A collision detection assistance system for radiotherapy treatment positioning

Abstract

The application provides a collision detection auxiliary system and method for radiotherapy treatment positioning. The collision detection auxiliary system comprises a height calibration support, a sliding rail cross beam and a collision detection laser lamp. The height calibration support measures the chest-back direction height of a patient as position data of a reference center point. The sliding rail cross beam is arranged above a CT bed on which the patient lies, provides a sliding track for the collision detection laser lamp, and has scale lines for marking eccentric positions formed thereon. The collision detection laser lamp is installed on the sliding track of the sliding rail cross beam and can slide on the sliding track of the sliding rail cross beam to adjust the position and irradiate the patient. The collision detection laser lamp projects light to the surface of the patient to calibrate a safe eccentric range and intuitively indicate the collision risk.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical equipment, in particular to the patient positioning technology of radiotherapy equipment, and specifically to a collision detection auxiliary system and method for preventing equipment collision during treatment. BACKGROUND

[0002] Radiotherapy is a medical technology that precisely kills tumor cells by high-energy rays, and its core is to ensure that the target area of the patient is highly consistent with the treatment (irradiation) center point (Iso point) of the treatment equipment, as shown in formula (1). Figure 1 However, due to the structure of the patient, the treatment bed and the accelerator, some problems may occur during treatment.

[0003] First, during the treatment stage, the accelerator needs to rotate at multiple angles around the patient for irradiation. If the position of the reference center point (Ref point) of the patient is not appropriate, it may cause collision between the equipment and the treatment bed or the patient's body.

[0004] Secondly, in the positioning stage, the CT device is used to obtain the target area information of the patient. 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 are not matched, which increases the risk of collision.

[0005] Moreover, if a collision is found during treatment, 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 effort, but also may cause delay in patient treatment, thereby causing waste of time and resources. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a collision detection auxiliary system and method for preventing equipment collision during treatment, which can realize real-time evaluation and prevention of potential collision during treatment by introducing an anti-collision auxiliary system in the positioning stage.

[0007] According to the present application, a collision detection auxiliary system for radiotherapy treatment positioning is provided, which comprises a height calibration support, a sliding rail beam and a collision detection laser lamp; wherein the height calibration support measures the height of the patient in the chest and back direction as the position data of the reference center point; the sliding rail beam is arranged above the CT bed on which the patient lies, provides a sliding track for the collision detection laser lamp, and has scale lines for marking the eccentric position formed thereon; the collision detection laser lamp is installed on the sliding rail of the sliding rail beam and can slide on the sliding rail of the sliding rail beam for position adjustment, and can irradiate the patient; the collision detection laser lamp projects light to the surface of the patient to calibrate the safe eccentric range and intuitively prompt the collision risk.

[0008] Preferably, the height calibration bracket is provided with a scale for directly reading the height value of the patient.

[0009] Preferably, the height calibration bracket is made of light-weight high-strength material.

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

[0011] Preferably, the collision detection auxiliary system further comprises a positioning bracket base for mounting the height calibration bracket and the slide rail crossbeam.

[0012] According to the present application, a positioning auxiliary method for preventing collision of a radiotherapy treatment device is also provided, which is implemented by using the collision detection auxiliary system, and comprises:

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

[0014] Start the side positioning laser light of the positioning CT to project a cross point on the height calibration bracket, and record the height in the chest-back direction of the patient.

[0015] Calculate the eccentricity range D using the formula D=sqrt(R 2 -H 2 ), where R represents the treatment safety radius of the accelerator, and H=h1+h2, h1 is the lowering bed distance, and h2 is the bed plate thickness.

[0016] Evaluate whether the calculated eccentricity range meets the requirements; wherein according to the ray projected by the collision detection laser light, check whether the safety eccentricity range covering the target Ref point position is met.

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

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

[0019] Preferably, adjusting and recalculating the eccentricity range comprises: if a larger eccentricity range is needed, lowering the position of the height in the chest-back direction of the Ref point; changing the height of the Ref point by raising the bed, re-reading the adjusted height by the positioning CT laser light, and recalculating the eccentricity range; sliding the crossbeam laser light to the new eccentricity range.

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

[0021] Thus, the application provides a collision detection auxiliary system and method for radiotherapy treatment positioning, aiming to solve the safety risk and efficiency problem caused by equipment collision in the treatment stage in the patient positioning stage. The system realizes dynamic evaluation and adjustment of the spatial relationship between the patient reference center point and the treatment center point through the height calibration support, the beam with sliding rail and the adjustable anti-collision laser lamp, and identifies the potential collision risk in advance.

[0022] The application can significantly reduce the risk of equipment collision with the bed body or the patient in 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 DRAWINGS

[0023] The application will be more fully understood and its attendant advantages and features will become apparent with reference to the following detailed description taken in conjunction with the accompanying drawings, in which:

[0024] Figure 1 A schematic diagram of the relative relationship between the treatment accelerator head and the patient and the treatment bed is shown.

