0004] Second, during the positioning stage, a CT device is used to obtain the patient's target area information. However, the existing system cannot intuitively present the spatial relationship between the treatment center point (Iso point) and the reference center point (Ref point), that is, the positioning and treatment center points do not match, increasing the collision risk.

[0005] Moreover, if a collision is detected during the treatment process, the patient needs to be repositioned and the treatment plan needs to be adjusted, and the target area needs to be redrawn. This not only wastes time and energy but also may cause delays in the patient's treatment, resulting in a waste of time and resources. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a collision detection assistance system and method for preventing equipment collision during the treatment process in view of the above-mentioned defects in the prior art. By introducing an anti-collision assistance system during the positioning stage, real-time evaluation and prevention of potential collisions during the treatment process can be achieved.

[0007] According to the present invention, a collision detection assistance system for radiotherapy treatment positioning is provided, including: a height calibration bracket, a slide rail crossbeam, and a collision detection laser lamp; wherein, the height calibration bracket measures the height of the patient in the chest and back directions as the position data of the reference center point; the slide rail crossbeam is arranged above the CT couch on which the patient lies, provides a sliding track for the collision detection laser lamp, and is formed with scale lines for marking the eccentric position; the collision detection laser lamp is installed on the slide rail of the slide rail crossbeam and can slide on the slide rail of the slide rail crossbeam for position adjustment, and can irradiate the patient; the collision detection laser lamp projects light onto the patient's body surface to calibrate the safe eccentric range and intuitively prompt the collision risk.

[0008] Preferably, the height calibration bracket is provided with scales for directly reading the patient's height value.

[0009] Preferably, the height calibration bracket is made of a lightweight and high-strength material.

[0010] Preferably, the mapping relationship between the height and the eccentricity range is marked on the slide rail cross beam.

[0011] Preferably, the collision detection assistance system further includes: a positioning bracket base for installing the height calibration bracket and the slide rail cross beam.

[0012] According to the present invention, there is also provided a positioning assistance method for preventing collisions of radiotherapy treatment equipment implemented by using the above-mentioned collision detection assistance system, including:

[0013] Fix the height calibration bracket on the side of the positioning bed;

[0014] Start the side positioning laser lamp of the positioning CT so that the light projects an intersection point on the height calibration bracket, which is recorded as the height of the patient in the chest and back direction;

[0015] Use the formula D = sqrt(R 2 - H 2 ) to calculate the eccentricity range D, where R represents the treatment safety radius of the accelerator, and H = h1 + h2, h1 is the bed lowering distance, and h2 is the thickness of the bed board;

[0016] Evaluate whether the calculated eccentricity range meets the requirements; specifically, according to the rays projected by the collision detection laser lamp, check whether the safety eccentricity range covering the target Ref point position is covered.

[0017] Preferably, if the eccentricity range is sufficient, directly confirm the position of the Ref point to complete the positioning.

[0018] Preferably, if the eccentricity range is insufficient, adjust the position of the patient's height in the chest and back direction and recalculate the eccentricity range.

[0019] Preferably, adjusting h and recalculating the eccentricity range includes: if a larger eccentricity range is required, lower the position of the Ref point in the chest and back direction; change the height of the Ref point by raising the bed, re-read the adjusted height through the positioning CT laser lamp, and recalculate the eccentricity range; slide the cross beam laser lamp to the new eccentricity range.

[0020] Preferably, according to the adjusted laser ray projection, confirm whether the eccentricity range covers the Ref point target area; if it is satisfied, the eccentricity range is sufficient, confirm the position of the Ref point to complete the positioning; if it is still not satisfied, further adjust the position of the patient's height in the chest and back direction until the requirements are met.

[0021] Accordingly, the present invention provides a collision detection assistance system and method for radiotherapy treatment positioning, aiming to solve the safety risks and efficiency problems caused by equipment collisions during the treatment stage in the patient positioning stage. The system realizes the dynamic evaluation and adjustment of the spatial relationship between the patient reference center point and the treatment center point through a height calibration bracket, a crossbeam with a slide rail, and an adjustable anti-collision laser lamp, and identifies potential collision risks in advance.

[0022] The present invention can significantly reduce the risk of collision between the equipment and the bed or the patient during the treatment process in the positioning stage, reduce the time loss of repeated positioning, and improve the overall efficiency and safety of the radiotherapy process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] With reference to the accompanying drawings and by referring to the following detailed description, it will be easier to have a more complete understanding of the present invention and more easily understand its accompanying advantages and features, wherein:

[0024] Figure 1 Schematically shows a schematic diagram of the relative relationship between the treatment accelerator head, the patient, and the treatment bed.