[0025] Figure 2 A schematic diagram of the structure of the collision detection auxiliary system for preventing equipment collision in the treatment process according to the preferred embodiment of the application is shown.

[0026] Figure 3 A schematic diagram of the working principle of the collision detection auxiliary system for preventing equipment collision in the treatment process according to the preferred embodiment of the application is shown.

[0027] It should be noted that the drawings are used to illustrate the application, not to limit the application. It should be noted that the drawings showing the structure may not be drawn to scale. In addition, in the drawings, the same or similar elements are marked with the same or similar reference numerals. DETAILED DESCRIPTION

[0028] The technical solutions of the application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0029] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

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

[0032] <Structure diagram>

[0033] Figure 2 The structure diagram of the collision detection auxiliary system for preventing device collision during treatment according to the preferred embodiment of the present application is schematically shown.

[0034] As Figure 2 shown, the collision detection auxiliary system for preventing device collision during treatment according to the preferred embodiment of the present application comprises a height calibration support 10, a slide rail cross beam 20 and a collision detection laser lamp 30.

[0035] The height calibration support 10 measures the chest-back direction height h of the patient (i.e. the thickness of the patient's chest to back) as the position data of the reference center point. The chest-back direction height h, the Refer point limit position (eccentric position) D and the collision radius R form a right triangle, which satisfies the Pythagorean theorem: D=sqrt(R 2 - H 2 ).

[0036] Preferably, a side positioning laser lamp is arranged in the CT room to cooperate with the height calibration support 10 to measure the chest-back direction height 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 has scale lines for marking the eccentric position D formed thereon.

[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 to the patient's body surface, marks the safe eccentric range, and directly indicates the collision risk.

[0040] Therefore, the height calibration support 10 accurately measures the patient's chest-back direction height h, and provides data support for the calculation of the eccentric range. The 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 projects a laser line by sliding the laser lamp to mark the safe eccentric range of the patient's body surface and directly indicate the possible collision risk. Thus, dynamic adjustment and optimization of the process are achieved, that is, real-time calculation and prompt are combined to guide the optimization adjustment of the patient's body position, and the safety of the equipment operation during the treatment stage is ensured.

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

[0042] In a specific example, the slide rail crossbeam 20 is designed with high-precision guide rails for 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 clear laser light direction and moderate brightness, meeting the medical safety standards. The collision detection laser lamp 30 can be flexibly moved to the specified scale position along the slide rail. Thus, the safe region of the patient's body surface is marked by the laser line to assist in completing the body position adjustment.

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

[0045] The positioning support base provides support function to stabilize the overall structure of the system and seamlessly connects with the positioning bed. The positioning support base can be designed with a universal interface to adapt to different models of positioning beds, and the bottom is additionally designed with anti-slip design to ensure stability.

[0046] Therefore, the application provides a collision detection auxiliary system for radiotherapy treatment positioning, aiming to solve the safety risk and efficiency problem caused by equipment collision in the treatment stage in the patient positioning stage. The system realizes dynamic evaluation and adjustment of the spatial relationship between the patient reference center point and the treatment center point through the height calibration support, the beam with sliding rail and the adjustable anti-collision laser lamp, and identifies the potential collision risk in advance.

[0047] The application can significantly reduce the risk of equipment collision with the bed body or the patient during treatment in the positioning stage, reduce the time loss of repeated positioning, and improve the overall efficiency and safety of the radiotherapy process.

[0048] The application ensures smooth sliding and accurate position locking through the precise structural design of the laser lamp sliding rail; the projection method of the laser lamp can generate a safe eccentric range in real time, providing accurate spatial range prompts. The height calibration support design emphasizes modular connection and the use of lightweight materials; the accuracy and durability of the scale ensure the reliability of height reading, adapting to the needs of different patient sizes. The design of the beam with sliding rail realizes real-time dynamic adjustment of the eccentric range, combined with the scale mapping mechanism, reducing the complexity and error of manual calculation. The modular design enables the system to adapt to multiple types 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 sliding rail projection is realized through pre-designed calculation models and rapid adjustment, meeting safety requirements and improving operational efficiency.

[0049] <Specific operation>

[0050] Figure 2 The collision detection auxiliary system for preventing equipment collision in the treatment process according to the preferred embodiment of the application can perform the following operations.

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

[0052] Start the side positioning laser lamp of the CT positioning room (see the annotations in Figure 2 and Figure 3 , divided into L&R, the height is always kept synchronous), the light of the side positioning laser lamp will project an intersection on the height calibration support 10, recorded as the patient's chest and back direction height ; refer to Figure 3 .

[0053] Use the formula D = sqrt(R 2 - H 2)calculate the eccentricity range D, wherein R represents the treatment safety radius of the accelerator; wherein H = h1 + h2, h1 is the distance of the lowering bed, and h2 is the thickness of the bed plate. Preferably, the values of the corresponding eccentricity range D are calculated in advance for different H values, and the calculated values are marked on the slide rail beam 20, thereby reducing the calculation work; and a special calibration beam can be designed for different accelerator models (different radii). The calculated eccentricity range is evaluated to determine whether it meets the requirements; wherein the safety eccentricity range covering the target Ref point position is checked according to the rays projected by the collision detection laser lamp 30; specifically, the position projected by the anti-collision laser lamp is the limit deviation position of the Ref point, and the area formed between the edge of the patient's body and the position projected by the anti-collision laser lamp is the safe positioning area.

[0054] If the eccentricity range is sufficient (the eccentricity range covers the target area of the Ref point, i.e., the eccentricity range covers the range contained in the limit position of the Ref point), the Ref point position is directly confirmed, and the positioning is completed.

[0055] If the eccentricity range is insufficient (the eccentricity range does not cover the target area of the Ref point), the

[0056] position of the patient's chest and back direction height is adjusted and the eccentricity range is recalculated.

[0057] The adjustment of the position of the patient's chest and back direction height and the recalculation of the eccentricity range include: if a larger eccentricity range (a larger D) is needed, the height of the Ref point in the chest and back direction is lowered; the height of the Ref point is changed by raising the bed, the adjusted height is re-read by the positioning CT laser lamp, and the eccentricity range is recalculated; and the slide beam laser lamp is moved to the new eccentricity range.

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

[0059] In this way, the patient's body position and the Ref point position are finally ensured to fall within the safe range of the laser ray and meet the treatment requirements. Subsequently, the anti-collision frame can be removed, the body position is confirmed to be unchanged, and the positioning process is completed.

[0060] The present application has the following characteristics:

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

[0062] During the positioning stage, the possible collision risk is discovered and intuitively prompted in advance through height measurement, eccentricity range calculation and dynamic projection of laser lines, which significantly improves the safety of treatment. ​

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

[0064] Through the precise scale reading of the height calibration support and the rapid adjustment function of the slide rail beam, the precise spatial relationship matching between the patient position and the treatment equipment is realized, and the repositioning and treatment delay caused by errors are avoided.

[0065] 3. Modular compatibility design

[0066] The system adopts modular design, and each component can be quickly installed, disassembled and replaced, which is suitable for various types of radiotherapy equipment and different sizes of positioning beds, and has high universality and flexibility.

[0067] 4. Efficient position optimization process

[0068] The system optimizes the adjustment process of the patient reference center point (Ref point), shortens the positioning time and reduces the waste of medical resources through rapid re-measurement and dynamic adjustment.

[0069] In summary, the present application can realize real-time collision detection of the patient position through laser slide rail and eccentric range projection, dynamically adjust the patient height and laser lamp position to optimize the positioning efficiency, complete the collision detection in the positioning stage to avoid repositioning and plan modification in the treatment stage, and the system components are independent and easy to install, and suitable for various types of radiotherapy equipment.

[0070] In addition, it should be noted that, unless otherwise specified, the terms "first", "second", "third" and the like in the specification are merely used to distinguish the components, elements, steps and the like in the specification, and are not used to represent the logical relationship or sequence relationship between the components, elements, steps and the like.

[0071] It can be understood that, although the present application has been disclosed as above with the preferred embodiments, the above embodiments are not used to limit the present application. For any skilled person in the art, many possible changes and modifications or equivalent embodiments of the above disclosed technical content can be made without departing from the scope of the technical solutions of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the content of the technical solutions of the present application, still belongs to the scope of protection of the technical solutions of the present application.

Claims

1. A collision detection assistance system for radiotherapy treatment positioning, characterized in that The application relates to a positioning CT device, which comprises the following parts: a side positioning laser lamp of the CT device, which is used for projecting light on a height calibration support to form an intersection point, and the intersection point is recorded as the height of the chest and back of a patient; a height calibration support with scales, which is fixed on the side of a positioning bed and is used for measuring the height of the chest and back of the patient and recording the position data of the reference center point; a slide rail cross beam, which is arranged above a CT bed on which a patient lies, provides a sliding track for a collision detection laser lamp, and is provided with scale lines for marking the eccentric position and the mapping relationship between the marking height and the eccentric range; a collision detection laser lamp, which is installed on the slide rail of the slide rail cross beam, can slide on the slide rail of the slide rail cross beam to adjust the position, and can irradiate the patient; the collision detection laser lamp projects light on the surface of the patient to calibrate the safe eccentric range and visually indicate the collision risk. The height calibration support is made of light-weight high-strength materials. where the formula D = sqrt(R 2 - H 2 ) is used to calculate the eccentricity range D, wherein R represents the treatment safety radius of the accelerator, wherein H = h1 + h2, h1 is the lowering bed distance, and h2 is the bed plate thickness; according to the rays projected by the collision detection laser lamp, it is checked whether the safety eccentricity range covering the target reference center point position is covered.

2. The collision detection assist system of claim 1, wherein, The application further comprises a positioning support base, which is used for installing the height calibration support and the slide rail cross beam.

3. The collision detection assistance system according to claim 1 or 2, characterized in that ​

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