[0025] Figure 2 Schematically shows a structural schematic diagram of a collision detection assistance system for preventing equipment collisions during the treatment process according to a preferred embodiment of the present invention.

[0026] Figure 3 Schematically shows a schematic diagram of the working principle of a collision detection assistance system for preventing equipment collisions during the treatment process according to a preferred embodiment of the present invention.

[0027] It should be noted that the drawings are used to illustrate the present invention, rather than limiting the present invention. Note that the drawings showing the structure may not be drawn to scale. And in the drawings, the same or similar elements are labeled with the same or similar reference numerals. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0030] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0032] <Structural Schematic Diagram>

[0033] Figure 2 The structural schematic diagram of the collision detection assistance system for preventing equipment collision during the treatment process according to a preferred embodiment of the present invention is schematically shown.

[0034] As Figure 2 shown, the collision detection assistance system for preventing equipment collision during the treatment process according to a preferred embodiment of the present invention includes: a height calibration bracket 10, a slide rail cross beam 20, and a collision detection laser lamp 30.

[0035] Among them, the height calibration bracket 10 measures the height h in the chest and back direction of the patient (that is, the thickness from the chest to the back of the patient) as the position data of the reference center point. The height h in the chest and back direction, the limit position (eccentric position) D of the Refer point, and the collision radius R form a right triangle, which conforms to the Pythagorean theorem: D = sqrt(R 2 -H 2 ).

[0036] Preferably, a side positioning laser lamp is arranged in the CT room for cooperating with the height calibration bracket 10 to measure the height in the chest and back direction of the patient.

[0037] The slide rail crossbeam 20 is arranged above the CT bed on which the patient lies, provides a sliding track for the collision detection laser lamp 30, and is formed with scale lines for marking the eccentric position D.

[0038] The collision detection laser lamp 30 is installed on the slide rail of the slide rail crossbeam 20, and can slide on the slide rail of the slide rail crossbeam 20 for position adjustment, and can irradiate the patient.

[0039] The collision detection laser lamp 30 projects light rays onto the patient's body surface, calibrates the safe eccentric range, and intuitively prompts the collision risk.

[0040] Thus, the height calibration bracket 10 accurately measures the height h in the chest and back direction of the patient, providing data support for the calculation of the eccentric range. A slide rail is designed on the crossbeam to facilitate the quick movement of the anti-collision laser lamp to different positions and provide corresponding scale calibration to ensure the accuracy of position adjustment. The adjustable anti-collision laser lamp calibrates the safe eccentric range on the patient's body surface by sliding the laser lamp and projecting the laser line, intuitively prompting the possible collision risk. Thus, dynamic adjustment and optimization of the process are achieved, that is, combined with real-time calculation and prompting, guiding the optimization adjustment of the patient's body position to ensure the safety of the equipment operation during the treatment stage.

[0041] In a specific example, the height calibration bracket 10 has clear scales for directly reading the patient's height value. Preferably, the height calibration bracket 10 is made of a lightweight and high-strength material (such as aluminum alloy) to ensure portability and stability.

[0042] In a specific example, the slide rail crossbeam 20 adopts a high-precision guide rail design, with smooth sliding and firm locking. Preferably, the mapping relationship between the height h and the eccentric range D is marked on the slide rail crossbeam 20 to simplify the calculation process.

[0043] In a specific example, the collision detection laser lamp 30 is a laser lamp, with a clear laser light direction and moderate brightness, meeting the medical safety standards. The collision detection laser lamp 30 can be flexibly moved along the slide rail to the specified scale position. Thus, the safe area on the patient's body surface is calibrated by the laser line to assist in completing the body position adjustment.

[0044] Preferably, the collision detection auxiliary system for preventing equipment collision during the treatment process according to the preferred embodiment of the present invention further includes: a positioning bracket base for installing the height calibration bracket 10 and the slide rail crossbeam 20.

[0045] The positioning bracket base provides a supporting function, stabilizes the overall structure of the system, and is seamlessly connected to the positioning bed. The positioning bracket base can adopt a universal interface design to adapt to different models of positioning beds, and an anti-slip design is added to the bottom to ensure stability.

[0046] Accordingly, the present invention provides a collision detection assistance system for radiotherapy treatment positioning, aiming to solve the safety risks and efficiency problems caused by equipment collisions during the treatment phase in the patient positioning phase. The system realizes the dynamic evaluation and adjustment of the spatial relationship between the patient reference center point and the treatment center point through a height calibration bracket, a crossbeam with a slide rail, and an adjustable anti-collision laser lamp, and identifies potential collision risks in advance.

[0047] The present invention can significantly reduce the risk of collision between the equipment and the bed or the patient during the treatment process in the positioning phase, reduce the time loss of repeated positioning, and improve the overall efficiency and safety of the radiotherapy process.

[0048] Through the precise structural design of the laser lamp slide rail, the present invention ensures smooth sliding and precise position locking; among them, the projection method of the laser lamp can generate a safe eccentricity range in real time, providing a precise spatial range prompt. The design of the height calibration bracket emphasizes modular connection and the use of lightweight materials; the accuracy and durability of the scale ensure the reliability of height reading and adapt to the needs of different patient body types. The design of the crossbeam with a slide rail realizes the real-time dynamic adjustment of the eccentricity range. Combining with the scale mapping mechanism, it reduces the complexity and error of manual calculation. The modular design enables the system to adapt to various models of accelerators and treatment beds; flexible interfaces and universal support structures meet the needs of different medical scenarios. The entire optimization process from height reading to laser slide rail projection is achieved through a pre-designed calculation model and rapid adjustment, which not only meets the safety requirements but also improves the operation efficiency.

[0049] <Specific operations>

[0050] Figure 2 The collision detection assistance system for preventing equipment collisions during the treatment process according to the preferred embodiment of the present invention as shown can perform the following operations.

[0051] Fix the height calibration bracket 10 (which can also be used as an anti-collision bracket) on both sides of the positioning bed;

[0052] Start the side positioning laser lamp in the CT positioning room (see the markings in Figure 2 and Figure 3 , divided into L&R, and the height always remains synchronized). The light of the side positioning laser lamp will project an intersection point on the height calibration bracket 10, which is recorded as the height h in the chest and back direction of the patient; refer to Figure 3 .

[0053] Use the formula D = sqrt(R 2 -H 2)Calculate the eccentricity range D, where R represents the treatment safety radius of the accelerator;, where H = h1 + h2, h1 is the distance of lowering the bed, and h2 is the thickness of the bed board. Preferably, calculate the corresponding values of the eccentricity range D in advance for different H values, and mark the calculated values on the slide rail crossbeam 20, thereby reducing the calculation work; moreover, dedicated calibration crossbeams can be designed for different accelerator models (different R radii).

[0054] Evaluate whether the calculated eccentricity range meets the requirements; among them, according to the rays projected by the collision detection laser lamp 30, check whether the safety eccentricity range covering the target Ref point position is covered; specifically, the position where the anti-collision laser lamp projects is the limit deviation position of the Ref point, and the area formed between the edge of the patient's body and the position where the anti-collision laser lamp projects is the safe positioning area.

[0055] If the eccentricity range is sufficient (the eccentricity range covers the Ref point target area, that is, the eccentricity range covers the range included in the limit position of the Refer point), directly confirm the Ref point position and complete the positioning;

[0056] If the eccentricity range is insufficient (the eccentricity range does not cover the Ref point target area), then adjust h and recalculate the eccentricity range.

[0057] Among them, adjusting the position of the patient's chest and back direction height and recalculating the eccentricity range includes: if a larger eccentricity range (larger D) is required, lower the position of the Ref point in the chest and back direction; change the height of the Ref point by raising the bed, read the adjusted height again through the positioning CT laser lamp, and recalculate the eccentricity range; slide the crossbeam laser lamp to the new eccentricity range.

[0058] According to the adjusted laser ray projection, confirm whether the eccentricity range covers the Ref point target area. If it is satisfied: the eccentricity range is sufficient, confirm the Ref point position and complete the positioning. If it is still not satisfied: further adjust the position of the patient's chest and back direction height according to the requirements, and repeat the process until the requirements are met.

[0059] Thus, ensure that the patient's body position and the Ref point position finally fall within the safe range of the laser rays and meet the treatment requirements. Subsequently, the anti-collision frame can be removed, confirm that the body position remains unchanged, and complete the positioning process.

[0060] The present invention has the following characteristics:

[0061] 1. Real-time collision detection and prompt

[0062] During the positioning stage, through height measurement, eccentricity range calculation, and dynamic projection of the laser line, the possible collision risks are discovered in advance and intuitively prompted, significantly improving the safety of treatment.

[0063] 2. Dynamic matching mechanism of height and eccentricity range

[0064] Through the precise scale reading of the height calibration bracket and the quick adjustment function of the crossbeam with a slide rail, the precise spatial relationship matching between the patient's body position and the treatment device is realized, avoiding repositioning and treatment delays caused by errors.

[0065] 3. Modular compatibility design

[0066] The system adopts a modular design, and each component can be quickly installed, disassembled and replaced, adapting to various models of radiotherapy equipment and positioning beds of different sizes, with high versatility and flexibility.

[0067] 4. Efficient body position optimization process

[0068] The system optimizes the adjustment process of the patient's reference center point (Ref point). Through rapid re-measurement and dynamic adjustment, the positioning time is shortened and the waste of medical resources is reduced.

[0069] In summary, the present invention can achieve real-time collision detection of the patient's body position through a laser slide rail and eccentric range projection; dynamically adjust the patient's height and the position of the laser lamp to optimize the positioning efficiency; complete collision detection in advance during the positioning stage to avoid repositioning and plan modification during the treatment stage; and each component of the system is independent and easy to install, adapting to various models of radiotherapy equipment.

[0070] In addition, it should be noted that unless otherwise specified, the terms "first", "second", "third", etc. in the specification are only used to distinguish each component, element, step, etc. in the specification, rather than to represent the logical relationship or sequential relationship between each component, element, step, etc.

[0071] It can be understood that although the present invention has been disclosed above with preferred embodiments, the above embodiments are not intended to limit the present invention. For any person skilled in the art, without departing from the scope of the technical solution of the present invention, many possible changes and modifications can be made to the technical solution of the present invention by using the technical content disclosed above, or modified into equivalent embodiments with equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the protection of the technical solution of the present invention.

Claims

1. A collision detection auxiliary system for radiotherapy treatment positioning, characterized in that include: Height calibration bracket, slide rail beam and collision detection laser light; wherein, the height calibration bracket measures the height of the patient in the direction of the chest and back as the position data of the reference center point; the slide rail beam is arranged above the CT bed where the patient lies, provides a sliding track for the collision detection laser light, and has scale lines formed thereon for marking the eccentric position; the collision detection laser light is installed on the slide rail of the slide rail beam, and can slide on the slide rail of the slide rail beam to adjust the position, and can irradiate the patient; the collision detection laser light projects light onto the patient's body surface, calibrates the safe eccentric range, and intuitively prompts the collision risk.

2. The collision detection assistance system according to claim 1, characterized in that: The height calibration bracket has a scale for direct reading of the patient's height.

3. The collision detection assistance system according to claim 1 or 2, characterized in that: The height calibration bracket is made of lightweight and high-strength material.

4. The collision detection assistance system according to claim 1 or 2, characterized in that: The mapping relationship between the height marked on the slide rail beam and the eccentricity range.

5. The collision detection assistance system according to claim 1 or 2, characterized in that Also included: a positioning bracket base for mounting a height calibration bracket and a slide rail crossbeam.

6. A positioning assistance method for preventing collision of radiotherapy treatment equipment implemented by using the collision detection assistance system according to any one of claims 1 to 5, characterized in that include: Fix the height calibration bracket to the side of the positioning bed; Start the side positioning laser light of the positioning CT so that the light projects an intersection point on the height calibration bracket and records it as the patient's chest and back height h; Use the formula D = sqrt(R 2 -H 2 ) Calculate the eccentric range D, where R represents the safe treatment radius of the accelerator, and H = h1 + h2, where h1 is the bed lowering distance and h2 is the bed thickness; Evaluate whether the calculated eccentricity range meets the requirements; check whether the rays projected by the collision detection laser light cover the safe eccentricity range of the target Ref point position.

7. The positioning assistance method according to claim 6, characterized in that: If the eccentricity range is sufficient, directly confirm the Ref point position to complete the positioning.

8. The positioning assistance method according to claim 6 or 7, characterized in that: If the eccentricity range is insufficient, adjust h and recalculate the eccentricity range.

9. The positioning assistance method according to claim 8, characterized in that: Adjusting the height position of the patient's chest and back and recalculating the eccentric range includes: if a larger eccentric range is required, lowering the height position of the Ref point in the chest and back; changing the Ref point height by raising the bed, re-reading the adjusted height by positioning the CT laser light, and recalculating the eccentric range; sliding the crossbeam laser light to the new eccentric range.

10. The positioning assistance method according to claim 9, characterized in that: According to the adjusted laser ray projection, confirm whether the eccentric range covers the target area of ​​the Ref point; if it does, the eccentric range is sufficient, confirm the position of the Ref point, and complete the positioning; if it does not, further adjust the height position in the direction of the patient's chest and back until the requirements are met.

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